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首页> 外文期刊>Journal of Nanoelectronics and Optoelectronics >Image Motion Compensation Control Technology of Unmanned Aerial Vehicle (UAV) Airborne Photoelectric Reconnaissance Platform
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Image Motion Compensation Control Technology of Unmanned Aerial Vehicle (UAV) Airborne Photoelectric Reconnaissance Platform

机译：无人机空中车辆（UAV）空气载体侦察平台图像运动补偿控制技术

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摘要

Airborne photoelectric platform has a wide application prospect in the field of imaging, especially in the field of UAV reconnaissance. However, in the process of image acquisition, the photoelectric platform equipment will produce obvious image shift because of its own attitude change or speed instability, so it is necessary to compensate the collected image. In this study, when the image motion compensation is carried out, the internal and external parameters of the camera are adjusted, and the geometric model of the image is established. The Camera Calibration Toolbox provided by MatLab is used to calibrate the internal parameters of camera. At the same time, when obtaining the camera's internal parameters, the corresponding flight attitude angle is obtained with the aid of the inertial navigation system. At the same time of acquiring the attitude of the aircraft by hardware, it is necessary to obtain the image shift coefficient by using the function. The coordinate system needs to be transformed into a coordinate system suitable for the inertial navigation system, so as to facilitate the calculation of external parameters of the camera. The transformation matrix from image moving image to normal image can be established by obtaining the parameters inside and outside the camera. Through bilinear interpolation, the matrix is derived in MatLab environment. In the experiment, 16 black-and-white grid images are selected to obtain the attitude angle, so as to complete the calculation process of the conversion matrix. Then, the images with image shift are screened out from the images taken in aerial state. The method proposed in this study is used for image compensation. According to the root mean square error analysis, the image compensation scheme proposed in this study is helpful to the imaging application of UAV airborne platform.
机译：机载光电平台在成像领域，尤其是无人机侦察领域有着广阔的应用前景。然而，在图像采集过程中，光电平台设备由于自身姿态变化或速度不稳定，会产生明显的图像偏移，因此有必要对采集到的图像进行补偿。在本研究中，当进行图像运动补偿时，调整相机的内部和外部参数，并建立图像的几何模型。利用MatLab提供的摄像机标定工具箱对摄像机的内部参数进行标定。同时，在获取相机内部参数时，借助惯性导航系统获得相应的飞行姿态角。在通过硬件获取飞行器姿态的同时，需要利用该函数获取图像偏移系数。需要将坐标系转换为适合惯性导航系统的坐标系，以便计算相机的外部参数。通过获取摄像机内外参数，可以建立运动图像到正常图像的变换矩阵。通过双线性插值，在MatLab环境下推导出矩阵。在实验中，选取16幅黑白栅格图像获取姿态角，从而完成转换矩阵的计算过程。然后，从空中拍摄的图像中筛选出图像偏移的图像。本文提出的方法用于图像补偿。根据均方根误差分析，本文提出的图像补偿方案有助于无人机机载平台的成像应用。

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