用于无人机地面站的三维场景增强感知方法

张佳明; 刘贵喜; 姚李阳; 方兰兰; 李斯

doi:10.3788/OPE.20152313.0799

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用于无人机地面站的三维场景增强感知方法

更新时间：2020-08-13

- 用于无人机地面站的三维场景增强感知方法
- Enhanced sensing method for 3D scene in UAV ground station
- 光学精密工程 2015年23卷第10z期页码：798-805
- 作者机构：
  
  西安电子科技大学机电工程学院,陕西西安,710071
- 作者简介：
- 基金信息：
  
  国防预研基金资助项目(No.Y420150401XX)();国家部委十二五科技计划资助项目(No.Y31011040315)();中央高校基本科研业务费专项资金资助项目
- DOI：10.3788/OPE.20152313.0799
  中图分类号： TP391.4
- 收稿日期：2015-06-02，
  
  修回日期：2015-06-30，
  
  纸质出版日期：2015-11-14
- 稿件说明：
移动端阅览
张佳明, 刘贵喜, 姚李阳等. 用于无人机地面站的三维场景增强感知方法[J]. 光学精密工程, 2015,23(10z): 798-805

ZHANG Jia-ming, LIU Gui-xi, Yao Li-yang etc. Enhanced sensing method for 3D scene in UAV ground station[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 798-805
张佳明, 刘贵喜, 姚李阳等. 用于无人机地面站的三维场景增强感知方法[J]. 光学精密工程, 2015,23(10z): 798-805 DOI： 10.3788/OPE.20152313.0799.

ZHANG Jia-ming, LIU Gui-xi, Yao Li-yang etc. Enhanced sensing method for 3D scene in UAV ground station[J]. Editorial Office of Optics and Precision Engineering, 2015,23(10z): 798-805 DOI： 10.3788/OPE.20152313.0799.

摘要

面向无人直升机的低空飞行、着陆和悬停

提出了一种用于无人机地面站的三维场景增强感知方法。针对复杂的低空环境

为三维场景的地形数据构建了多层次调用准则

以此增加三维场景的局部细节。然后

为障碍物数据库中的障碍物设计了三维保形符号

实现了对障碍物的增强感知;引入动态感知思想

设计了垂直剖面显示、路径指示以及能够实时提示飞行安全的保护符。最后

提出增强合成视景

实现了三维场景增强感知系统。选择低空进场和近地侦查两种应用进行了实验。结果表明

利用本文方法为地面站的三维场景显示提供增强感知

三维场景显示画面的帧率至少可达32 Hz。本文方法能够有效地简化三维场景的数据

降低场景信息的理解难度

提高障碍物的识别速度

有效地提升无人机操控人员的态势感知。

Abstract

For low-flying

landing and hovering of a Unmanned Aerial Vehicle(UAV)

a method of 3D scene enhanced sensing method for an UAV ground station was proposed. In consideration of a complex low flying environment

a multi-level calling guideline was established for the terrain data of the 3D scene

and then the local details of the 3D scene were increased. Then

a 3D conformal symbol of the obstacle from the database was designed

the enhanced sensing of the obstacle was achieved. A dynamic perception idea was introduced

and the vertical profile display

route presentation as well as the protection symbol were designed for flight safety in real time. Finally

enhanced synthetic vision was proposed

and the 3D scene enhanced sensing system was implemented. The low-altitude approach and near ground investigation were selected as experiments. Results show that the proposed method can provide the enhanced sensing for 3D scene display of the UAV ground station and the frame of scene display is at least 32 Hz. This method simplifies the data from the 3D scene

reduces the difficulty of understanding the scene information

improves recognition speed

and effectively promotes situational awareness of the UAV control personnel.

关键词

Keywords

references

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