Joint calibration method and apparatus, electronic device and unmanned aerial vehicle

A joint calibration method implemented by a server, comprising:

• receiving pose information of a detection radar of an unmanned aerial vehicle, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
• obtaining a plurality of pieces of test coordinate data under the pose information;
• calculating and determining, through the test coordinate data, to-be-determined parameters in a preset spatial conversion function, wherein the preset spatial conversion function represents the spatial conversion relationship between the detection radar and an image acquisition device of the unmanned aerial vehicle;
• and
• delivering the calculated and determined parameters to the unmanned aerial vehicle.

An unmanned aerial vehicle, comprising:

• a body, a detection radar and an image acquisition device being disposed on the body;
• arms, connected to the body;
• power apparatuses, disposed on the arms and configured to provide power for the unmanned aerial vehicle to fly;
• and
• a flight controller, disposed on the body and communicatively connected to the detection radar and the image acquisition device respectively, wherein
• the flight controller stores a preset calibration parameter set and is configured to perform a joint calibration method, wherein the joint calibration method comprises:
• obtaining pose information of the detection radar, and uploading the pose information of the detection radar to a server, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
• receiving target calibration parameters matching the pose information of the detection radar from the server;
• determining a spatial conversion relationship between the detection radar and the image acquisition device based on the target calibration parameters;
• and
• performing data fusion between radar data of the detection radar and visual image data of the image acquisition device according to the spatial conversion relationship.

A system, comprising:

• a server, comprising at least one processor and a memory communicatively connected to the at least one processor, the memory storing instructions executable by the at least one processor;
• and
• an unmanned aerial vehicle, comprising a flight controller, a detection radar and an image acquisition, the flight controller communicatively connected to the detection radar and the image acquisition device respectively;
• wherein the server is communicatively connected to the unmanned aerial vehicle;
• the flight controller is configured to obtain pose information of the detection radar, the pose information comprising a ground height of the detection radar and a pitch angle of the detection radar;
• the at least one processor is configured to receive the pose information of the detection radar from the unmanned aerial vehicle;
• obtain a plurality of pieces of test coordinate data under the pose information of the detection radar;
• calculate and determine, through the test coordinate data, target calibration parameters in a preset spatial conversion function, wherein the preset spatial conversion function represents a spatial conversion relationship between the detection radar and the image acquisition device;
• and deliver the target calibration parameters to the unmanned aerial vehicle;
• and
• the flight controller is further configured to receive the target calibration parameters from the server;
• determine the spatial conversion relationship between the detection radar and the image acquisition device based on the target calibration parameters;
• and perform data fusion between radar data of the detection radar and visual image data of the image acquisition device according to the spatial conversion relationship.