自稳定航拍系统算法与设计
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摘要
研究基于数字高稳定航拍系统,实现在相对噪声环境不佳的外界环境下实现高质量拍摄有着重要研究意义。本文在总体设计的角度出发,着重研究航拍时产生噪声原因并通过数学计算方法,将影响航拍稳定的噪声因素通过软件算法和伺服系统将抖动有效最低,并通过设计一套具有智能控制自主稳定的主动降噪陀螺仪稳定云台及软件算法使速度环与角度环闭环,以实现高稳定航拍。航拍UAV-Cam射频通信技术通链路研究,为低空高稳定航拍提供理论依据。
文中阐述了普便使用陀螺仪和力矩电机闭环稳定平台基础上,以轻型结构制作稳定平台框架结构设计,充分考虑了自稳台转体的质量、半径、体积等分布情况对动静单发直升机平台震动特性的影响。针对不同结构和材料对稳台摄录图像采集进行分析和理论研究,并着重对多自由度转台进行软件算法研究,减少外在硬件处理降噪问题的复杂度和外围电路的复杂度。
Based on digital aerial system of high stability UAV-cam. Achieved in a relatively weak external noise environment of high quality film has an important significance.In this paper, the perspective of the overall'design, and focused on the noise generated when the reasons for aerial and through mathematical calculation. It will affect the stability of the noise factor in aerial photography software algorithms and servo systems will shake the effective minimum. To designing a set of autonomous intelligent control and stability of active noise reduction gyro-stabilized head and software algorithms to enable the speed and angle ring ring loop, in order to achieve high stability and aerial photography. Consideration to the quality of self-stabilized units swivel radius, volume, distribution of the static single vibration characteristics of a helicopter platform.
Different structures and materials on the stability of Taiwan video image acquisition analysis and theoretical study. Focus on the multiple degrees of freedom for software algorithm turntable to reduce the external hardware processing and noise reduction of complexity and the complexity of the external circuit.
文中阐述了普便使用陀螺仪和力矩电机闭环稳定平台基础上,以轻型结构制作稳定平台框架结构设计,充分考虑了自稳台转体的质量、半径、体积等分布情况对动静单发直升机平台震动特性的影响。针对不同结构和材料对稳台摄录图像采集进行分析和理论研究,并着重对多自由度转台进行软件算法研究,减少外在硬件处理降噪问题的复杂度和外围电路的复杂度。
Based on digital aerial system of high stability UAV-cam. Achieved in a relatively weak external noise environment of high quality film has an important significance.In this paper, the perspective of the overall'design, and focused on the noise generated when the reasons for aerial and through mathematical calculation. It will affect the stability of the noise factor in aerial photography software algorithms and servo systems will shake the effective minimum. To designing a set of autonomous intelligent control and stability of active noise reduction gyro-stabilized head and software algorithms to enable the speed and angle ring ring loop, in order to achieve high stability and aerial photography. Consideration to the quality of self-stabilized units swivel radius, volume, distribution of the static single vibration characteristics of a helicopter platform.
Different structures and materials on the stability of Taiwan video image acquisition analysis and theoretical study. Focus on the multiple degrees of freedom for software algorithm turntable to reduce the external hardware processing and noise reduction of complexity and the complexity of the external circuit.
引文
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[30]. SZELISKIR. Video mosaics for virtual environments [J]. IEEE Computer Graphics and Applications,2006,16(2):22-30.
[2]. T. Tozer, D. Grace, J. Thomp son, P. Baynham. UAVs and HAPs-Potential Convergence for Military Communications, IEE Colloquium onMili2tary Satellite Communications,2000, Page (s):10/1-10/6
[3].罗卫兵,王永生.无人机平台的超视距多链路中继.遥测遥控,2003,24(2)：
[4].冯世璋.中国及邻近地区卫星通信电波传播研究及应用.电波科学学报,2003,8(2)：
[5].吴志忠.移动通信无线电波传播.北京：人民邮电出版社,2002.
[6]. Nodes A, Gallagher N C. Median filters:Some modifications antheir properties[J]. IEEE Transactions Acoustics Speech, Sign Processing, 2002,30(5):739-746.
[7]. Yin L, Yang R, Gabbou j M. Weighted median filters:A tutori[J]. IEEE Transactions on Circuits and Systems-Ⅱ:Analog an Signal Processing,1996,43(3):157-192.
[8]. LinHo-ming, W ilson A N. Median filters with adaptive length[J].EEE Transactions on Circuits and System,2008,35(6):67-690.
[9]. Sun Tong, NeuvoY. Detail-preserv in gmedian based filters in image processing[J]. Pattern Recognition Letters,2004,15(4):34-347.
[10].陈硕,安常青,李学农,分布式入侵检测系统及其认知能力软件学报,2001,12
[11]. Warren R E, Sparks M. [J]. Appl. Phys,1979 (50):7952-7959
[12].Bechetel J H. [J]. Appl.Mech.1972 (43):577-583
[13]. EI-Adawi K M, Shalaby A S. Laser heating and melting of thin films with time-dependent absorptance: An exact solution for time intervals less than of equal to the transit
[14].Efimov 0 M, Glebov L B, Popikov V S. Laser-induced damage of glasses by pulsed radiation in nano-picsecond region[A]. Proc of SPIE[C],2006,2770:162-167.
[15].吕百达.激光光学-激光束的传输变换和光束质量控制[M].成都：四川大学出版社,2002.
[16].倪晓昌.王清月.飞秒激光烧蚀研究进展.激光与光电子学进展,2002,39(9)：4-9
[17]. Fan C H, Sun J,Longtin J P. Plasma absorption of femtosecond laser pulses in dielectrics. Journal of Heat Tranfer,2002,124(4):275-283
[18]. Geman S, Geman D. Stochastic relaxation, Gibbs distributions, anthe Bayesian restoration of images[J]. IEEE Transactions on PatterAnalysis andMachine Intelligence,2004,6(6):721-741.
[19]. Maragos P. A representation theory for morphological image ansignal processing[J]. IEEE Transactions on Pattern Analysis anMachine Intelligence,1989,11(6):586-599.
[21]. HARRIS C, STEPHENSM. A combined comer and edge detector[C]//Proceedings of the 4thAlveyVision Conference. Plessey, United Kingdom:Alvey Vision Conference,2008:147-151.
[22].仵建宁,郭宝龙,冯宗哲.一种基于兴趣点匹配的图像拼接方法[J].计算机应用,2009,28(3)：610-612.
[23]. LOWE D G. Object recognition from local scale-invariant features[C]//Proceeding of ICCV. Piscataway, NJ, USA:Institute of Electrical and Electronics Engineers Inc.,2009,2:1150-1157.
[24]. LOWE D G. Distinctive image features from scale-invariant key-points[J]. International Journal of Computer Vision,200460(2):91-110.
[25]. FISCHLERM A, BOLLESR C. Random sample consensus:Apar-adigm form odel fitting with application to image analysis and auto-mated cartography[J]. Communications of the ACM,2001,24(6):381-395.
[26]. TSAIR TH, ZHUW L. Estimating three-dimensional motion parameters of a rigid planar patch, II:singular value decomposition[J]. IEEE Transaction on Acoustic, Speech and SignalProcessing,2000,30(8):525-524.
[27]. HARTLEY R I, ZISSERMANA. Multiple view geometry in computer vision [M].2nd ed. Cambridge, UK:Cambridge UniversityPress, 2004.
[28]. SHAKERNIA O, VIDAL R, CSHARP Cetal Multiple viewmotion estimation and control for landing an aerial vehicle[C]//Pro-ceedings of ICRA2002. Piscataway, NJ, USA:Institute of Electrical and Electronics Engineers Inc,2002,3:2793-2798.
[30]. SZELISKIR. Video mosaics for virtual environments [J]. IEEE Computer Graphics and Applications,2006,16(2):22-30.