RU2583851C2 - Unmanned mobile system - Google Patents

Abstract

FIELD: computer engineering; optics.

SUBSTANCE: invention relates to aerospace survey, in particular for aerial photographic survey, geodetic, photogrammetric, cadastre and cartography. Routing is performed by entering geographical coordinates of area in on-board computer, calculating coordinates of survey points and shooting time interval, route assignment implementation is carried out with taking into account adjustment to external factors. Method includes information input unit, linked to ground computer, system additionally includes units connected with onboard computer, wherein memory unit for calculated coordinates, memory unit for flight correction, memory unit for recording data, flight program unit are included in data input system, correction unit is included in flight control system and is connected to engine control unit, altitude control unit, rotation control unit, survey interval control unit is included in camera control system.

EFFECT: broader functional capabilities.

1 cl, 3 dwg

Description

The present invention relates to the field of aerospace photography, in particular for conducting aerial survey, geodetic, photogrammetric, land cadastral and cartographic works. It is intended for obtaining site plans, digital aerial photography, photogrammetric processing and output of information to digital and solid media for end users.

Given the features of aerial photography, the aircraft used for these purposes must meet a number of special requirements:

- to provide a stable horizontal flight and a turn from one course to another at altitudes of 250-5000 m, while having a sufficient speed range and the required flight range, providing non-stop operation time of at least 2-4 hours.

- possess good longitudinal and track stability, in the steady horizontal flight mode, the angles of heel, pitch and yaw should not exceed ± 1 degree, and the time for entering and putting the aircraft into a turn should be minimal;

- be equipped with high-precision navigation equipment that allows you to perform automated flight along a given route with high accuracy in different geomagnetic and latitudinal conditions;

- have a convenient, with a good overview of the terrain, place for the navigator, as well as an appropriate place for installing aerial equipment, flight engineer work and storage of photo material.

Obviously, the presentation of certain requirements, and consequently, the use of one or another medium, is associated with the scale of the survey, with the size and location of the area being shot, and with the quality requirements for aerial photography material.

Currently, TU-134, AN-30, AN-2 and K-26, MI-8 helicopters are used to perform aerial photography.

Aerial photography of the earth’s surface from an aircraft, which provides for obtaining aerial photographs to create photographic maps and plans, is called topographic aerial photography. It is performed on a specific object, which is understood as a plot of the earth's surface to be photographed. The boundaries of the object are set by the nomenclature of topographic maps and coincide with their borders. Large objects are divided into shooting areas subject to aerial photography in one or two flights. The sizes of the smallest shooting areas depend on the scale of the map being created. The average length of the survey area (in km) is determined by the formula L = 2m / 1000, where m is the denominator of the aerial photography scale. The smallest survey areas are combined into one, provided that its dimensions do not exceed the average size, and the difference in the heights of the average levels, trapezoid included in the section, does not exceed: for the plain 0.1 N_f, for highlands 0.2 N_f.

If photographing is performed at the middle position of the optical axis of the aerial camera, then such aerial photography is called planned.

Elements that characterize the geometric conditions of the survey are called the parameters of the planned topographic aerial photography.

One of the main parameters is the overlap of aerial photographs, which means areas of adjacent images with the image of the same area, photographed from different points. Distinguish between longitudinal and transverse overlap of aerial photographs. Longitudinal overlap P - overlap of adjacent aerial photographs of one route in the direction of flight of the aircraft. Transverse overlap P - overlapping aerial photographs of two adjacent routes in a direction perpendicular to the direction of flight.

To obtain a given amount of overlap when performing aerial photography, it is necessary to maintain the appropriate basis for photographing.

The distance between two successive carrier positions on the same route at the time of exposure is called longitudinal photographing basis - B ₌ distance between axes of two adjacent routes - cross photographing basis - In _y.

Aerial survey routes are laid in such a way that the deviation of the route axes from a given position on the map does not exceed certain values in the images, and the longitudinal overlap must lie within certain limits. Cross overlap is calculated depending on the scale of photographing and relief and should not deviate from the set.

Elements characterizing the flight path of the carrier relative to the cardinal points and level surface are called navigation flight elements. These include angular quantities that characterize the direction of flight, and linear ones that determine the path of the carrier in vertical and horizontal planes. One of the important elements determining the scale of aerial material is the flight altitude. By flight altitude, we mean the vertical distance from the level taken at the origin of the reference to the aircraft. Depending on the level, the reference point in the practice of aircraft navigation distinguishes flight altitudes: absolute true: relative - N_and; barometric - N_b; photographing - N_f.

One of the main requirements for topographic aerial photography is to obtain aerial photographs covering this territory without gaps and gaps. This requirement is crucial when choosing the path of the carrier.

On an aerial photography route, the aircraft is in a horizontal, straight flight mode with constant speed and altitude. A carrier’s maneuver associated with its transition from a covered route to another shooting route is called a call. The approach is an important element of the trajectory, since it determines the accuracy of the output of the medium on the axis of the next shooting route, and therefore the accuracy of maintaining the transverse overlap.

The use of satellite navigation systems is currently a relevant and promising area for aerial survey work in various sectors of the economy.

A known method of magnetometric reconnaissance using a search engine (see RF patent No. 2075097, G01V 3/16). This method includes in the process of moving the search apparatus along a given route measuring the horizontal and vertical components of the geomagnetic field, and during this, preliminary preparation is carried out, during which the measuring axes of the magnetometer are fixed relative to the building axes of the apparatus.

A known method of magnetometric reconnaissance using a mobile search engine (see RF patent No. 2075097, G01V 3/16), in which the horizontal and vertical components of the geomagnetic field are measured during the movement of the search device along a given route. Its disadvantage is the low accuracy of determining the components of the geomagnetic field.

Of all the methods for a similar purpose, the closest in technical essence is the one known as the ASCOT system, adopted as a prototype (see the ARCREVIEW 2002 newspaper, No. 3), developed by LH System to solve the following problems:

1) Shooting planning - performed interactively using a digitizer or mouse.

Planning can be carried out in a geographic or local coordinate system with the ability to edit a block, the program operates with the concepts of a block of line daughters and uses a rather complicated algorithm for optimal calculation of coverage by block lines. The result of the program is a flight plan prepared for automatic execution.

2) Flight performance. It is made according to the prepared plan. With control of execution according to external data from a GPS receiver and a gyro platform RAUZO. The system is fully synchronized with the camera, navigation receiver and gyro platform for collecting navigation during shooting and annotating frames (Fig. 4).

In addition to the on-board computer of the industrial computer, the system also includes a special display for the pilot and the operator terminal (Fig. 5). The information displayed to the pilot greatly facilitates the "entry" to the shooting and flight control within a certain corridor of movement.

The operator at the terminal “sees” and controls in real time and time the whole aerial survey process, the current flight path, deviations from the program of work, azimuth, speed and number of frames shot, etc.

2) Analysis of the results can be carried out immediately on several flights with the possibility of exporting to graphic formats and further use in future shootings. The user can analyze the statistical parameters of the flight (variations in altitude, number of frames, variations in shooting scale, variations in ceilings and other parameters).

3) The specified method allows aerial photography of the area, however, it has certain disadvantages. The flight is provided on a real aircraft with the participation of a pilot, navigator and operator. It takes about three hours to deploy and prepare the complex for operation, which makes it difficult to move to new sites and reduces labor productivity. The role of the human factor when entering shooting points significantly affects the accuracy of shooting, which affects image quality when positioning and overlaying pictures. In addition, the high fuel consumption on a real aircraft increases the cost of the aerial survey. Thus, the prototype does not provide a technical result, expressed in increasing labor productivity and improving quality during aerial photography.

The specified technical result is achieved by the fact that in the known method of aerial photography, which consists in laying the route, flying, going to the shooting area, realizing the route task, shooting the captured data, recording them, processing them, laying the route is done by entering the geographical coordinates of the area to the on-board computer, the coordinates of the survey points and the time intervals of the survey are calculated, the route task is implemented taking into account the adjustment of external factors.

A device is known for remote sensing of subsoil layers of the soil (see RF patent No. 2154845, G01V 3/15, G01V 3/17). It contains sequentially connected synchronizer, transmitter, antenna switch and antenna system, moreover, two differentiating blocks, three quadrators, a normalizing block, two multipliers and two square root extraction blocks are additionally introduced into it. A device for remote sensing of subsoil layers is known (see certificate No. 1,684.770,001, VG01V 3/1671989). The specified device uses the usual model of the radar signal and its processing method, based on the integral Fourier transform. However, this method averages and smooths the reflected signal in the vicinity of the discontinuity points, which carry information about the beginning and end of the response from the target, allowing separate observation of responses from various inhomogeneities located in the subsoil layers of the soil. The interval in the region of the discontinuity point for an ultra-wideband (ultrashort) radar signal is comparable to the duration of the signal itself, which leads to noticeable errors and to a deterioration in resolution in depth. Of all the devices closest to the proposed invention is the aerial photography complex offered by the company LH System, adopted as a prototype (see the newspaper "ARCREVIEW", 2002, No. 3). It consists of the following components: Aerial camera - RC 30 with lenses - 15.4 UAG-S or 30.4 and Gyrostabilized platform - PAV 30 (camera control system);

Control and monitoring system - ASCOT with an airplane GPS antenna (flight control system);

Post-processing software - Flykin Suite +; Ground reference GPS station (ground equipment system);

However, this device has large dimensions and weight and has a cost of over 1 million dollars. In addition, its deployment and preparation for work takes about 3 hours, while it takes 30 minutes to prepare for aerial photography of the complex according to the invention, and its cost is about $ 10,000.

Thus, it does not provide a technical result, expressed in reducing the cost of the complex and reducing the time for its preparation for work.

The technical result indicated is achieved by the fact that in the known complex for implementing the aerial photography method comprising GPS transmitters, a ground-based equipment system connected via an onboard computer data input system, which is connected to a flight control system and a camera control system mounted on a gyro platform, to a ground-based system equipment, an information input unit connected to the ground computer was introduced, in addition, the complex additionally connected to the onboard computer blocks, and the memory block of the calculated coordinates at, flight memory program memory block, shooting data memory block, flight program memory block are entered into the data input system, the correction block is entered into the flight control system and is connected to the engine control unit, altitude control unit, rotation control unit, altitude control unit, unit rotation control, the shooting interval control unit is introduced into the camera control system and connected to the camera.

In the process of searching the sources of scientific, technical and patent information, no method and device were found, the combination of essential features of which would coincide with the combination of essential features of the method and device of the present invention with the claimed technical result. Thus, we can conclude that the invention meets the condition of patentability, as it is a technical solution to the problem, which is new, with an inventive step and industrial applicability.

Figure 1 shows a block diagram of a complex for implementing the method of aerial photography.

Figure 2 shows an example of a specific implementation of the correction unit.

Figure 3 shows an example of a specific implementation of the control unit of the shooting interval.

The complex according to the invention has the following composition. It contains system A (ground equipment), B (data entry) system, C (flight control) system, G (camera control system), on-board computers and GPS (satellite) navigation transmitters). System A comprises a ground computer 20, to which a GPS transmitter 13 is connected via a GPS receiver 23, and an information input unit 25, a ground transceiver 24 and a transport launcher 21 are also connected to the ground computer 20.

System B comprises a barometer 22 connected to the on-board computer 12, a calculated coordinate memory unit 15, a flight correction program memory unit 16, a shooting data memory unit 17, a flight program memory unit 18, an on-board transceiver 19 connected to a ground-based transceiver 24. The computer 12 is also connected to the GPS transmitter 13 through the GPS receiver 14 as part of system B. System B contains respectively associated with the on-board computer 12: engine 3 - through the engine control unit 6, the steering wheel 4 through the rotation control unit 7, the steering wheel 5 in cell - via height control unit 8. In addition, a correction unit 26 is connected to the on-board computer 12, the outputs of which are connected respectively to the engine control unit 6, the rotation control unit 7, and the height control unit 8. The system G comprises a camera 1 mounted on a gyro platform 2. Camera 1, respectively, through the gyro platform control unit 9 in the X coordinate and the gyro platform control unit 10 in the Y coordinate, is connected to the on-board computer 12. From it, a signal is sent to the camera through the shooting interval control unit 27 1, from which, after shooting, through the image transmitting unit 14, a signal is transmitted for conversion to the on-board computer 12, after which the data is recorded in the shooting data memory unit 17. The complex according to the invention works as follows. Using a portable ground-based GPS receiver 23, four geographic coordinates of the terrain are measured (as indicated in FIG. 1) and entered into the ground computer 20. The parameters of the flight program of the aircraft (LA) are calculated therein;

The coordinates of the route, the coordinates of the shooting points, the time intervals between the shutter release of the camera 1. Through the block 25 (made in the form of a keyboard) manually enter the formula for calculating the flight, formulated on the basis of the flight task. They specify the number of routes, the number of frames on the route, estimated flight time, shooting intervals. These data using the ground-based transceiver 24 are transmitted through the on-board transceiver 19 to the on-board computer 12, where they are converted into binary coordinate codes and entered into the block 15 memory of the calculated coordinates. Similarly, the data of the flight program in the on-board computer 12 is converted into binary codes and recorded in block 18 of the memory of the flight program. Based on the data from the calculated coordinate memory unit 15 and the flight memory unit 18, on-board computer 12 generates correction codes in the memory unit 16 of the flight correction program. Then this data is supplied to the correction unit 26 of the flight control system B. At the commands of the ground computer 20, the engine 3 is started and the transport and launcher 21 sends the aircraft into flight. Based on the data of the barometric altimeter 22 and the on-board GPS receiver 14, the current coordinates of the aircraft are determined and the flight parameters are changed using the correction unit 26 acting on the engine control unit 6, the altitude control unit 7, and the flight control unit 8. The signals from the on-board computer 12 using the block 9 control the gyro platform 2 in the X coordinate using the block 10 in the Y coordinate. Accordingly, through the shooting interval control unit 27, the shutter of the camera 1 is activated at the calculated flight points.

A signal is transmitted from it through the shooting interval control unit 27 to the camera 1, from which, after being taken through the image transmission unit 11, a signal is received for conversion to the on-board computer 12, after which the data is recorded in the shooting data memory unit 17. From this unit, after the flight is completed, the data through the onboard transceiver and ground transceiver 24 comes to the ground computer 20. In the future, these data are used to create an orthomosaic of the area by known methods. An example of the implementation of this complex shows that its cost is approximately $ 10,000.

The method according to the invention implements as follows. To use the complex for the implementation of aerial photography using unmanned aerial vehicles, the task of its application should be formulated. It should contain formalized coordinate information and an indication of the work schedule for calculating the complex.

The composition of the formalized coordinate information for the formulation of the problem for the use of the complex:

- coordinates of the starting position of the complex;

- flight altitude of an unmanned aircraft on the route to the mapping area and vice versa;

- shooting height of the mapping area;

- the size and orientation of the mapping area;

- coefficient of overlap of photographs;

- formalized coordinate information is intended for input into an onboard computer unmanned aircraft. This information serves to automatically output an unmanned aerial vehicle to the mapping area of the automatic construction of tacks, and to control an unmanned aerial vehicle and its digital camera in the mapping area, as well as to return to the starting point.

The instructions on the work schedule should contain the allowed start and end times for the unmanned aircraft. The duration of the allowed interval should be sufficient to complete the task. An estimate for the time required to complete the task can be obtained using mathematical software using formalized coordinate information and the expected wind speed and direction.

Start Position Requirement.

The starting position for the use of the complex must meet the following requirements:

- the presence of free space of at least 200 meters to disperse an unmanned aircraft after launch, subject to the conditions for launching an unmanned aircraft against the wind.

- the presence of an even free horizontal platform.

- Ideal places to place the starting position are a roadside meadow or field free from crops. In the midland of Russia, problems with choosing a place for the starting position do not arise.

Complex deployment

The deployment of the complex is carried out upon arrival of the complex to the selected starting position. Deployment of the complex is considered complete when the unmanned aircraft is ready to launch. According to practical results, the deployment time is approximately 30 minutes.

Mapping Area Survey

When an unmanned aircraft approaches the mapping area, the onboard computer of the unmanned aircraft at the calculated height provides full coverage of the specified mapping area with photographs with a given overlap coefficient.

To fully cover a given mapping area, turns are taken outside the area. Thanks to high-precision navigation and automatic control of unmanned aircraft, continuous shooting of a given area is ensured with a thoroughness not achievable for a manned aircraft. Thus, aerial photography is provided to obtain a terrain plan on a scale of M1: 500, which is difficult to implement when using other systems and aircraft.

Return and landing unmanned aircraft

After taking a picture of a given area, the on-board computer proceeds to control the unmanned aircraft with the aim of returning to the starting point.

Management on the return route is completely identical to management on the route to the mapping area. The only difference is that instead of the coordinates of the survey point, the on-board computer uses the coordinates of the launch site.

When an unmanned aircraft approaches the starting position of the complex, the on-board computer issues commands to lower the unmanned aircraft and displays it on the descent glide plane and lands.

Complex folding

Transfer and use of primary information. The transmission of primary information (captured digital photographs and annotated coordinate information) from an unmanned aerial vehicle is usually carried out at a place of permanent deployment. A universal serial USB interface is used to transfer photographs from the memory of an unmanned aerial vehicle to a computer. During long-term operation of the complex and the production of a large number of flights, the primary information delivered from an unmanned aerial vehicle is stored on removable drives.

Each digital photograph taken from an unmanned aerial vehicle is annotated by the coordinates of the survey point and the GPS ground speed vector, as well as by the orientation of the optical axis relative to the camera’s local vertical in pitch and roll.

As examples of specific performance, you can specify the following.

The camera can be used by Rolleimetric D30 (Germany). The aircraft may be of the type remotely piloted by Grant of the Novik company (Moscow).

For newly introduced blocks, you can use components of the company. Octagon System (USA):

- adjustment block

- shooting interval control unit

- memory block of the calculated coordinates

- shooting data memory block

- flight correction program memory unit

- memory block flight programs.

Thus, as can be seen from the above, it is the combination of essential features of the method according to the invention allows to increase labor productivity and improve quality during aerial photography. Similarly, in the course of the tests it turned out that the set of essential features of the device according to the invention provides a reduction in the cost of the complex and a decrease in the time for its preparation for work. In addition, the possibility of using an unmanned aerial vehicle as an aircraft makes it possible to exclude the subjective factor in flight, which affects the accuracy of approaching the shooting points, taking pictures, and further on the image quality and the resulting terrain plan.

Claims (1)

An unmanned mobile complex containing GPS transmitters, a ground-based equipment system, connected via an onboard computer data input system, which is connected to a flight control system and a camera control system mounted on a gyro platform, characterized in that an information input unit connected to the ground equipment system is connected with a ground computer, in addition, the complex additionally includes blocks connected to the onboard computer, moreover, the memory block of the calculated coordinates, the memory block of the flight correction programs, the data memory block x shooting, the flight program memory is entered into the data input system, the correction unit is entered into the flight control system and connected to the engine control unit, the altitude control unit, the rotation control unit, the shooting interval control unit is inserted into the camera control system and connected to the camera.

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