CN111103608A - Positioning device and method used in forestry surveying work - Google Patents
Positioning device and method used in forestry surveying work Download PDFInfo
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- CN111103608A CN111103608A CN202010002397.3A CN202010002397A CN111103608A CN 111103608 A CN111103608 A CN 111103608A CN 202010002397 A CN202010002397 A CN 202010002397A CN 111103608 A CN111103608 A CN 111103608A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Abstract
The invention discloses a positioning device used in forestry surveying work, which comprises a portable unmanned aerial vehicle and a hand-held machine, wherein the portable unmanned aerial vehicle comprises an unmanned aerial vehicle, a GNSS positioning unit, a visible light camera, an infrared camera, a processing unit and a first communication unit; the handset includes a flight control unit, a second communication unit, and a display screen. The invention also discloses a positioning method of the positioning device used in forestry surveying work, the unmanned aerial vehicle captures staff and carries out positioning tracking by utilizing the infrared camera, the posture of the unmanned aerial vehicle is controlled by tracking data, the unmanned aerial vehicle is ensured to be always kept right above the staff and the height of the unmanned aerial vehicle exceeds the highest value of a forest where the unmanned aerial vehicle is located, positioning data received by the GNSS receiver of the unmanned aerial vehicle is added with the height difference between the unmanned aerial vehicle and the staff and is transmitted to a handheld machine of the staff in real time, and the positioning position is displayed in real time through a display screen of the handheld machine. The method can eliminate the interference of the forestry environment on the GNSS positioning, and has the advantage of real-time accurate positioning.
Description
Technical Field
The invention relates to the technical field of infrared vision tracking and positioning, in particular to a positioning device and a positioning method used in forestry surveying work.
Background
Modern forestry surveys widely involve basic surveys such as topographic map survey, basic control network, and boundary survey such as boundary line, reconnaissance, cadastral, etc. and content such as digital survey, informationization survey, these works all need to measure accurate position. In recent years, with the gradual improvement of the theory and technology of the global satellite navigation positioning system, the satellite navigation positioning system is rapidly applied and popularized in various fields of surveying and mapping industry. However, the working characteristics of satellite navigation positioning and the environment with a plurality of trees in the forestry area become the main contradictions affecting the positioning accuracy. Therefore, the precision of satellite navigation positioning can not meet the requirement of forestry accurate survey design. How to improve the precision of satellite navigation positioning to accomplish forestry survey design work requirement is worth studying the problem.
Disclosure of Invention
The technical problem to be solved by the invention is to overcome the defects of the prior art and provide the positioning device and the positioning method used in forestry surveying work.
The invention adopts the following technical scheme for solving the technical problems:
the positioning device used in forestry surveying work comprises a portable unmanned aerial vehicle and a hand-held machine, wherein the portable unmanned aerial vehicle comprises an unmanned aerial vehicle, a GNSS positioning unit, a cloud deck, a visible light camera, an infrared camera, a processing unit and a first communication unit; the handset comprises a flight control unit, a second communication unit and a display screen; the visible light camera and the infrared camera are arranged on the cloud deck, and the cloud deck is arranged on the unmanned aerial vehicle;
the GNSS positioning unit is used for outputting positioning information of the space position of the unmanned aerial vehicle to the second communication unit through the first communication unit;
the visible light camera and the infrared camera are used for outputting shot video pictures to the second communication unit through the first communication unit, and the video pictures are also output to the processing unit;
and the processing unit is used for calculating the position of a worker according to the video picture, and performing closed-loop control on the flying motor of the unmanned aerial vehicle according to the difference value between the position of the worker and a preset position to complete the flight control operation of the unmanned aerial vehicle.
The second communication unit is used for outputting the received flight control operation instruction to the flight control unit and outputting the received video picture and positioning information of the unmanned aerial vehicle to the display screen;
and the flight control unit is used for controlling the flight of the unmanned aerial vehicle according to the flight control operation instruction.
As a further optimization solution for a positioning device used in forestry surveying work according to the present invention, the GNSS positioning unit comprises an RTK-GPS receiver and an antenna for positioning the spatial position of the drone.
As a further optimization scheme of the positioning device for forestry surveying work, the GNSS positioning unit further comprises a digital barometer for calculating altitude information of the flight of the unmanned aerial vehicle.
As a further optimization scheme of the positioning device used in forestry surveying work, the visible light camera is positioned at the front end of the holder, and the direction of the lens forms a certain included angle with the central axis of the unmanned aerial vehicle, so that video information of surroundings to be observed can be acquired.
As a further optimization scheme of the positioning device used in forestry surveying work, the infrared camera is positioned in the center of the holder, and the lens is vertically downward and used for capturing the position of a worker in high altitude and carrying out infrared tracking on the worker.
As a further optimization scheme of the positioning device used in forestry surveying work, the display screen is used for displaying map information of the area where the positioning device is located, a camera shooting picture of the unmanned aerial vehicle and real-time position information of the unmanned aerial vehicle.
As a further optimization of the positioning device for use in forestry surveying work according to the present invention, the handset further comprises a storage unit connected to the second communication module for storing real-time location information of forestry surveying workers.
Based on the positioning method of the positioning device used in forestry surveying work, the method comprises the following steps:
s1: placing an unmanned aerial vehicle on the ground, acquiring position information through a GNSS positioning unit, recording current elevation information, and performing proofreading and matching with the altitude measured by a digital barometer on the unmanned aerial vehicle;
s2: the unmanned aerial vehicle is flown, the flight height requirement exceeds the maximum value of trees in the forestry area by more than ten meters, and the flight height is corrected through the difference between the positioning information of the flight position and the position elevation information before flight;
s3: the unmanned aerial vehicle is manually controlled through the hand-held machine, the unmanned aerial vehicle is hovered right above a worker while the requirement on the flying height is guaranteed, and the picture returned by the infrared camera and received by the screen of the hand-held machine is adjusted, so that the worker is located in the right center of the picture of the vision field of the infrared camera, and the infrared camera can capture the worker;
s4: when the forestry surveying worker moves, the position deviates from the central point of the infrared camera, and the infrared camera calculates the distance and the direction difference between the target point and the central point;
s5: the infrared camera transmits the difference value captured by the camera shooting picture to a processing unit of the unmanned aerial vehicle, the processing unit performs closed-loop control on a flying motor of the unmanned aerial vehicle according to the difference value information to complete the flight control operation of the unmanned aerial vehicle, and ensures that a worker is always positioned at the central point of the vision field range of the infrared camera, namely right below the unmanned aerial vehicle;
s6: acquiring the height difference of the current position of a forestry surveying worker relative to a working initial point according to the change of air pressure by a digital barometer in the hand-held set, and transmitting the height difference information to a processing unit of the unmanned aerial vehicle;
s7: after receiving the height difference information sent by the handset, the processing unit of the unmanned aerial vehicle timely adjusts the flight motor according to the height difference information to carry out closed-loop control, so that the relative heights of the unmanned aerial vehicle and forestry survey workers are kept consistent;
s8: the unmanned aerial vehicle processing unit captures information of a tracking target through the infrared camera and controls a flying motor of the unmanned aerial vehicle through a height difference value fed back by the handset, so that the unmanned aerial vehicle can self-adaptively closely follow the forestry surveyor to fly while ensuring the distance height;
s9: the method comprises the steps that position information received by a GNSS positioning module in real time is sent to a handheld machine through a first communication module of the unmanned machine, the handheld machine subtracts a height difference between the unmanned machine and the handheld machine after receiving the position information obtained by the unmanned machine, and the obtained coordinate is the coordinate of the handheld machine at the current moment;
s10: on one hand, the hand-held set updates and displays the calculated real-time coordinate information in real time by combining with the map information through a display screen of the hand-held set; and on the other hand, the real-time position is stored, and after the survey work is finished, the working track route of the forestry surveyor is generated by traversing the position coordinates at each moment.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects:
(1) the interference of the forestry environment on the GNSS positioning is eliminated, and the positioning precision is greatly improved;
(2) through a visible light camera of the unmanned aerial vehicle, forestry surveyors can observe the working surrounding environment information conveniently;
(3) the invention can effectively help forestry survey personnel to better carry out the work of air route presetting, area survey, forest fire prevention, position determination of the ancient and famous trees and the like, and can greatly improve the positioning precision and the working efficiency while saving the cost.
Drawings
Figure 1 is a schematic view of the operation of a fine positioning device for use in forestry surveying work according to an embodiment of the present invention.
Figure 2 is a schematic view of a fine positioning device for use in forestry surveying work according to an embodiment of the present invention.
Figure 3 is a schematic flow chart of a method of accurate positioning for use in forestry surveying work according to an embodiment of the present invention.
Fig. 4 is a block diagram of a target adaptive parallel tracking control according to an embodiment of the present invention.
Fig. 5 is a schematic view of the field of view of the visible camera and the infrared camera of the present invention.
Fig. 6a is a schematic diagram of the present invention showing the target (worker) captured in the image captured by the infrared camera.
Fig. 6b is a schematic diagram of the infrared camera of the present invention capturing a picture without capturing an object (worker).
FIG. 6c is a schematic diagram of the difference between the captured target (operator) and the center of the field of view in the image captured by the IR camera according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example one
Figure 2 is a schematic view of an accurate positioning device for use in forestry surveying work according to an embodiment of the present invention, as shown in figure 2, the device comprising: unmanned aerial vehicle and handheld machine. The communication between the drone and the handset can be implemented by any wireless communication technology, for example, WI-FI, bluetooth, 4G communication, or 5G communication, and the patent of the present invention is not limited herein.
Wherein, unmanned aerial vehicle is portable four rotor unmanned aerial vehicle, and the structure is simple light relatively, conveniently carries.
Specifically, unmanned aerial vehicle includes unmanned fuselage, four unmanned aerial vehicle flight screw and cloud platform, including GNSS positioning unit, processing unit and communication unit on the fuselage, carry on visible light camera and infrared camera on the cloud platform.
The visible light camera is equipment which forms images by utilizing an optical imaging principle and records the images by using a negative film, the collected images are light images and are positioned at the front end of the holder, and the direction of a lens forms a certain included angle with the central axis of the unmanned aerial vehicle, so that forestry surveying workers can obtain video information of the surrounding environment; the infrared camera is equipment for detecting infrared energy in a non-contact manner and converting captured information into an electric signal to form infrared image data, and specifically can be an infrared tracker which is positioned at the center of a holder and has a vertically downward lens and is used for capturing and tracking target personnel. A schematic view of the field of view of the visible camera and the infrared camera is shown in fig. 5.
The processing unit has an image processing function and a task regulation function, and can be a central processing unit. The processing unit receives video information of the infrared camera, and performs closed-loop control on a flying motor of the unmanned aerial vehicle according to a difference value between the position of a worker captured by the infrared camera and a preset position to complete the flying control operation of the unmanned aerial vehicle; in addition, the processing unit is connected with the unmanned aerial vehicle communication unit and used for receiving a control instruction sent by the hand-held set and carrying out closed-loop control on the flying motor of the unmanned aerial vehicle according to the instruction requirement to complete the flying control operation.
The handheld machine is any remote control device capable of controlling the unmanned aerial vehicle. The handheld machine can send an operation command to the unmanned aerial vehicle processing unit through the flight control handle to adjust the flight attitude of the unmanned aerial vehicle or complete required tasks when required by workers. The handset also comprises a display screen which is used for displaying video pictures shot by the infrared camera or the visible light camera and real-time positioning information after the map is matched, and the switching can be carried out according to the requirements of workers.
Figure 1 is a schematic view of the operation of a fine positioning device for use in forestry surveying work according to an embodiment of the present invention. As shown in fig. 1, in actual work, forestry survey staff perform flight control on the unmanned aerial vehicle through a handset in a wider area and ensure that the flight height of the unmanned aerial vehicle exceeds the top end of the highest tree in a working area by more than ten meters; the unmanned aerial vehicle posture is adjusted by shooting pictures through an infrared camera of the unmanned aerial vehicle, so that the unmanned aerial vehicle is ensured to be positioned right above a worker; after the infrared camera locks the target, the unmanned aerial vehicle can carry out self-adaptive flight control according to the tracking of the infrared camera on the target and can pass through the communication unitSending GNSS positioning information (x, y, z) to the handset in real time, and subtracting a distance value h between the handset and the unmanned aerial vehicle from high-level position information after the handset receives the positioning information0The accurate positioning coordinate (x, y, z-h) of the mobile phone is obtained0) Displaying and storing the positioning information through the handset; when the infrared camera can not capture the target, an alarm is sent to the handheld machine, and the staff adjusts the posture of the unmanned aerial vehicle through the handheld machine to capture the target again. Because unmanned aerial vehicle flying height has avoided the influence of forestry environment to GNSS positioning accuracy on the forestry region, therefore unmanned aerial vehicle sends the precision of the locating information of handing machine to be far higher than the positioning accuracy of staff in the forest zone.
Example two
Figure 3 is a schematic flow chart of a method of accurate positioning for use in forestry surveying work according to an embodiment of the present invention.
Specifically, as shown in fig. 3, the method may include, but is not limited to, the following steps:
step 101: and acquiring the coordinates of the work starting point.
Forestry survey staff places unmanned aerial vehicle in the subaerial in relative spacious area at work starting point, acquires positional information through GNSS positioning unit, records current elevation information, proofreads and matches with the altitude that digital barometer on the unmanned aerial vehicle surveyed.
Step 102: and adjusting the attitude of the unmanned aerial vehicle by using the hand-held machine so that the unmanned aerial vehicle is in a proper working attitude.
Forestry survey staff flies unmanned aerial vehicle in spacious area before beginning work, and the altitude requirement exceeds this forestry regional trees maximum value more than ten meters, carries out altitude correction through the locating information of flight position and the position elevation information difference before the flight.
Forestry survey staff passes through handheld quick-witted manual control unmanned aerial vehicle, when guaranteeing the flight height requirement, hovers unmanned aerial vehicle directly over the staff, adjusts through the picture that the infrared camera that handheld quick-witted screen received returned for the staff is located the positive center of infrared camera visual field picture.
Step 103: and judging whether the infrared camera can correctly capture the staff.
Because the difference between the body temperature characteristics of the workers and the surrounding working environment is large, the infrared camera can easily identify the workers. When the worker is present within the infrared camera view field, the infrared camera can capture the target (worker) smoothly, as shown in fig. 6 a; when the worker is not within the field of view of the infrared camera, the infrared camera will not capture the target successfully, as shown in fig. 6 b.
Step 103 is a judging step, and when the infrared camera can capture the target person, the next operation is performed; if the infrared camera can not capture the target, the unmanned aerial vehicle sends an alarm signal to the hand-held machine, the step 102 is returned, and the staff manually adjusts the posture of the unmanned aerial vehicle through the hand-held machine to capture the target again.
Step 104: and when the acquisition is successful, carrying out self-adaptive tracking on the movement of the target according to the acquisition information of the infrared camera.
When the forestry survey staff moves, the position deviates from the central point of the infrared camera, and the infrared camera calculates the distance and the direction rough difference between the capture target point and the central point, as shown in fig. 6 c. The infrared camera transmits rough difference information captured by a camera shooting picture to the unmanned aerial vehicle processing unit, and the unmanned aerial vehicle processing unit performs closed-loop control on the flying motor of the unmanned aerial vehicle according to the difference information to complete the flight control operation of the unmanned aerial vehicle, and ensures that a worker is always located at the central point of the vision field range of the infrared camera, namely under the unmanned aerial vehicle.
In the aspect of unmanned aerial vehicle flying height, the height difference of forestry survey staff's current position relative to the work initial point is obtained according to the change of atmospheric pressure through the digital barometer in the handheld machine, gives unmanned aerial vehicle processing unit with height difference information transmission. After receiving the altitude difference information that handheld machine sent, unmanned aerial vehicle processing unit in time adjusts flying motor according to the information of altitude difference and carries out closed-loop control for unmanned aerial vehicle's the relative altitude with forestry survey staff keeps unanimous. Realize unmanned aerial vehicle closely following forestry survey personnel flight of self-adaptation when guaranteeing apart from height.
Step 105: the unmanned aerial vehicle sends the position information received by the GNSS positioning module in real time to the handheld machine of the staff through the unmanned aerial vehicle communication module.
Step 106: and (4) resolving real-time coordinates of the handset.
Because of the unmanned aerial vehicle flight position is located directly over the staff, say that the plane coordinate of unmanned aerial vehicle and handheld machine is the same, the difference of elevation coordinate is distance between the two. Therefore, after the hand-held set receives the position information obtained by the unmanned aerial vehicle, the height difference between the unmanned aerial vehicle and the hand-held set is subtracted, and the obtained coordinates are the accurate coordinates of the hand-held set at the current moment.
Step 107: and displaying the position coordinates in real time.
The handset updates and displays the calculated real-time coordinate information in real time by combining with the map information through a display screen of the handset; in addition, the real-time position is stored by the handset, and a working track route of forestry surveyors can be generated by traversing the position coordinates of each moment after surveying work is finished.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
EXAMPLE III
In the step of tracking the target (staff) by the infrared camera, the target tracking is realized by combining the Camshift (continuous Adaptive Mean-Shift) and the Kalman filtering algorithm. The Camshift algorithm is to calculate the center of gravity of a pixel by utilizing a color histogram according to a previous frame of a target motion state or an initialized search box combining the position and the size of a target, to coincide the center of the search box with the center of gravity of the pixel, and to calculate the distance between the center of gravity of the pixel and the center of the search box, wherein the distance is smaller than a set threshold value and the target tracking is successful. The Camshift algorithm has the advantage of adaptively adjusting the size of the search box window according to target changes.
The Camshift algorithm process is as follows: when an infrared camera captures a target (a worker), separating target information from an original background picture shot by the camera, setting the size of a search frame window according to a pixel area, calculating the gravity center of a target pixel in the search window, adjusting the search window to enable the center point of the search window to be overlapped with the gravity center of the target pixel, and adjusting the size of the search window after the tracking is successful.
When the position of the target person changes, the distance between the target person and the camera changes, so that the pixel information in an imaging picture must change, the Camshift algorithm can use the center point of gravity of the target pixel as a target point, timely adjust the position of the search window to enable the center point of the search window to be superposed with the target pixel, centralize the convergence area, and adjust the size of the search window, thereby achieving the effect of self-adaptive tracking.
Due to the lack of prediction information of a motion model in the Camshift algorithm, a target loss phenomenon can occur when a target person is shielded, a Kalman filtering algorithm is introduced for the problem, and motion prediction and target feature update information of the target person are increased.
Kalman filtering can be divided into two processes of prediction and updating, the prediction process adopts observation information and prior estimation to obtain corrected posterior estimation, and the posterior estimation is also the prior estimation of the next moment; the updating part is used for carrying out weighted fusion on the measurement information and the prediction information at the previous moment. The state equation of Kalman filtering is:
Xk＝FXk-1+BUk+Wk
wherein, XkAnd Xk-1Is the state vector of target t time and t-1 time, F is the transfer matrix, B is the input matrix, UkAs an external control vector, WkIs white gaussian noise with a mean value of zero.
The Kalman filtering observation equation is:
Zk＝HkXk+Vk
wherein Z iskIs the observation vector at time k, HkFor the observation matrix, VkTo observe the noise.
Initializing a Kalman filter according to a target detection result, tracking a target by a Camshift algorithm, predicting the current time by adopting the state of the Kalman filter at the previous time when the position deviation of the moment before and after the target is large, taking the predicted value as the state value of the current time of the target, and updating the Kalman filter according to the result. The continuity and the accuracy of the infrared camera tracking can be effectively improved by adopting the Camshift (continuous Adaptive Mean-Shift) and the Kalman filtering algorithm to track and design the target.
Example four
Fig. 4 is a block diagram of a target adaptive parallel tracking control according to an embodiment of the present invention.
The invention adopts a target self-adaptive parallel tracking control strategy to realize accurate tracking control of the target motion trail. The adaptive parallel tracking control needs to acquire global position information of the unmanned aerial vehicle and global position information and global speed information of the tracked target, as shown in fig. 4.
The global position estimation of the target is to predict the next moment (t) of the target by combining a target state equation established in the process of tracking the target by an infrared camera on the basis of the position information of the target at the current moment (t)k-1) Global position information of the target. The global position estimation of the target is also the expected tracking position of the unmanned aerial vehicle, and the difference value between the position of the unmanned aerial vehicle at the current moment (t) and the expected tracking position is used as the input value of a global position PID controller; and calculating the global speed estimation of the unmanned aerial vehicle tracking target according to the position difference value and the sampling period, wherein the speed estimation is used as the expected global speed of the unmanned aerial vehicle and is input into a controller to form a closed-loop feedback control system.
In order to ensure that a worker (a target) is always captured by an infrared camera of the unmanned aerial vehicle, a yaw angle PID controller is added into an adaptive parallel tracking control system according to the motion state of the target so as to prevent the target from departing from the visual field range of the infrared camera as shown in FIG. 6b, the difference between the speed and the attitude of the unmanned aerial vehicle in the actual state and the expected speed and the attitude is calculated according to the deviation between the position of a center point of gravity of a target pixel captured by the infrared camera and the position of the center point of a visual field picture of the infrared camera as shown in FIG. 6c and is used as an input value of the yaw angle PID controller, then the output value of the yaw angle PID controller is combined with global position speed estimation information to be used as input information of a flight controller, a control instruction is sent to an execution mechanism, and finally the control information is converted into voltage values to be applied to four execution, the tracking target is always positioned at the central point of the vision field picture of the infrared camera, namely the unmanned aerial vehicle always flies right above the working personnel.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (8)
1. A positioning device used in forestry surveying work is characterized by comprising a portable unmanned aerial vehicle and a hand-held machine, wherein the portable unmanned aerial vehicle comprises an unmanned aerial vehicle, a GNSS positioning unit, a cloud deck, a visible light camera, an infrared camera, a processing unit and a first communication unit; the handset comprises a flight control unit, a second communication unit and a display screen; the visible light camera and the infrared camera are arranged on the cloud deck, and the cloud deck is arranged on the unmanned aerial vehicle;
the GNSS positioning unit is used for outputting positioning information of the space position of the unmanned aerial vehicle to the second communication unit through the first communication unit;
the visible light camera and the infrared camera are used for outputting shot video pictures to the second communication unit through the first communication unit, and the video pictures are also output to the processing unit;
the processing unit is used for calculating the position of a worker according to the video picture, and performing closed-loop control on a flying motor of the unmanned aerial vehicle according to the difference value between the position of the worker and a preset position to complete the flight control operation of the unmanned aerial vehicle;
the second communication unit is used for outputting the received flight control operation instruction to the flight control unit and outputting the received video picture and positioning information of the unmanned aerial vehicle to the display screen;
and the flight control unit is used for controlling the flight of the unmanned aerial vehicle according to the flight control operation instruction.
2. A positioning apparatus in forestry survey work according to claim 1, wherein the GNSS positioning unit includes an RTK-GPS receiver and an antenna for positioning the spatial position of the drone.
3. A positioning apparatus for use in forestry survey work as claimed in claim 1, wherein the GNSS positioning unit further includes a digital barometer for calculating altitude information of flight of the drone.
4. A positioning device as claimed in claim 1, wherein the visible camera is located at the front end of the pan/tilt head, and the direction of the lens forms an angle with the central axis of the drone, so as to obtain video information of the surroundings.
5. A positioning device for use in forestry surveying work according to claim 1, wherein the infrared camera is located in the center of the pan/tilt head with the lens directed vertically downwards for capturing the position of the worker at high altitudes and for infrared tracking of the worker.
6. A positioning device used in forestry surveying work as claimed in claim 1, wherein the display screen is used to display map information of the area in which the positioning device is located, a camera of the drone and real-time position information of the drone.
7. A positioning device for use in forestry survey work according to claim 1, wherein the handset further comprises a storage unit connected to the second communication module for storing real-time location information of forestry survey workers.
8. A method of positioning a positioning device used in forestry surveying work, based on claim 3, characterized by comprising the steps of:
s1: placing an unmanned aerial vehicle on the ground, acquiring position information through a GNSS positioning unit, recording current elevation information, and performing proofreading and matching with the altitude measured by a digital barometer on the unmanned aerial vehicle;
s2: the unmanned aerial vehicle is flown, the flight height requirement exceeds the maximum value of trees in the forestry area by more than ten meters, and the flight height is corrected through the difference between the positioning information of the flight position and the position elevation information before flight;
s3: the unmanned aerial vehicle is manually controlled through the hand-held machine, the unmanned aerial vehicle is hovered right above a worker while the requirement on the flying height is guaranteed, and the picture returned by the infrared camera and received by the screen of the hand-held machine is adjusted, so that the worker is located in the right center of the picture of the vision field of the infrared camera, and the infrared camera can capture the worker;
s4: when the forestry surveying worker moves, the position deviates from the central point of the infrared camera, and the infrared camera calculates the distance and the direction difference between the target point and the central point;
s5: the infrared camera transmits the difference value captured by the camera shooting picture to a processing unit of the unmanned aerial vehicle, the processing unit performs closed-loop control on a flying motor of the unmanned aerial vehicle according to the difference value information to complete the flight control operation of the unmanned aerial vehicle, and ensures that a worker is always positioned at the central point of the vision field range of the infrared camera, namely right below the unmanned aerial vehicle;
s6: acquiring the height difference of the current position of a forestry surveying worker relative to a working initial point according to the change of air pressure by a digital barometer in the hand-held set, and transmitting the height difference information to a processing unit of the unmanned aerial vehicle;
s7: after receiving the height difference information sent by the handset, the processing unit of the unmanned aerial vehicle timely adjusts the flight motor according to the height difference information to carry out closed-loop control, so that the relative heights of the unmanned aerial vehicle and forestry survey workers are kept consistent;
s8: the unmanned aerial vehicle processing unit captures information of a tracking target through the infrared camera and controls a flying motor of the unmanned aerial vehicle through a height difference value fed back by the handset, so that the unmanned aerial vehicle can self-adaptively closely follow the forestry surveyor to fly while ensuring the distance height;
s9: the method comprises the steps that position information received by a GNSS positioning module in real time is sent to a handheld machine through a first communication module of the unmanned machine, the handheld machine subtracts a height difference between the unmanned machine and the handheld machine after receiving the position information obtained by the unmanned machine, and the obtained coordinate is the coordinate of the handheld machine at the current moment;
s10: on one hand, the hand-held set updates and displays the calculated real-time coordinate information in real time by combining with the map information through a display screen of the hand-held set; and on the other hand, the real-time position is stored, and after the survey work is finished, the working track route of the forestry surveyor is generated by traversing the position coordinates at each moment.
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