The Camera Attitude Measurement And Realization Of The Automatic Monitoring System For Crop Growth Remote Acquisition

Remote monitoring of crop growth is an integral part of the agricultural informatization process.It is gradually replaced with the development of agricultural informatization.This paper aims to develop a camera attitude measurement module in the Automatic Monitoring System for Remote Crop Acquisition.And in the server posture calculations,to monitor the camera system to determine the attitude,so as to achieve the purpose of accurate capture of crop information,to prepare for the system's image mosaic.This module is based on the principle of inertial navigation,using WIFI wireless transmission technology to design,in the server using the collected acceleration and angular velocity data for camera pose solution,the main work is as follows:(1)Design and implement attitude measurement module.According to the actual demand of the crop remote monitoring system,the module design is based on the convenience of use and low cost.The STC89C52 microcontroller is used as the control core to perform data acquisition through the MPU6050 module and use the ESP8266 module to complete the data transmission.Based on the project's performance requirements for the system,a 20 ms timer interrupt was designed to complete the data acquisition.(2)Realize wireless data transmission.The attitude measurement module accesses the server through WIFI.This section uses the Socket network programming under the TCP protocol to set up a server that allows the client to access and stores the monitored data.(3)Design gesture solution.Firstly,based on the main sources of MEMS sensor error,an error model based on zero bias,scale factor,and installation error is constructed.The six-position calibration method is used to calibrate the parameters in the accelerometer error model to reduce the influence of inherent errors in the sensor.Then,an innovative gesture solution is proposed,which sets the threshold to distinguish the movement of the camera statically and statically.Under static conditions,the elevation angle of the accelerometer is directly used to solve the elevation angle,Kalman data fusion algorithm for the accelerometer and gyro data is used to solve the yaw angle;under dynamic conditions,the UKF algorithm is used to accelerometer and gyroscope.The data is fused to calculate the camera attitude angle,so as to estimate and correct the noise in the attitude solution data.In order to reduce the solution complexity.(4)Field test.The attitude determination module and system designed in this paper are conducted on-site adjustment and testing.The results show that the maximum absolute deviation of the attitude angle calculated under static conditions is less than 1 degree,and the maximum absolute deviation is 1.893 degrees under dynamic conditions,which can meet the project requirements.