摘要
在突发应急场景下,需要快速获取现场的全局态势图像,为后续的评估决策做依据。蜂群无人机具有数量多、成本低、成像快等优点,广泛应用在军用领域。本文对蜂群无人机协同侦察应用到应急遥感领域进行了探索,并构建了蜂群无人机遥感数字仿真验证系统,对蜂群无人机的编队协同、航路规划、多路视频协同拼接进行了研究和仿真验证。针对多路视频帧间重叠率不稳定的问题,提出了自适应动态采样算法,以维持不同重叠率下拼接算法整体效率的幂等性。并针对应景场景下视频流的不稳定特点,提出一种断点重拼算法,可保证在恶劣拍摄环境下,降低拼接精度下保持算法的可用性。结果表明:蜂群无人机可以准实时构建现场的全局态势图像,本文可为蜂群无人机应用在应急遥感领域提供的技术支撑。
In unexpected emergency response scenarios,it is necessary to quickly obtain global situational images of the scene for subsequent assessment and decision-making.Swarm UAVs have the advantages of large number,low cost and fast imaging,and are widely used in military fields.This paper explores the application of swarm UAV cooperative reconnaissance to the field of emergency remote sensing,and constructs a swarm UAV remote sensing digital simulation and verification system,which researches and simulates and verifies the swarm UAV′s formation coordination,airway planning,and cooperative splicing of multi-channel video.Aiming at the problem of unstable overlap rate between multiple video frames,an adaptive dynamic sampling algorithm is proposed to maintain the idempotence of the overall efficiency of the splicing algorithm under different overlap rates.Subsequently,for the unstable characteristics of video streams in response scenes,a breakpoint re-splicing algorithm is proposed to ensure that the availability of the algorithm can be maintained at the expense of splicing accuracy in poor shooting environments.The results show that:swarm UAVs can construct a global situational image of the scene in quasi real-time,and this paper can provide technical support for the application of swarm UAVs in the field of remote sensing in emergency response.
作者
刘健
陈何伟
曾国奇
Liu Jian;Chen Hewei;Zeng Guoqi(Chinese Aeronautical Radio Electronics Research Institute,Shanghai 200233,China;School of Electronic Information Engineering,Beihang University,Beijing 100191,China;Institute of Unmanned System,Beihang University,Beijing 100191,China)
出处
《电子测量技术》
北大核心
2024年第13期18-26,共9页
Electronic Measurement Technology
基金
国家重点研发计划项目(2021YFC3002105)资助。
关键词
无人机
协同侦察
航路规划
图像拼接
多端应用
UAV
coordinated reconnaissance
route planning
image stitching
multiterminal
