WO2023273243A1 - Unmanned aerial vehicle surveying and mapping method and system based on millimeter wave radar - Google Patents

Abstract

An unmanned aerial vehicle surveying and mapping method and system based on a millimeter wave radar, the method comprising: controlling multiple millimeter wave radars mounted at the bottom part of an unmanned aerial vehicle to transmit electromagnetic waves so as to scan a target area, and calculating the relative distance between the unmanned aerial vehicle and each detection point as well as the relative included angle between the unmanned aerial vehicle and each detection point along the height direction, the target area comprising multiple detection points (S100); according to the relative distance, the relative included angle, and positioning data of a positioning device mounted on the unmanned aerial vehicle, calculating to obtain the altitude value and the latitude and longitude values of the detection points (S200); and generating a topographic map of the target area according to the altitude value and the latitude and longitude values of all detection points (S300). Said method improves operation efficiency of topography surveying, the narrow application range and the mapping precision.

Description

A method and system for unmanned aerial vehicle surveying and mapping based on millimeter wave radar technical field

The invention relates to the technical field of topographic surveying and mapping, in particular to a method and system for surveying and mapping of an unmanned aerial vehicle based on millimeter wave radar.

Background technique

Topographic surveying and mapping is mainly to accurately measure the coordinates of the boundary points of the land parcel ownership boundary, and to accurately draw the location, area, ownership relationship, utilization status and other elements of the land parcel and its attachments on the drawings and record them in special Mapping work in the table book.

Traditional topographic surveying and mapping generally adopts the operation method of manually running points to measure the plot first, and a total station or RTK system is used in the measurement process. When using a total station for measurement, it is necessary to continuously move and orient the station, which leads to low operating efficiency. When the RTK system is used for measurement, the RTK system includes a fixed measuring station and a mobile measuring station. The fixed measuring station transmits its observation value and the coordinate information of the measuring station to the mobile measuring station through the data link. The mobile measuring station not only receives the data from the fixed measuring station The data also receives the GPS data sent by the satellite, combined with the calculation of the current coordinate data of the two stations on the mobile side; because the PTK system measurement must use GPS data, it is difficult for the mobile measurement station to receive GPS data when passing through densely populated houses or dense trees. PTK is difficult to fix, it is impossible to calculate the current coordinate data of the mobile survey station, it is difficult to complete the land survey work, and the scope of application is narrow.

Therefore, the existing topographic surveying and mapping methods have the defects of low operation efficiency, narrow application range or low surveying and mapping accuracy.

Contents of the invention

The purpose of the present invention is to provide a method and system for UAV surveying and mapping based on millimeter-wave radar, so as to improve the operational efficiency of topographical survey, narrow application range and surveying and mapping accuracy.

The technical scheme provided by the invention is as follows:

The present invention provides a method for surveying and mapping of an unmanned aerial vehicle based on a millimeter wave radar, comprising the steps of:

Control several millimeter-wave radars installed at the bottom of the UAV to emit electromagnetic waves to scan the target area, calculate the relative distance between the UAV and each detection point, and the distance between the UAV and each detection point in the height direction The relative angle; The target area includes several detection points;

According to the relative distance and relative angle, and the positioning data of the positioning device carried on the drone, calculate the altitude value and latitude and longitude value of the detection point;

A topographic map of the target area is generated according to the altitude values and latitude and longitude values of all detection points.

Further, the obtaining the relative distance and relative angle between the UAV and each detection point includes the steps of:

After the millimeter-wave radar emits electromagnetic waves to scan the target area, acquire the electromagnetic wave transmitting and receiving state information of the millimeter-wave radar;

The relative distance and relative angle between the UAV and each detection point are calculated according to the electromagnetic wave receiving and receiving state information and the antenna installation distance.

Further, the state information of electromagnetic wave transmission and reception includes the time difference and phase difference of electromagnetic wave transmission and reception; the relative distance and relative distance between the UAV and each detection point are calculated according to the state information of electromagnetic wave transmission and reception and the antenna installation distance. Angular includes steps:

According to the time difference of transmitting and receiving of the electromagnetic wave, the relative distance between the unmanned aerial vehicle and each detection point is calculated by substituting the following formula (1);

According to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference, the relative angle is calculated by substituting the following formula (2);

Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance.

Further, the calculating the altitude value and the latitude and longitude value of the detection point according to the relative distance and relative angle, and the positioning data of the positioning device carried on the UAV includes the steps of:

Acquiring positioning data measured by the positioning device; the positioning data includes latitude and longitude information and altitude information of the drone;

According to the relative distance and the relative angle, the following formula (4) is substituted into the calculation to obtain the travel distance in the left and right direction between the drone and the detection point;

S=sinθ*R (4);

According to the relative distance and the relative angle, the following formula (5) is substituted into the calculation to obtain the travel height in the height direction between the UAV and the detection point;

h=cosθ*R (5);

According to the travel distance, the latitude and longitude information is substituted into the following formula (6) to calculate the latitude value of the detection point;

W _n =cosα*S/D (6);

According to described travel distance, longitude and latitude information, substitute following formula (7) to calculate and obtain the longitude value of described detection point;

_Jn = sinα*S/(cos(Wn)*D) (7);

According to the stroke height and the altitude information, the altitude value of the detection point is calculated by substituting the following formula (8);

Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.

Further, the generating the topographic map of the target area according to the altitude values and latitude and longitude values of all detection points includes the steps of:

Comparing several altitude values and latitude and longitude values of the current detection point, if they do not match, deleting the altitude value and latitude and longitude value of the current detection point;

Switch and compare the next detection point until several altitude values and longitude and latitude values of all detection points in the target area are obtained to match. topographical map.

The present invention also provides a drone surveying and mapping system based on millimeter wave radar, including:

The control module is used to control several millimeter-wave radars installed at the bottom of the drone to emit electromagnetic waves to scan the target area;

An acquisition module, configured to calculate the relative distance between the UAV and each detection point, and the relative angle between the UAV and each detection point in the height direction; the target area includes several detection points;

The processing module is used to calculate the altitude value and latitude and longitude value of the detection point according to the relative distance and relative angle, as well as the positioning data of the positioning device carried on the drone;

A generating module, configured to generate a topographic map of the target area according to the altitude values and latitude and longitude values of all detection points.

Further, the acquisition module includes:

The first acquisition sub-module is used to acquire the electromagnetic wave transmitting and receiving status information of the millimeter wave radar after the millimeter wave radar emits electromagnetic waves to scan the target area;

The calculation sub-module is used to calculate the relative distance and relative angle between the unmanned aerial vehicle and each detection point according to the state information of transmitting and receiving electromagnetic waves and the installation distance of the antenna.

Further, the electromagnetic wave transceiving state information includes electromagnetic wave transceiving time difference and phase difference; the calculation submodule includes:

The relative distance calculation unit is used to calculate the relative distance between the UAV and each detection point by substituting the following formula (1) according to the time difference between sending and receiving of the electromagnetic wave;

The relative angle calculation unit is used to calculate the relative angle by substituting the following formula (2) according to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference;

Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance.

Further, the processing module includes:

The second acquisition sub-module is used to acquire the positioning data measured by the positioning device; the positioning data includes the longitude and latitude information and the altitude information of the drone;

The distance calculation sub-module is used to calculate the travel distance between the drone and the detection point in the left and right directions by substituting the following formula (4) according to the relative distance and the relative angle;

S=sinθ*R (4);

The height calculation sub-module is used to calculate the travel height in the height direction between the drone and the detection point by substituting the following formula (5) according to the relative distance and the relative angle;

h=cosθ*R (5);

The latitude calculation submodule is used to calculate the latitude value of the detection point by substituting the following formula (6) into the longitude and latitude information according to the travel distance;

W _n =cosα*S/D (6);

The longitude calculation submodule is used to calculate the longitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (7);

_Jn = sinα*S/(cos(Wn)*D) (7);

The altitude calculation submodule is used to calculate the altitude value of the detection point by substituting the following formula (8) according to the travel height and the altitude information;

Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.

Further, the generating module includes:

The comparison sub-module is used to compare several altitude values and latitude and longitude values of the current detection point, and if they do not match, delete the altitude value and the latitude and longitude value of the current detection point;

Generate a sub-module for switching and comparing the next detection point until the acquisition of several altitude values and latitude and longitude values of all detection points in the target area match, according to the several altitude values and latitude values corresponding to each detection point Longitude and latitude values, draw to generate the topographic map.

Through the millimeter-wave radar-based UAV surveying and mapping method and system provided by the present invention, the operational efficiency of terrain surveying, narrow application range and surveying and mapping accuracy can be improved.

Description of drawings

The preferred implementation will be described below in a clear and understandable manner with reference to the accompanying drawings, and the above-mentioned characteristics, technical features, advantages and implementation methods of a millimeter-wave radar-based UAV surveying and mapping method and system will be further described.

Fig. 1 is a flow chart of an embodiment of a method for unmanned aerial vehicle surveying and mapping based on millimeter-wave radar of the present invention;

Fig. 2 is a flow chart of another embodiment of a method for surveying and mapping of an unmanned aerial vehicle based on a millimeter-wave radar in the present invention;

Fig. 3 is a flow chart of another embodiment of a method for surveying and mapping of an unmanned aerial vehicle based on a millimeter-wave radar in the present invention;

Fig. 4 is a schematic diagram of the relationship between detection points and electromagnetic waves sent and received by the drone in a millimeter-wave radar-based UAV surveying and mapping method according to the present invention.

detailed description

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and/or components, but does not exclude one or more other Presence or addition of characteristics, wholes, steps, operations, elements, components and/or collections.

In order to make the drawing concise, each drawing only schematically shows the parts related to the present invention, and they do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. Herein, "a" not only means "only one", but also means "more than one".

It should also be further understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations .

In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish descriptions, and cannot be understood as indicating or implying relative importance.

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation manners of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention, and those skilled in the art can obtain other accompanying drawings based on these drawings and obtain other implementations.

One embodiment of the present invention, as shown in Fig. 1, a kind of UAV surveying and mapping method based on millimeter wave radar, comprises:

S100 controls several millimeter-wave radars installed at the bottom of the UAV to emit electromagnetic waves to scan the target area, and calculates the relative distance between the UAV and each detection point, and the distance between the UAV and each detection point in the height direction The relative angle on the above; the target area includes several detection points;

Specifically, the target area refers to the area detected by the drone flight, which can be a valley, a hilly area, or an urban area where the drone is allowed to fly. The entire target area is composed of a boundary and an internal area, and the target area can be Discrete into several detection points. Millimeter wave radar refers to the radar operating in the millimeter wave band, and its operating frequency is usually selected in the range of 30-300GHz. The operating frequency band of the millimeter wave radar of the present invention is between 60-64 GHz and 76-81 GHz. In the present invention, several millimeter-wave radar sensors with operating frequency bands of 60-64GHz and 76-81GHz are arranged at the bottom of the drone, and electromagnetic waves are emitted by several millimeter-wave radars installed on the bottom of the drone to scan the entire target area to obtain detection Data, and then, the processing end (including the controller or processor installed on the UAV, and the server connected to the UAV for wireless communication) can obtain detection data from various millimeter-wave radars in a wireless or wired manner , and then calculate the relative distance between the UAV and each detection point according to the detection data, and calculate the relative angle between the UAV and each detection point in the height direction according to the detection data.

S200 Calculate and obtain the altitude value and latitude and longitude value of the detection point according to the relative distance and relative angle, and the positioning data of the positioning device carried on the drone;

S300 generates a topographic map of the target area according to the altitude values and latitude and longitude values of all detection points.

Specifically, the processing end calculates the altitude value and latitude and longitude value of each detection point according to the relative distance and relative angle obtained from the above calculation, as well as the positioning data of the positioning device mounted on the UAV. Finally, the processing end generates a topographic map of the target area based on the altitude values and latitude and longitude values of all detection points.

The present invention is applicable to fields such as geological exploration, infrastructure, civil engineering, patrol inspection, etc. The present invention uses the form of unmanned aerial vehicles to detect and obtain the drawings required for surveying and mapping, and obtains surveying and mapping parameters (the altitude value and latitude and longitude value of each detection point in the target area) Fast speed and high work efficiency. Moreover, since the use of drones for detection is not restricted by the terrain, compared with manual detection, it can be used for surveying and mapping under complex terrain, and has a wide range of applications. Finally, since several millimeter-wave radars are installed at the bottom of the drone, the surveying and mapping detection angle of the drone becomes larger. 120°. According to the Doppler effect of the radar, the processing end can calculate the altitude difference at every interval of 1 meter. The present invention can arrange several millimeter-wave radars according to requirements, and re-judgment the altitude information and latitude and longitude values of the same location, that is, the same detection point, which can not only improve the terrain detection accuracy of the target area, but also increase the coverage of a single flight of the surveyed area.

One embodiment of the present invention, as shown in Fig. 2, a kind of UAV surveying and mapping method based on millimeter wave radar, comprises:

S110, after the millimeter-wave radar emits electromagnetic waves to scan the target area, acquire electromagnetic wave sending and receiving status information of the millimeter-wave radar;

S120 calculate and obtain the relative distance and relative angle between the UAV and each detection point according to the electromagnetic wave transceiving state information and the antenna installation distance;

S200 Calculate and obtain the altitude value and latitude and longitude value of the detection point according to the relative distance and relative angle, and the positioning data of the positioning device carried on the drone;

S300 generates a topographic map of the target area according to the altitude values and latitude and longitude values of all detection points.

Specifically, for the parts that are the same as those in the foregoing embodiments, refer to the foregoing embodiments, and details are not repeated here. After the processing end controls the millimeter-wave radar to emit electromagnetic waves to scan the target area, it obtains the electromagnetic wave sending and receiving status information of the millimeter-wave radar from each millimeter-wave radar. Since the installation positions of the antennas (including electromagnetic wave transmitting antennas and electromagnetic wave receiving antennas) installed on each UAV are fixed, the processing end can obtain the installation distance between the antennas, that is, the antenna installation distance. In this way, the processing end can calculate the relative distance and relative angle between the UAV and each detection point according to the state information of electromagnetic wave transmission and reception and the installation distance of the antenna.

The present invention is applicable to fields such as geological exploration, infrastructure, civil engineering, patrol inspection, etc. The present invention uses the form of unmanned aerial vehicles to detect and obtain the drawings required for surveying and mapping, and obtains surveying and mapping parameters (the altitude value and latitude and longitude value of each detection point in the target area) Fast speed and high work efficiency. Moreover, since the use of drones for detection is not restricted by the terrain, compared with manual detection, it can be used for surveying and mapping under complex terrain, and has a wide range of applications. Finally, since several millimeter-wave radars are installed at the bottom of the drone, the surveying and mapping detection angle of the drone becomes larger. 120°. According to the Doppler effect of the radar, the processing end can calculate the altitude difference at every interval of 1 meter. The present invention can arrange several millimeter-wave radars according to requirements, and re-judgment the altitude information and latitude and longitude values of the same location, that is, the same detection point, which can not only improve the terrain detection accuracy of the target area, but also increase the coverage of a single flight of the surveyed area.

In one embodiment of the present invention, as shown in Figure 3, a method for surveying and mapping of drones based on millimeter-wave radar includes:

S110, after the millimeter-wave radar emits electromagnetic waves to scan the target area, acquire electromagnetic wave transmitting and receiving state information of the millimeter-wave radar; the electromagnetic wave transmitting and receiving state information includes electromagnetic wave transmitting and receiving time difference and phase difference;

S121 calculates the relative distance between the unmanned aerial vehicle and each detection point by substituting the following formula (1) according to the time difference between the sending and receiving of the electromagnetic waves;

S122 According to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference, substitute the following formula (2) to calculate the relative angle;

Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance;

S210 Acquire positioning data measured by the positioning device; the positioning data includes latitude and longitude information and altitude information of the drone;

S220 According to the relative distance and the relative angle, substitute the following formula (4) to calculate the travel distance between the UAV and the detection point in the left and right directions;

S=sinθ*R (4);

S230 According to the relative distance and the relative angle, substitute the following formula (5) to calculate the travel height in the height direction between the UAV and the detection point;

h=cosθ*R (5);

S240 according to the travel distance, latitude and longitude information, into the following formula (6) to calculate the latitude value of the detection point;

W _n =cosα*S/D (6);

S250 according to the travel distance, latitude and longitude information, into the following formula (7) to calculate the longitude value of the detection point;

_Jn = sinα*S/(cos(Wn)*D) (7);

S260 according to described travel altitude and described altitude information, substitute following formula (8) to calculate the altitude value of described detection point;

Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.

Specifically, the millimeter-wave radar emits electromagnetic waves to scan the target area for detection. Since the bottom of the UAV can obtain several detection points at a time, the detection points A, B, C, ... as shown in Figure 4 below. Taking detection point A and detection point C as an example, refer to the above formula for conversion. UAV (unmanned aerial vehicle) obtains the positioning data measured by positioning equipment such as Beidou, GPS, and Glonass systems in real time, that is, through real-time measurement of positioning equipment. The latitude and longitude information and altitude information of the drone are recorded by the Flash memory installed in the drone at this time.

Then, the processing end retrieves the latitude and longitude information and altitude information of the drone from the positioning device or Flash memory of the drone. According to the latitude and longitude information and altitude information of the UAV, the processing end can convert the latitude and longitude and altitude values of detection point A by referring to the above formula.

Exemplarily, it is assumed that the longitude and latitude information of the drone detected by the positioning device is that the latitude distance per second is 30.8m, and the longitude distance per second is cos the latitude*30.8m. Then, then, the latitude value of point A W _A =cosα*L/30.8m*1 second, the longitude value of point A J _A =sinα*L/( _cosWA *30.8m)*1 second. Moreover, the altitude H A of point _A = the altitude information H of the UAV flight - the travel height h, and the altitude information H C of point _C = the travel height h.

S310 compares several altitude values and latitude and longitude values of the current detection point, and deletes the altitude value and latitude and longitude value of the current detection point if they do not match;

S320 switch and compare the next detection point, until the acquisition of several altitude values and latitude and longitude values of all detection points in the target area match, draw and generate The topographic map.

Specifically, the processing end records and integrates the data frame, that is, the latitude and longitude coordinates measured by the installation equipment installed on the UAV, that is, matches the altitude information of the terrain at each latitude and longitude according to the flight trajectory and scanning range of the UAV. By analogy, the longitude and latitude values of all detection points and the corresponding altitude information measured by the radar in real time are converted, and then according to the real-time 3D terrain mapping data of the target area where the track is located, that is, the latitude and longitude values of all detection points and the corresponding altitude information, generate Real-time 3D terrain map of the target area where the track is located.

The present invention arranges several millimeter-wave radars according to requirements, and conducts re-judgment and verification on the altitude information and latitude and longitude values of the same location, that is, the same detection point, which can not only improve the terrain detection accuracy of the target area, but also increase the coverage of a single flight of the surveyed area. The present invention does not need to rely on manual field surveying and mapping to obtain the original data, which not only saves the manpower of manual surveying and mapping, but also relies on the distance calculation formula to accurately obtain the terrain data of the target area, which can effectively reduce the terrain measurement error of the target area, making the overall The topographic measurements are more precise, resulting in more accurate and reliable topographic maps.

The present invention also provides a drone surveying and mapping system based on millimeter wave radar, including:

The control module is used to control several millimeter-wave radars installed at the bottom of the drone to emit electromagnetic waves to scan the target area;

An acquisition module, configured to calculate the relative distance between the UAV and each detection point, and the relative angle between the UAV and each detection point in the height direction; the target area includes several detection points;

The processing module is used to calculate the altitude value and latitude and longitude value of the detection point according to the relative distance and relative angle, as well as the positioning data of the positioning device carried on the drone;

A generating module, configured to generate a topographic map of the target area according to the altitude values and latitude and longitude values of all detection points.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment. For specific effects, refer to the above method embodiment, which will not be repeated here.

Further, the acquisition module includes:

The first acquisition sub-module is used to acquire the electromagnetic wave transmitting and receiving status information of the millimeter wave radar after the millimeter wave radar emits electromagnetic waves to scan the target area;

The calculation sub-module is used to calculate the relative distance and relative angle between the UAV and each detection point according to the state information of the electromagnetic wave transmission and reception and the installation distance of the antenna.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment. For specific effects, refer to the above method embodiment, which will not be repeated here.

Further, the electromagnetic wave transceiving state information includes electromagnetic wave transceiving time difference and phase difference; the calculation submodule includes:

The relative distance calculation unit is used to calculate the relative distance between the UAV and each detection point by substituting the following formula (1) according to the time difference between sending and receiving of the electromagnetic wave;

The relative angle calculation unit is used to calculate the relative angle by substituting the following formula (2) according to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference;

Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment. For specific effects, refer to the above method embodiment, which will not be repeated here.

Further, the processing module includes:

The second acquisition sub-module is used to acquire the positioning data measured by the positioning device; the positioning data includes the longitude and latitude information and the altitude information of the drone;

The distance calculation sub-module is used to calculate the travel distance between the drone and the detection point in the left and right directions by substituting the following formula (4) according to the relative distance and the relative angle;

S=sinθ*R (4);

The height calculation sub-module is used to calculate the travel height in the height direction between the drone and the detection point by substituting the following formula (5) according to the relative distance and the relative angle;

h=cosθ*R (5);

The latitude calculation submodule is used to calculate the latitude value of the detection point by substituting the following formula (6) into the longitude and latitude information according to the travel distance;

W _n =cosα*S/D (6);

The longitude calculation submodule is used to calculate the longitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (7);

_Jn = sinα*S/(cos(Wn)*D) (7);

The altitude calculation submodule is used to calculate the altitude value of the detection point by substituting the following formula (8) according to the travel height and the altitude information;

Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment. For specific effects, refer to the above method embodiment, which will not be repeated here.

Further, the generating module includes:

The comparison sub-module is used to compare several altitude values and latitude and longitude values of the current detection point, and if they do not match, delete the altitude value and the latitude and longitude value of the current detection point;

Generate a sub-module for switching and comparing the next detection point until the acquisition of several altitude values and latitude and longitude values of all detection points in the target area match, according to the several altitude values and latitude values corresponding to each detection point Longitude and latitude values, draw to generate the topographic map.

Specifically, this embodiment is a system embodiment corresponding to the above method embodiment. For specific effects, refer to the above method embodiment, which will not be repeated here.

Those skilled in the art can clearly understand that for the convenience and brevity of description, only the division of the above-mentioned program modules is used as an example for illustration. In practical applications, the above-mentioned functions can be allocated by different program modules according to needs. The internal structure of the device is divided into different program units or modules to complete all or part of the functions described above. Each program module in the embodiment can be integrated in one processing unit, or each unit can exist separately physically, or two or more units can be integrated in one processing unit, and the above-mentioned integrated units can be implemented in the form of hardware , can also be implemented in the form of software program units. In addition, the specific names of the program modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application.

They can be implemented with program codes executable by computing devices, and thus, they can be stored in storage devices and executed by computing devices, or they can be made into individual integrated circuit modules, or a plurality of modules or steps in them Made into a single integrated circuit module to achieve. As such, the present invention is not limited to any specific combination of hardware and software.

In the above-mentioned embodiments, the descriptions of each embodiment have their own emphases, and for parts that are not described or recorded in detail in a certain embodiment, reference may be made to relevant descriptions of other embodiments.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the present application.

In the embodiments provided in this application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the device/terminal device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, for example, multiple Units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

It should be noted that the above embodiments can be freely combined as required. The above is only a preferred embodiment of the present invention, it should be pointed out that, for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications can also be made. It should be regarded as the protection scope of the present invention.

Claims (10)

1. An unmanned aerial vehicle surveying and mapping method based on millimeter-wave radar, is characterized in that, comprises steps:

   Control several millimeter-wave radars installed at the bottom of the UAV to emit electromagnetic waves to scan the target area, calculate the relative distance between the UAV and each detection point, and the distance between the UAV and each detection point in the height direction The relative angle; The target area includes several detection points;

   According to the relative distance and relative angle, and the positioning data of the positioning device carried on the drone, calculate the altitude value and latitude and longitude value of the detection point;

   A topographic map of the target area is generated according to the altitude values and latitude and longitude values of all detection points.
2. The UAV surveying and mapping method based on millimeter-wave radar according to claim 1, wherein said obtaining the relative distance and relative angle between said UAV and each detection point comprises the steps of:

   After the millimeter-wave radar emits electromagnetic waves to scan the target area, acquire the electromagnetic wave transmitting and receiving state information of the millimeter-wave radar;

   The relative distance and relative angle between the UAV and each detection point are calculated according to the electromagnetic wave receiving and receiving state information and the antenna installation distance.
3. The UAV surveying and mapping method based on millimeter-wave radar according to claim 2, wherein the electromagnetic wave receiving and receiving status information includes electromagnetic wave receiving and receiving time difference and phase difference; according to the electromagnetic wave receiving and receiving status information and the antenna installation distance, Calculating the relative distance and relative angle between the UAV and each detection point includes steps:

   According to the time difference of transmitting and receiving of the electromagnetic wave, the relative distance between the unmanned aerial vehicle and each detection point is calculated by substituting the following formula (1);

   

   According to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference, the relative angle is calculated by substituting the following formula (2);

   

   Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance.
4. The UAV surveying and mapping method based on millimeter-wave radar according to claim 1, wherein the calculation is based on the relative distance and relative angle, and the positioning data of the positioning device mounted on the UAV. Obtaining the altitude value and the latitude and longitude value of the detection point includes the steps of:

   Acquiring positioning data measured by the positioning device; the positioning data includes latitude and longitude information and altitude information of the drone;

   According to the relative distance and the relative angle, the following formula (4) is substituted into the calculation to obtain the travel distance in the left and right direction between the drone and the detection point;

   S=sinθ*R (4);

   According to the relative distance and the relative angle, the following formula (5) is substituted into the calculation to obtain the travel height in the height direction between the UAV and the detection point;

   h＝cosθ*R (5);

   According to the travel distance, the latitude and longitude information is substituted into the following formula (6) to calculate the latitude value of the detection point;

   W _n =cosα*S/D (6);

   According to described travel distance, longitude and latitude information, substitute following formula (7) to calculate and obtain the longitude value of described detection point;

   _Jn = sinα*S/(cos(Wn)*D) (7);

   According to the stroke height and the altitude information, the altitude value of the detection point is calculated by substituting the following formula (8);

   

   Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.
5. According to the millimeter-wave radar-based UAV surveying and mapping method according to any one of claims 1-4, it is characterized in that, according to the altitude values and latitude and longitude values of all detection points, generating the topographic map of the target area includes step:

   Comparing several altitude values and latitude and longitude values of the current detection point, if they do not match, deleting the altitude value and latitude and longitude value of the current detection point;

   Switch and compare the next detection point until several altitude values and longitude and latitude values of all detection points in the target area are obtained to match. topographical map.
6. An unmanned aerial vehicle surveying and mapping system based on millimeter-wave radar, is characterized in that, comprises:

   The control module is used to control several millimeter-wave radars installed at the bottom of the drone to emit electromagnetic waves to scan the target area;

   An acquisition module, configured to calculate the relative distance between the UAV and each detection point, and the relative angle between the UAV and each detection point in the height direction; the target area includes several detection points;

   The processing module is used to calculate the altitude value and latitude and longitude value of the detection point according to the relative distance and relative angle, as well as the positioning data of the positioning device carried on the drone;

   A generating module, configured to generate a topographic map of the target area according to the altitude values and latitude and longitude values of all detection points.
7. The UAV surveying and mapping system based on millimeter-wave radar according to claim 6, wherein the acquisition module includes:

   The first acquisition sub-module is used to acquire the electromagnetic wave transmitting and receiving status information of the millimeter wave radar after the millimeter wave radar emits electromagnetic waves to scan the target area;

   The calculation sub-module is used to calculate the relative distance and relative angle between the UAV and each detection point according to the state information of the electromagnetic wave transmission and reception and the installation distance of the antenna.
8. The UAV surveying and mapping system based on millimeter-wave radar according to claim 7, wherein the electromagnetic wave sending and receiving status information includes electromagnetic wave sending and receiving time difference and phase difference; the calculation submodule includes:

   The relative distance calculation unit is used to calculate the relative distance between the UAV and each detection point by substituting the following formula (1) according to the time difference between sending and receiving of the electromagnetic wave;

   

   The relative angle calculation unit is used to calculate the relative angle by substituting the following formula (2) according to the antenna installation distance, the wavelength of the electromagnetic wave and the phase difference;

   

   Wherein, R represents the relative distance, θ represents the relative angle, c represents the speed of light, ΔT represents the time difference between transmitting and receiving the electromagnetic wave, λ represents the wavelength of the electromagnetic wave, ΔΦ represents the phase difference, and L represents the antenna installation distance.
9. The UAV surveying and mapping system based on millimeter-wave radar according to claim 6, wherein the processing module includes:

   The second acquisition sub-module is used to acquire the positioning data measured by the positioning device; the positioning data includes the longitude and latitude information and the altitude information of the drone;

   The distance calculation sub-module is used to calculate the travel distance between the drone and the detection point in the left and right directions by substituting the following formula (4) according to the relative distance and the relative angle;

   S=sinθ*R (4);

   The height calculation sub-module is used to calculate the travel height in the height direction between the drone and the detection point by substituting the following formula (5) according to the relative distance and the relative angle;

   h＝cosθ*R (5);

   The latitude calculation submodule is used to calculate the latitude value of the detection point by substituting the following formula (6) into the longitude and latitude information according to the travel distance;

   W _n =cosα*S/D (6);

   The longitude calculation submodule is used to calculate the longitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (7);

   _Jn = sinα*S/(cos(Wn)*D) (7);

   The altitude calculation submodule is used to calculate the altitude value of the detection point by substituting the following formula (8) according to the travel height and the altitude information;

   

   Wherein, the R represents the relative distance, θ represents the relative angle, S represents the stroke distance, h represents the stroke height, and α represents the distance between the straight line where the relative distance is located and the straight line where the left and right directions are located. angle, W _n represents the latitude value of the nth detection point, J _n represents the longitude value of the nth detection point, H _n represents the altitude value of the nth detection point.
10. The UAV surveying and mapping system based on millimeter-wave radar according to any one of claims 6-9, wherein the generation module includes:

    The comparison sub-module is used to compare several altitude values and latitude and longitude values of the current detection point, and if they do not match, delete the altitude value and the latitude and longitude value of the current detection point;

    Generate a sub-module for switching and comparing the next detection point until the acquisition of several altitude values and latitude and longitude values of all detection points in the target area match, according to the several altitude values and latitude values corresponding to each detection point Longitude and latitude values, draw to generate the topographic map.

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