Design Of UAV Space Position Measuring System

Unmanned aerial vehicle,referred to as UAV,is a kind of aircraft driven by its own power.It has many advantages such as unmanned,flexible,strong concealment and low cost.It can replace manned aircraft for high-risk work.Accurately obtaining the spatial position of UAV targets is of great significance in both military and civilian fields.In this paper,a UAV spatial position measurement system based on distributed binocular cameras is proposed,which breaks through the bottleneck of measurement accuracy and working distance caused by the fixed baseline of the integrated binocular vision system.Object detection,and measure the spatial position coordinates of its center in the world coordinate system.The main work completed in this paper includes the following aspects:1.The hardware structure of the UAV space position measurement system is designed and selected.It includes the overall composition of the measurement system,the selection of cameras and lenses,the principle and specific design of the laser autocollimator,the selection of the two-dimensional inclinometer,and the design of the flash point calibration test module.2.The camera attitude assistant calibration software and binocular vision measurement software of the UAV space position measurement system are designed and implemented.The former is mainly used to assist in adjusting the three-axis attitude of the distributed camera platform,and the latter is based on the designed UAV target detection and center matching positioning algorithm,which can be used to measure the spatial position of the UAV target and calibrate the parameters of the cameras.3.All parts of the UAV space position measurement system are experimentally verified,and the overall measurement error meets the design requirements.These include the calibration experiment of internal and external parameters of distributed cameras,the stability experiment of laser autocollimator and the spot position extraction of flash spot module,the measurement experiment of flash spot spatial position at distances of 30m and 50m,and the spatial position measurement of UAV near the ground;finally try to separate the calibration and measurement,use the laser autocollimator and the two-dimensional inclinometer to restore the attitude of the camera platform,and use the original calibration external parameters to measure the position of the flash point module.The experimental results show that under this condition,X_w The error in the Y_w direction is small,while the error in the Z_w direction is large,and further improvement is required.