JP2001356170A - Moving body measuring device using video camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve such defects that high-precision measurement is infeasible for the measurement of a moving body target from a ship on the sea when the moving body target is moved from the center of a screen and the measurement is affected by waves and swells in the past. SOLUTION: This moving body measuring device using a video camera comprises the video camera photographing the moving body target, an image processing device processing the image from the video camera, a range finding device measuring the distance to the moving body target, a GPS(global positioning system) measuring the positions, directions, and heights of the video camera and the range finding device, and a stabilizing device supporting them and including a three-axis gyroscope and a three-axis angular sensor of its gimbal. When the image of the moving body target is moved from the center of the screen, the distance between the screen center and the moving body target is measured by the distance signal to the moving body target, the range measurement signals measuring the positions of the video camera and the range finding device with the GPS, and the space stability signal from the stabilizing device, and this measured value is corrected by the three-axis angular signal from the stabilizing device.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object measuring apparatus using a video camera, and more particularly to a moving object measuring apparatus using a video camera mounted on a ship.

[0002]

2. Description of the Related Art Conventionally, a video camera has been used to measure the movement of a target of a moving body, for example, to measure the movement of a flying boat on and off, measure the movement of a moving ship, and measure the movement of a buoy. .

Conventionally, this type of measurement is recorded by a video camera or the like and image analysis is performed, while the motion data of a ship equipped with these measuring devices is analyzed, and an analysis method of correcting the image data later is employed. Therefore, when the image of the moving object target deviates from the center on the screen of the video camera, it is necessary to calculate and correct the amount of movement to the center on the screen.

[0004]

However, since the range of the distance measuring device that measures the target of the moving object is wide, the accuracy is deteriorated, which is an error. In addition, instant matching with an image of a video camera, such as an ocean current and a moving amount of a ship, is impossible, and this also causes an error. In addition, it was difficult to correct the effects of vertical movement due to waves and swells received by ships.

[0005] The present invention has been made to eliminate the above-mentioned disadvantages.

[0006]

SUMMARY OF THE INVENTION A moving object measuring apparatus using a video camera according to the present invention comprises: a video camera for photographing a moving object; an image processing apparatus for processing an image from the video camera; Distance measuring device to measure distance, GPS to measure position, direction and altitude of video camera and distance measuring device
And a stabilizing device including a three-axis gyro and a gimbal three-axis angle sensor that support them. When the image of the moving target deviates from the center of the screen, the distance between the center of the screen and the target of the moving body is determined. A distance signal measured by the distance measuring device and the distance to the moving object, a positioning signal obtained by measuring the position of the video camera and the distance measuring device by GPS, and a spatial stability signal from the stabilizing device. The measurement value is corrected by a correction signal from the three-axis angle sensor.

[0007] The moving target is located at the center (M) on the screen.
Distance from the ranging position (I) to the target position
Release (L_IM) (M) is shifted from the center (M) on the screen.
Distance from moving target position (T) to ranging position (I)
(L_IT) (M), the center (M) on the screen and the
Distance to position (T) (L_MT) (M) from Equation 3
In addition, the inertial coordinates N.D. E. FIG. Position at D
Is λ_m= Λ_I(Deg) + L_IM(M) cos P cos H / λ ',
φ_m= Φ_I(Deg) + L_IM(M) cos P sin H / φ ', h _m=
h_I(Deg) + L_IM(M) sin P
The position coordinates of the target are represented by Expression 4.

[0008]

(Equation 3)

[0009]

(Equation 4)

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIG. 1, a moving object measuring apparatus according to the present invention is provided with a video camera 1 mounted on a ship for photographing a moving object, and an image processing apparatus for processing an image signal 1a from the video camera 1. 1b, a distance measuring device 2 for measuring a distance to a moving object target, a GPS 3 for measuring the position, orientation, and altitude of the video camera 1 and the distance measuring device 2, and a three-axis gyro 4 and both supporting them. It comprises a stabilizer 6 including a gimbal three-axis angle sensor 5.

In the present invention, when the moving object is deviated from the center on the screen of the video camera 1 while the moving object is being photographed by the video camera 1, the moving object is photographed by the video camera 1. The image signal 1a is processed by the image processing device 1b, and the distance of the moving object target deviated from the center of the screen is set as a distance signal 1c, the distance to the moving object target is measured by the distance measuring device 2, the distance signal 2a is measured, and the GPS 3 is used for positioning. The obtained azimuth, position, and altitude are used as a positioning signal 3a, and are added to the arithmetic unit 7 together with the spatial stability signal 4a obtained by the three-axis gyro 4 of the video camera, the distance measuring device, and the stabilizer 6 supporting the GPS.

A correction signal 7a obtained by arithmetic processing by the arithmetic unit 7 is applied to the stabilizer 6, and a three-axis angle signal 5a of the gimbal pitch angle, yaw angle and roll angle obtained by the angle sensor 5 is calculated by the arithmetic unit 7. 7 so that the corrected measurement signal is taken out from the output terminal 8 of the arithmetic unit 7.

In the present invention, the position coordinates for obtaining the distance between the moving object target and the center of the screen when the moving object target deviates from the center of the screen on the screen of the video camera 1 are as shown in FIG.

In FIG. 2, when the target of the moving object is at the center (M) on the screen, the distance (L _IM ) (m) from the position of the target of the moving object to the distance measurement position (I) is obtained. Distance (L _IT ) (m) from the position (T) of the moving object target deviating from the center (M) on the screen to the ranging position (I), the center (M) on the screen and the position of the moving object target Distance to (T) (L _MT )
From (m), the relationship of Equation 5 holds.

[0016]

(Equation 5)

Further, the inertial coordinates N.D. E. FIG.
The position at D is as follows.

[0018] _{λ m = λ I (deg)} + L IM (m) cos P cos H / λ 'φ m = φ I (deg) + L IM (m) cos P sin H / φ' h m = h I (deg ) + L _IM (m) sin P

Therefore, the position coordinates of the target of the moving object can be expressed by Equation 6.

[0020]

(Equation 6)

[0021]

As described above, according to the present invention, the measurement of a moving object target from a ship at sea can be performed with high accuracy even when the moving object target deviates from the center of the screen.
In addition, the effects of waves and undulations can be eliminated, and high-precision measurement can be performed even while the ship is in motion. In other words, there is a great advantage that is extremely useful for evaluating the performance of a flying boat, which is a target of a moving body, for taking off and landing water, for evaluating the traveling performance of a high-speed boat, and for evaluating a buoy or a floating object.

[Brief description of the drawings]

FIG. 1 is a block diagram of a moving object measuring apparatus using a video camera according to the present invention.

FIG. 2 is a conceptual diagram for explaining an algorithm of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Video camera 1a Image signal 1b Image processing device 1c Distance signal 2 Distance measuring device 2a Distance signal 3 GPS 3a Positioning signal 4 3-axis gyro 4a Spatial stability signal 5 Angle sensor 5a 3-axis angle signal 6 Stabilizer 7 Computing device 7a Correction signal 8 Output terminal

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 2F065 AA09 BB15 DD11 FF04 FF67 JJ26 QQ31 UU05 2F105 AA01 AA08 5J062 BB03 CC07 FF02 FF04 5J084 AA04 AA05 AA10 AB03 AD05 CA65 EA04

Claims (2)

[Claims] 1. A video camera for capturing a moving object, an image processing device for processing an image from the video camera, a distance measuring device for measuring a distance to the moving object, a position of the video camera and the distance measuring device, GPS, which measures azimuth and altitude, and 3 axes gyro and its gimbal that support them together
A stabilizing device including an axis angle sensor, wherein when the image of the moving target deviates from the center of the screen, the distance between the screen center and the moving object target is measured by the distance measuring device. Signal, a positioning signal obtained by measuring the position of the video camera and the distance measuring device by GPS, and a spatial stability signal from the stabilizer, and correcting the measured value by a correction signal from the three-axis angle sensor. A moving object measuring device using a video camera. 2. The distance (L _IM ) (m) from the ranging position (I) to the position of the moving object target when the moving object target is located at the center (M) on the screen is determined by the center (M) on the screen. M), the distance (L _IT ) (m) from the position (T) of the moving object target to the distance measurement position (I), and the distance between the center (M) on the screen and the position (T) of the moving object target. From the distance (L _MT ) (m), Equation 1 , And the inertial coordinates N. of the distance measurement position I. E. FIG. Position of D _{is, λ m = λ I (deg} ) + L IM (m) cos P cos H / λ 'φ m = φ I (deg) + L IM (m) cos P sin H / φ' h m = h _I (deg) + L _IM (m) sin P, and therefore, the position coordinates of the target of the moving object are given by Equation 2 The moving object measuring apparatus using a video camera according to claim 1, characterized by: