Geo-location or navigation camera, and aircraft and navigation method therefor
First Claim
1. An aircraft, comprising a navigation system, the navigation system comprises a camera and a controller;
- wherein an image capturing apparatus of the camera is configured for capturing an image when the aircraft is flying;
the controller comprises an acquisition module and a correction module;
the acquisition module is configured for acquiring a set of reference images for displaying a designated flying route;
the correction module is configured for comparing an image newly captured by the image capturing apparatus with the set of reference images when the aircraft is flying, and correcting the current flying route of the aircraft,wherein the aircraft flies toward a location corresponding to a GPS positioning signal, and during the flight of the aircraft toward the location, the image capturing apparatus takes pictures of an area where a reference target is located to obtain a reference image, and an aircraft body of the aircraft extracts from the reference image initial position information of the reference target in the reference image,if the image capturing apparatus arranged on the aircraft body acquires a temporary image showing a temporary target, the aircraft body extracts from the temporary image temporary position information of the temporary target in the temporary image,the image capturing apparatus searches for a similar target in real time in the temporary image and extract a reference feature of the similar target, and if the reference feature is consistent with one of a plurality of temporary image features of the temporary target, the similar target is regarded as a candidate target in a target group,the image capturing apparatus acquires and calculates provisional coordinate information, first provisional scale information and second provisional scale information of the similar target, wherein the first and second provisional scale information are a width and height value of the similar target in the temporary image respectively;
if the image capturing apparatus detects the target group and the image capturing apparatus tracks the temporary target, the provisional coordinate information, the first provisional scale information, and the second provisional scale information of all the candidate targets in the target group are weighted with the temporary position information, first temporary scale information and second temporary scale information of the temporary target respectively, and the result of the weighting calculation is output to the image capturing apparatus to display the result of the weighting calculation.
0 Assignments
0 Petitions
Accused Products
Abstract
Provided are a geo-location or navigation camera, and an aircraft and a navigation method therefor. The geo-location or navigation camera comprises an image capturing apparatus (15), an image capturing direction of the image capturing apparatus (15) being vertically downward. The camera further comprises a gimbal stability-enhancement system comprising a gimbal body and a gimbal control system connected to the gimbal body. The image capturing apparatus (15) is arranged on the gimbal body. By means of the balance control and shock absorption effects of the gimbal stability-enhancement system, the stability of the image capturing apparatus (15) is better, and the image capturing direction of the image capturing apparatus (15) is maintained to be always vertically downward. The aircraft can still be navigated without a GPS. The method has advantages of being highly accurate and widely applicable.
-
Citations
22 Claims
-
1. An aircraft, comprising a navigation system, the navigation system comprises a camera and a controller;
-
wherein an image capturing apparatus of the camera is configured for capturing an image when the aircraft is flying;
the controller comprises an acquisition module and a correction module;the acquisition module is configured for acquiring a set of reference images for displaying a designated flying route; the correction module is configured for comparing an image newly captured by the image capturing apparatus with the set of reference images when the aircraft is flying, and correcting the current flying route of the aircraft, wherein the aircraft flies toward a location corresponding to a GPS positioning signal, and during the flight of the aircraft toward the location, the image capturing apparatus takes pictures of an area where a reference target is located to obtain a reference image, and an aircraft body of the aircraft extracts from the reference image initial position information of the reference target in the reference image, if the image capturing apparatus arranged on the aircraft body acquires a temporary image showing a temporary target, the aircraft body extracts from the temporary image temporary position information of the temporary target in the temporary image, the image capturing apparatus searches for a similar target in real time in the temporary image and extract a reference feature of the similar target, and if the reference feature is consistent with one of a plurality of temporary image features of the temporary target, the similar target is regarded as a candidate target in a target group, the image capturing apparatus acquires and calculates provisional coordinate information, first provisional scale information and second provisional scale information of the similar target, wherein the first and second provisional scale information are a width and height value of the similar target in the temporary image respectively; if the image capturing apparatus detects the target group and the image capturing apparatus tracks the temporary target, the provisional coordinate information, the first provisional scale information, and the second provisional scale information of all the candidate targets in the target group are weighted with the temporary position information, first temporary scale information and second temporary scale information of the temporary target respectively, and the result of the weighting calculation is output to the image capturing apparatus to display the result of the weighting calculation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
-
-
13. A navigation method for an aircraft comprising a camera, an image capturing apparatus of the camera is configured for capturing an image when the aircraft is flying;
-
wherein the navigation method comprises; a step S1 of acquiring a set of reference images for displaying a designated flying route; a step S2 of comparing an image newly captured by the image capturing apparatus with the set of reference images when the aircraft is flying, and correcting the current flying route of the aircraft, wherein the aircraft flies toward a location corresponding to a GPS positioning signal, and the navigation method further comprises;
during the flight of the aircraft toward the location, taking pictures, by the image capturing apparatus, of an area where a reference target is located to obtain a reference image;
extracting, by an aircraft body of the aircraft, from the reference image initial position information of the reference target in the reference image; and
if the image capturing apparatus arranged on the aircraft body acquires a temporary image showing a temporary target, extracting, by the aircraft body, from the temporary image temporary position information of the temporary target in the temporary image;wherein the navigation method further comprises;
searching for, by the image capturing apparatus, a similar target in real time in the temporary image and extracting a reference feature of the similar target, and if the reference feature is consistent with one of a plurality of temporary image features of the temporary target, regarding the similar target as a candidate target in a target group,wherein the navigation method further comprises;
acquiring and calculating, by the image capturing apparatus, provisional coordinate information, first provisional scale information and second provisional scale information of the similar target, wherein the first and second provisional scale information are a width and height value of the similar target in the temporary image respectively; and
if the image capturing apparatus detects the target group and the image capturing apparatus tracks the temporary target, weighting the provisional coordinate information, the first provisional scale information, and the second provisional scale information of all the candidate targets in the target group with the temporary position information, first temporary scale information and second temporary scale information of the temporary target respectively, and outputting the result of the weighting calculation to the image capturing apparatus to display the result of the weighting calculation. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
-
Specification