面向无人机平台的树障测距图像标定系统设计

Design of tree obstacle ranging image calibration system for UAV platform

针对当前树障测距图像标定系统测距结果准确性较低、测距时间过长的问题,设计了面向无人机平台的树障测距图像标定系统。硬件部分采用雷达传感器外部时钟源,根据内部PLL,为硬件电路提供参考时钟,利用SPI总线外连M45PE16串行闪存,控制硬件运行时间;软件部分根据视频流的编码方式,制定视频流的无线传输方案,整合视频信号编码后的数据,计算灭点成像的低序参数,形成图像标定方法,最终完成标定系统的设计。实验结果表明,设计的树障测距图像标定系统能够有效提高测距结果准确性,缩短测距时间。

In order to tackle the problems of low accuracy and long ranging time of tree obstacle ranging image calibration system,a tree obstacle ranging image calibration system for UAV platform is designed.The hardware part uses the external clock source of radar sensor,and based on the internal PLL,the reference clock is provided for the hardware circuit.The SPI bus is used to connect M45PE16 serial flash memory to control the hardware running time.According to the coding mode of video stream,the software part formulates the wireless transmission scheme of video stream,integrates the encoded data of video signal,calculates the low order parameters of vanishing point imaging,forms the image calibration method,all of which complete the design of calibration system.Experiment results show that the method can effectively improve the accuracy of ranging results and shorten the ranging time.