Disclosure of Invention
In order to at least overcome the above-mentioned shortcomings in the prior art, the present application aims to provide a method and a system for identifying a target of a traversing machine in a strong interference environment.
In a first aspect, an embodiment of the present application provides a method for identifying a target of a traversing machine in a strong interference environment, including:
distributing traversing machines to a plurality of units according to the position of an operation target, wherein each unit at least comprises three traversing machines;
constructing an operation plan according to the operation targets of the traversing machines in the unit, and sending the operation plan to the corresponding traversing machines;
When the unit executes the operation plan, the traversing machine extracts the characteristic data of the received GPS signals;
the traversing machine compares the characteristic data of all traversing machines in the unit and judges the GPS interference condition of the traversing machines according to the characteristic data;
The traversing machines in the same unit continuously carry out GPS correction on the traversing machines subjected to GPS interference according to the GPS interference condition until the unit reaches an operation target identification point; the operation target identification point is a point position which can be identified to the operation target through an image;
and the traversing machine identifies the operation target through image identification and completes the operation.
When the embodiment of the application is implemented, various adaptation needs to be performed on the traversing machine in the embodiment of the application, firstly, near field communication between two traversing machines, such as short-range wireless communication, short-range optical signal communication and the like, is realized, wherein the short-range optical signal communication with stronger anti-interference is preferable; secondly, the azimuth ranging between two traversing machines, such as ultrasonic positioning and far infrared positioning, needs to be realized, and the method and the device belong to the prior art, and the embodiment of the application is not limited. In order to realize automatic navigation of crossing machines interfered by GPS, in the embodiment of the application, at least three crossing machines are required to be divided into the same unit when planning an operation route, so that mutual positioning under an interference environment is realized to reach a target point. In the process of realizing the technology of the embodiment of the application, the inventor finds that GPS interference on the crossing machine is mainly realized by generating false signals for each frequency band of the GPS, and the GPS interference can be realized by various portable equipment or various manned and unmanned equipment carrying a GPS interference device, so that the situation that all crossing machines in one unit are interfered is extremely rare in general, and the situation that only one crossing machine is interfered in general, and therefore, mutual compensation of GPS positioning can be carried out by a multi-machine team mode; for the operation plan, it only needs to make all traversing machines in the unit reach the operation target identification point to perform the final identification and operation.
When the embodiment of the application is implemented, the traversing machine is required to extract the characteristics of the GPS signals received by the traversing machine when executing the operation plan, the characteristics related to satellites can be generally extracted, such as the number, the elevation angle, the azimuth angle and other data of the visible satellites, and the traversing machine distance in the same machine set after grouping is required to be smaller than a preset value to realize communication and positioning, so the characteristic data of the GPS signals received by the traversing machine in the same machine set are generally considered to be similar, and the traversing machine with GPS interference can be found out by comparing the characteristic data.
In the embodiment of the application, the non-interfered traversing machines in the same unit can provide corresponding position correction information for the interfered traversing machines, such as the completion of GPS signals or the accurate positioning of the positions through the relative positions among the traversing machines. It should be understood that, for a unit, the interfered traversing machine may change, and the above technical solution may be adopted to correct the position of the new interfered unmanned aerial vehicle. The process is continuously operated, and the unit can be guided to a preset point position capable of carrying out image recognition so as to finish subsequent operation. The image recognition process belongs to the prior art, the embodiment of the application is not limited, the traversing machine is used as the tail end operation process of the unmanned aerial vehicle, and the embodiment of the application is not limited. By the technical scheme, the traversing machine can complete the established operation task under the condition of GPS interference, the applicability of the traversing machine is effectively improved, and the traversing machine has extremely strong resistance to common GPS interference and also has extremely strong resistance to electromagnetic interference blocking communication signals.
In a specific implementation, the distributing the traversing machine to the plurality of units according to the position of the operation target includes:
Obtaining the visible distance of the region where the operation target is located and the coordinate points of a plurality of operation targets;
Constructing a plurality of circular areas corresponding to different operation targets by taking the coordinate point as a circle center and the visible distance as a radius;
and selecting the operation target identification points at the overlapping areas of at least three circular areas, and distributing the operation targets corresponding to the operation target identification points to different traversing machines in the same unit.
In a specific implementation, constructing a job plan according to the job objectives of each traversing machine in the unit includes:
and constructing a flight route by taking the operation target identification point as the last anchor point before reaching the operation target to form the operation plan.
In a specific implementation manner, the extracting, by the traversing machine, the characteristic data of the received GPS signal includes:
The traversing machine extracts visible satellite information in the GPS signal as the characteristic data.
In a specific implementation manner, the traversing machine compares feature data of all traversing machines in the unit, and judges the GPS interference condition of the traversing machine according to the feature data, including:
the traversing machines receive the characteristic data of all traversing machines in the same unit, and select traversing machines with the completely same characteristic data as reference traversing machines, and select traversing machines with different characteristic data from the reference traversing machines as abnormal traversing machines;
And taking the abnormal traversing machine as a traversing machine interfered by the GPS.
In a specific implementation manner, the continuous GPS correction of the traversing machine subject to GPS interference by the traversing machine in the same unit according to the GPS interference condition until the unit reaches the operation target identification point includes:
The abnormal traversing machine measures azimuth angles and distances of the abnormal traversing machine and at least one reference traversing machine as relative position parameters through a near-field ultrasonic radar or an infrared radar;
the abnormal traversing machine receives GPS positioning information of the reference traversing machine and calculates actual positioning information of the abnormal traversing machine according to the relative position parameters and the GPS positioning information;
And the abnormal traversing machine navigates to the operation target identification point according to the actual positioning information.
In a second aspect, an embodiment of the present application further provides a target recognition system for a traversing machine in a strong interference environment, including:
the distribution unit is configured to distribute the traversing machines into a plurality of units according to the position of the operation target, and each unit at least comprises three traversing machines;
A construction unit configured to construct a job plan according to a job target of each traversing machine in the unit, and send the job plan to the corresponding traversing machine;
the traversing machine is configured to:
When the unit executes the operation plan, extracting characteristic data of the received GPS signals;
comparing the characteristic data of all crossing machines in the unit, and judging the GPS interference condition of the crossing machines according to the characteristic data;
continuously performing GPS correction on the traversing machine subjected to GPS interference according to the GPS interference condition until the machine set reaches an operation target identification point; the operation target identification point is a point position which can be identified to the operation target through an image;
And identifying the operation target through image identification, and completing the operation.
In a specific implementation, the traversing machine is further configured to:
And extracting visible satellite information in the GPS signal as the characteristic data.
In a specific implementation, the traversing machine is further configured to:
Receiving the characteristic data of all traversing machines in the same unit, selecting traversing machines with the completely same characteristic data as reference traversing machines, and selecting traversing machines with different characteristic data from the reference traversing machines as abnormal traversing machines;
And taking the abnormal traversing machine as a traversing machine interfered by the GPS.
In a specific implementation, the traversing machine is further configured to:
The abnormal traversing machine measures azimuth angles and distances of the abnormal traversing machine and at least one reference traversing machine as relative position parameters through a near-field ultrasonic radar or an infrared radar;
the abnormal traversing machine receives GPS positioning information of the reference traversing machine and calculates actual positioning information of the abnormal traversing machine according to the relative position parameters and the GPS positioning information;
And the abnormal traversing machine navigates to the operation target identification point according to the actual positioning information.
Compared with the prior art, the invention has the following advantages and beneficial effects:
According to the target identification method and system of the traversing machine in the strong interference environment, through the technical scheme, the traversing machine can complete the established operation task under the condition of GPS interference, the applicability of the traversing machine is effectively improved, the traversing machine has extremely strong resistance to common GPS interference, and the traversing machine also has extremely strong resistance to electromagnetic interference blocking communication signals.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Furthermore, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
On the basis of the foregoing, please refer to fig. 1 in combination, which is a flow chart of a method for identifying a target of a traversing machine in a strong interference environment according to an embodiment of the present invention, further, the method for identifying a target of a traversing machine in a strong interference environment may specifically include the following steps S1 to S6.
In a first aspect, an embodiment of the present application provides a method for identifying a target of a traversing machine in a strong interference environment, including:
S1: distributing traversing machines to a plurality of units according to the position of an operation target, wherein each unit at least comprises three traversing machines;
s2: constructing an operation plan according to the operation targets of the traversing machines in the unit, and sending the operation plan to the corresponding traversing machines;
S3: when the unit executes the operation plan, the traversing machine extracts the characteristic data of the received GPS signals;
s4: the traversing machine compares the characteristic data of all traversing machines in the unit and judges the GPS interference condition of the traversing machines according to the characteristic data;
S5: the traversing machines in the same unit continuously carry out GPS correction on the traversing machines subjected to GPS interference according to the GPS interference condition until the unit reaches an operation target identification point; the operation target identification point is a point position which can be identified to the operation target through an image;
s6: and the traversing machine identifies the operation target through image identification and completes the operation.
When the embodiment of the application is implemented, various adaptation needs to be performed on the traversing machine in the embodiment of the application, firstly, near field communication between two traversing machines, such as short-range wireless communication, short-range optical signal communication and the like, is realized, wherein the short-range optical signal communication with stronger anti-interference is preferable; secondly, the azimuth ranging between two traversing machines, such as ultrasonic positioning and far infrared positioning, needs to be realized, and the method and the device belong to the prior art, and the embodiment of the application is not limited. In order to realize automatic navigation of crossing machines interfered by GPS, in the embodiment of the application, at least three crossing machines are required to be divided into the same unit when planning an operation route, so that mutual positioning under an interference environment is realized to reach a target point. In the process of realizing the technology of the embodiment of the application, the inventor finds that GPS interference on the crossing machine is mainly realized by generating false signals for each frequency band of the GPS, and the GPS interference can be realized by various portable equipment or various manned and unmanned equipment carrying a GPS interference device, so that the situation that all crossing machines in one unit are interfered is extremely rare in general, and the situation that only one crossing machine is interfered in general, and therefore, mutual compensation of GPS positioning can be carried out by a multi-machine team mode; for the operation plan, it only needs to make all traversing machines in the unit reach the operation target identification point to perform the final identification and operation.
When the embodiment of the application is implemented, the traversing machine is required to extract the characteristics of the GPS signals received by the traversing machine when executing the operation plan, the characteristics related to satellites can be generally extracted, such as the number, the elevation angle, the azimuth angle and other data of the visible satellites, and the traversing machine distance in the same machine set after grouping is required to be smaller than a preset value to realize communication and positioning, so the characteristic data of the GPS signals received by the traversing machine in the same machine set are generally considered to be similar, and the traversing machine with GPS interference can be found out by comparing the characteristic data.
In the embodiment of the application, the non-interfered traversing machines in the same unit can provide corresponding position correction information for the interfered traversing machines, such as the completion of GPS signals or the accurate positioning of the positions through the relative positions among the traversing machines. It should be understood that, for a unit, the interfered traversing machine may change, and the above technical solution may be adopted to correct the position of the new interfered unmanned aerial vehicle. The process is continuously operated, and the unit can be guided to a preset point position capable of carrying out image recognition so as to finish subsequent operation. The image recognition process belongs to the prior art, the embodiment of the application is not limited, the traversing machine is used as the tail end operation process of the unmanned aerial vehicle, and the embodiment of the application is not limited. By the technical scheme, the traversing machine can complete the established operation task under the condition of GPS interference, the applicability of the traversing machine is effectively improved, and the traversing machine has extremely strong resistance to common GPS interference and also has extremely strong resistance to electromagnetic interference blocking communication signals.
In a specific implementation, the distributing the traversing machine to the plurality of units according to the position of the operation target includes:
Obtaining the visible distance of the region where the operation target is located and the coordinate points of a plurality of operation targets;
Constructing a plurality of circular areas corresponding to different operation targets by taking the coordinate point as a circle center and the visible distance as a radius;
and selecting the operation target identification points at the overlapping areas of at least three circular areas, and distributing the operation targets corresponding to the operation target identification points to different traversing machines in the same unit.
When the embodiment of the application is implemented, in the construction of the operation target identification points, a region coverage mode is selected, wherein the region drawing is required to be carried out by taking the coordinate point of the operation target as the center of a circle, and the overlapping region of at least three circular regions is found out. In the process of traversing the machine, a plurality of operation targets are generally selected in a certain area, and the plurality of operation targets can generate at least one overlapping area to select an operation target identification point so as to further carry out subsequent route planning.
In a specific implementation, constructing a job plan according to the job objectives of each traversing machine in the unit includes:
and constructing a flight route by taking the operation target identification point as the last anchor point before reaching the operation target to form the operation plan.
When the embodiment of the application is implemented, the last anchor point is the operation target when the flight route is constructed, the last anchor point before reaching the operation target is required to adopt the operation target identification point, and after the flight route is constructed, the task for identifying the target image is required to be given at the operation target identification point so as to form a final operation plan.
In a specific implementation manner, the extracting, by the traversing machine, the characteristic data of the received GPS signal includes:
The traversing machine extracts visible satellite information in the GPS signal as the characteristic data.
In a specific implementation manner, the traversing machine compares feature data of all traversing machines in the unit, and judges the GPS interference condition of the traversing machine according to the feature data, including:
the traversing machines receive the characteristic data of all traversing machines in the same unit, and select traversing machines with the completely same characteristic data as reference traversing machines, and select traversing machines with different characteristic data from the reference traversing machines as abnormal traversing machines;
And taking the abnormal traversing machine as a traversing machine interfered by the GPS.
When the embodiment of the application is implemented, at least three traversing machines are selected as a unit, and the main purpose is to find out the reference traversing machine and the abnormal traversing machine in a comparison mode, and under the condition of electromagnetic environment change, identities of the reference traversing machine and the abnormal traversing machine are also exchanged frequently, so that the process is a continuously executed process.
In a specific implementation manner, the continuous GPS correction of the traversing machine subject to GPS interference by the traversing machine in the same unit according to the GPS interference condition until the unit reaches the operation target identification point includes:
The abnormal traversing machine measures azimuth angles and distances of the abnormal traversing machine and at least one reference traversing machine as relative position parameters through a near-field ultrasonic radar or an infrared radar;
the abnormal traversing machine receives GPS positioning information of the reference traversing machine and calculates actual positioning information of the abnormal traversing machine according to the relative position parameters and the GPS positioning information;
And the abnormal traversing machine navigates to the operation target identification point according to the actual positioning information.
When the embodiment of the application is implemented, the abnormal traversing machine needs to measure the azimuth angle and the distance of the abnormal traversing machine and a certain reference traversing machine through equipment which is not easy to be interfered by electromagnetic waves, such as an ultrasonic radar and/or an infrared radar, and then the GPS positioning information of the reference traversing machine is used for carrying out reverse positioning and resolving, so as to calculate the current position of the abnormal traversing machine, and further navigation is carried out, and the resolving and measuring process needs to be continued until the operation target identification point is reached. The calculation process can be realized through a coordinate matrix under the condition that the GPS positioning information of the reference traversing machine is known, and the method belongs to the prior art, and the embodiment of the application is not limited. In this way, the positioning can be performed in an environment with other strong electromagnetic interference, wherein the abnormal traversing machine receives the GPS positioning information of the reference traversing machine and can also be realized through optical communication.
In a second aspect, an embodiment of the present application further provides a target recognition system for a traversing machine in a strong interference environment, including:
the distribution unit is configured to distribute the traversing machines into a plurality of units according to the position of the operation target, and each unit at least comprises three traversing machines;
A construction unit configured to construct a job plan according to a job target of each traversing machine in the unit, and send the job plan to the corresponding traversing machine;
the traversing machine is configured to:
When the unit executes the operation plan, extracting characteristic data of the received GPS signals;
comparing the characteristic data of all crossing machines in the unit, and judging the GPS interference condition of the crossing machines according to the characteristic data;
continuously performing GPS correction on the traversing machine subjected to GPS interference according to the GPS interference condition until the machine set reaches an operation target identification point; the operation target identification point is a point position which can be identified to the operation target through an image;
And identifying the operation target through image identification, and completing the operation.
In a specific implementation, the traversing machine is further configured to:
And extracting visible satellite information in the GPS signal as the characteristic data.
In a specific implementation, the traversing machine is further configured to:
Receiving the characteristic data of all traversing machines in the same unit, selecting traversing machines with the completely same characteristic data as reference traversing machines, and selecting traversing machines with different characteristic data from the reference traversing machines as abnormal traversing machines;
And taking the abnormal traversing machine as a traversing machine interfered by the GPS.
In a specific implementation, the traversing machine is further configured to:
The abnormal traversing machine measures azimuth angles and distances of the abnormal traversing machine and at least one reference traversing machine as relative position parameters through a near-field ultrasonic radar or an infrared radar;
the abnormal traversing machine receives GPS positioning information of the reference traversing machine and calculates actual positioning information of the abnormal traversing machine according to the relative position parameters and the GPS positioning information;
And the abnormal traversing machine navigates to the operation target identification point according to the actual positioning information.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The elements described as separate components may or may not be physically separate, and it will be apparent to those skilled in the art that elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the elements and steps of the examples have been generally described functionally in the foregoing description so as to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a grid device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-only memory (ROM), a random access memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.