CN101762269A - Region topographic map low-altitude mapping technique without control point and equipment thereof - Google Patents
Region topographic map low-altitude mapping technique without control point and equipment thereof Download PDFInfo
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- CN101762269A CN101762269A CN201010106638A CN201010106638A CN101762269A CN 101762269 A CN101762269 A CN 101762269A CN 201010106638 A CN201010106638 A CN 201010106638A CN 201010106638 A CN201010106638 A CN 201010106638A CN 101762269 A CN101762269 A CN 101762269A
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Abstract
The present invention discloses a region topographic map low-altitude mapping technique without a control point and an equipment thereof. At least three laser range finders are arranged on a plane which is perpendicular to the navigation direction and are directed at a ground photographed region. After one-time imaging is finished, the distance is measured by all laser range finders once after short time delay when any laser range finder moves to the imaging position of a camera, namely the laser ray of the laser range finder is coincided with one ray emitted during camera imaging, and the distance from an imaging center to the ground instant field represented by a certain pixel is obtained. The distance measured is simultaneously input in a computing unit with the current position parameter of the imaging optical center and the current attitude parameter of the camera, and the three-dimensional space value of the position in which a ground panel represented by the specified pixel lie is calculated. The method can effectively acquire ground control point parameters and draw topographic maps under the conditions that the ground control point parameters can not be acquired by ground manual operation due to disasters or other reasons.
Description
Affiliated technical field
The invention belongs to photogrammetric measurement mapping topomap career field.
Background technology
After violent earthquake took place, influencing the unimpeded major casualty form of traffic lifeline was the landslide, and rubble flow is buried road.It is earth volume that road is robbed one of important master data of logical construction speed measuring and calculating.Can obtain a cubic metre of earth value by two dem data computings of BEFORE AND AFTER EARTHQUAKE, but the disaster area after earthquake just takes place is that dem data (or topomap) is available after not shaking.Under this great disaster environment, low-altitude remote sensing can obtain large-scale remote sensing images under the unmanned plane cloud, and wanting according to common flow process is impossible at the ground survey reference mark.Therefore measurement data that basic demand is a ground control point in the photogrammetric technology only has image not have ground control point can not draw topomap.Under a lot of disasters and disaster condition, need topomap still but can not obtain the ground control point parameter.Just a medium scale is arranged as the unmanned plane image of taking after the earthquake in 2008 5.12 according to terrain clearance, by can be used as earthquake disaster and environmental change decipher use after the splicing, can't provide the rescue and relief work commander to rob the master data of the removing earthwork of logical decision-making needs.
The on-the-spot reference mark of laying of the mapping need of work of at present existing photogrammetric technology, it is field measurement reference mark geographic coordinate, apply to aerotriangulation encryption and mapping link in the mapping of later stage work station, that is to say, the landform of being destroyed after the calamity can't obtain control point information, also just can't obtain shake back landform.
Summary of the invention
In view of the above shortcoming of prior art, the objective of the invention is to study a kind of low latitude mapping technology based on camera and laser range finder combined platform, make it to overcome the above shortcoming of prior art.
The objective of the invention is to realize by following means.
Topographic Map low latitude, no reference mark mapping technology adopts the sensor rigid platfor of camera and laser range finder combination and the topomap that computing unit obtains not have the area, reference mark fast, and its job step comprises:
(1), at least three laser range finders are installed in perpendicular on the plane in course and limit directed towards ground by photographed region, each laser range finder points to the different directions in camera shooting zone, the low-latitude flying platform moves to definite prospecting zone and finishes the imaging operation; After Polaroid the finishing, when a corresponding ray overlapped when promptly the laser beam of this laser range finder is with camera imaging position that some laser range finders move to camera imaging, this laser range finder was finished once range finding through a small time-delay;
(2), the distance of the ground instantaneous field of view of certain picture dot representative in the image that (1) is obtained and imaging center is together with location parameter, the camera attitude parameter input computing unit at image optics center this moment, resolves the three dimensional spatial values of specifying the bin position, ground that picture dot represents;
(3), repeat the three dimensional spatial values collection that (1) and (2) operation obtains reconnoitring regional specific reference mark.
The present invention also aims to, for the enforcement of above technology provides effective equipment.The sensor platform of described lift-launch on the low-latitude flying platform is made up of a camera and three laser range finders at least, and the laser beam of each laser range finder is parallel with definite ray in the camera imaging beam; By moving of aircraft, the laser beam when realizing each laser range finder range finding overlaps with definite ray in the camera imaging beam; The laser range finder dispersed arrangement, each intersection point that the surface level at its laser beam and camera focus place forms and camera focal point F be straight line L altogether.
Adopt technology of the present invention, can since disaster or other impenetrably dough figurine work already obtain under the situation of bar ground control point parameter, obtain the ground control point parameter effectively, finish topographic map drawing.
Description of drawings
Fig. 1, the present invention adopt the side view of sensor platform.
The vertical view of Fig. 2, Fig. 1.
The K of Fig. 3, Fig. 2 is to view.
Embodiment
In conjunction with Fig. 1 Fig. 2 and Fig. 3, according to the unmanned plane platform, camera (2) and three or above (being three in the present embodiment) laser range finder are integrated on the rigid platfor (1), laser range finder (11), (12), (13) are installed in perpendicular on the plane in course and limit directed towards ground by photographed region, each laser range finder points to the different directions in camera shooting zone, in this example, laser range finder 11), (12) and (13) point to respectively the lower-left of platform course direction, vertical and lower right to.The laser beam of each laser range finder is parallel with definite ray in the camera imaging beam.Along with the flight of unmanned plane, camera is finished imaging to survey target; Through a small time interval (aircraft moves one period time spent that is equivalent to mounting distance between camera lens optical axis and certain stadimeter along the course), this laser range finder moves to the position of camera imaging, the laser beam of this laser range finder is when a corresponding ray overlaps during with camera imaging, and this laser range finder is finished once range finding.Can see that by Fig. 3 the laser beam of implementing range finding is combined as a covering of the fan, this covering of the fan is perpendicular to the flight axis.The intersection point that the surface level at laser beam and camera focus place forms is on same straight line (flight axis) L with the focus of camera, the corresponding coincidence of ray on the locus during with camera imaging by time-delay realization laser beam.The picture dot of a plurality of appointments is corresponding one by one on multi-stripe laser beam line and the digital picture.The distance that the laser ranging unit is measured, be exactly imaging center and this picture dot the representative the ground bin between distance.Utilize the location parameter of imaging center and the range finding result that the camera attitude parameter is added a plurality of corresponding picture dots, can resolve the three dimensional spatial values that those specify the ground bin of picture dot representative, the value of these points replaces the measured value of ground control point in our traditional aerophotogrammetric field work work.The synchronous range finding value of a plurality of laser rangings unit that covering of the fan is arranged is just corresponding to the distance value of a plurality of picture dots on the image and ground bin, measured to distance import computing unit in the lump with location parameter, the camera attitude parameter at image optics center this moment, resolve the three dimensional spatial values of the bin position, ground of specifying the picture dot representative.Along with advancing and course, other of flying platform, finished the work that imaging and aerial distance measuring method are determined ground control point to the overlapping imaging of vast scale.So just can finish topography mapping after the shake of no ground control point mapping flow process fast.
The early-stage preparations equipment stage can be integrated in conventional camera and a plurality of laser range finder on the rigid platfor in the optical instrument factory.A plurality of laser rangings unit forms one or more covering of the fans perpendicular to the course, the spacing of keep determining between each laser range finder, and parallel in the sensing angle of each laser range finder and the camera imaging beam with a definite ray in the vertical plane, course.When this laser range finder moved to the position of camera imaging, the ray that the laser beam of laser ranging unit is corresponding with camera overlapped.This ray is corresponding with the picture dot of some appointments of digital picture.The distance that the laser ranging unit is measured is exactly the distance of the ground bin of imaging center and this picture dot representative.The attitude parameter of camera is added the range finding result of a plurality of corresponding picture dots when utilizing the location parameter of imaging center and imaging, can resolve the three dimensional spatial values that those specify the ground bin of picture dot representative, the value of these points replaces the measured value of our common ground control point.The synchronous range finding value of a plurality of laser rangings unit that covering of the fan is arranged further just can calculate the geographic coordinate values of ground, visual field being shot bin just corresponding to the distance value of a plurality of picture dots on the image and ground bin.Along with advancing and the overlapping imaging of course vast scale of flying platform, finished the work that ground control point is determined in imaging and aerial range finding.
The range cells of laser range finder can not be less than three, arranges (under the sensing machine and both sides respectively) perpendicular to the course covering of the fan.According to the weight bearing power of flying platform, can increase the laser ranging unit.Beam angle between each range cells is identical.The angle of two range cells of outermost is field angle of combined type multiple spot laser range finder.This angle is less than the field angle in the vertical course of camera imaging face, avoid the too close distortion of reference mark picture dot bigger resemble the breadths edge.
According to " Photogrammetry and Remote Sensing " related specifications, the longitudinal overlap degree of photo generally should be 60%～65% during flight, and indivedual maximums must not be greater than 75%, and minimum must not be less than 56%; The photo sidelapping degree in adjacent course line generally should be 30%～35%, and indivedual minimums must not be less than 13%.In this invention, owing to be based on the unmanned plane platform, consider its instability, advise the longitudinal overlap rate greater than 80%, sidelapping rate 30%------50%.
Camera and laser range finder are integrated on the rigid platfor that satisfies above-mentioned optics requirement.The attitude of platform is consistent with the attitude parameter of photographic camera and combined type multiple spot laser range finder.Course line during normal flight and fuselage axis line parallel (or coincidence), when aircraft has pitching, driftage, the camera center of the locus of implementing laser ranging during with imaging is different, and the ground point that causes finding range produces with the ground point of specifying picture dot and rotates and shifting deviation.Three gyro servo-drive systems by platform can be revised small rotation deviation, shifting deviation.Bigger rotating deviation, shifting deviation can be according to aspect parameter and location parameter correction.
According to the constant spacing between camera and each laser range finder, utilize precision interval clock, the time unification of time of the acquisition time of Airborne GPS data, photographic imagery, laser ranging in reference system at the same time, is solved the low bigger problem of camera shooting locus error that causes of Airborne GPS data sampling rate.The precision interval clock of unified reference system can improve the precision of photography back laser ranging time-delay simultaneously, guarantees range finding ground point and the consistance of specifying picture dot.
The value that attitude angle when the distance of measuring according to laser range finder, imaging and Airborne GPS are measured calculates the 3 d space coordinate of the corresponding picture dot of each laser range finder, converts the ground geographic coordinate at last to, is used for mapping work.
Claims (2)
1. do not have Topographic Map low latitude, reference mark mapping technology, it is characterized in that, adopt camera and laser range finder to be combined as the sensor platform of rigid structure and the topomap that computing unit obtains not have the area, reference mark fast, its job step comprises:
(1), at least three laser range finders are installed in perpendicular on the plane in course and limit directed towards ground by photographed region, each laser range finder points to the different directions in camera shooting zone, the low-latitude flying platform moves to definite prospecting zone and finishes the imaging operation; After Polaroid the finishing, work as the position that any one laser range finder moves to camera imaging through a small time-delay, when a corresponding ray overlapped when promptly the laser beam of this laser range finder was with camera imaging, each laser range finder was finished once range finding;
(2), the distance of the ground instantaneous field of view of certain picture dot representative in the image that (1) is obtained and imaging center is together with location parameter, the camera attitude parameter input computing unit at this image forming optical center this moment, resolves the three dimensional spatial values of specifying the bin position, ground that picture dot represents;
(3), repeat the three dimensional spatial values data set that (1) and (2) operation obtains reconnoitring regional specific reference mark.
2. realize equipment according to described Topographic Map low latitude, the no reference mark mapping technology of claim 1, it is characterized in that, the sensor platform of described lift-launch on the low-latitude flying platform is made up of a camera and three laser range finders at least, and the laser beam of each laser range finder is parallel with definite ray in the camera imaging beam; The laser range finder dispersed arrangement, each intersection point that the surface level at its laser beam and camera focus place forms and camera focal point F be straight line L altogether.
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| CN201010106638A CN101762269A (en) | 2010-02-05 | 2010-02-05 | Region topographic map low-altitude mapping technique without control point and equipment thereof |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974427A (en) * | 2016-06-24 | 2016-09-28 | 上海图漾信息科技有限公司 | Structural light distance measurement device and method |
| CN107063193A (en) * | 2017-03-17 | 2017-08-18 | 东南大学 | Based on GPS Dynamic post-treatment technology Aerial Photogrammetry |
| CN107843939A (en) * | 2017-10-24 | 2018-03-27 | 防灾科技学院 | Coal fire recognition methods based on unmanned plane thermal infrared imagery |
| CN110186432A (en) * | 2019-07-08 | 2019-08-30 | 中国电建集团成都勘测设计研究院有限公司 | Ground control point installation aiding device for earth's surface deformation evolution |
| EP3640592A1 (en) * | 2018-10-15 | 2020-04-22 | Atlantic Inertial Systems Limited | A navigation system |
-
2010
- 2010-02-05 CN CN201010106638A patent/CN101762269A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974427A (en) * | 2016-06-24 | 2016-09-28 | 上海图漾信息科技有限公司 | Structural light distance measurement device and method |
| CN107063193A (en) * | 2017-03-17 | 2017-08-18 | 东南大学 | Based on GPS Dynamic post-treatment technology Aerial Photogrammetry |
| CN107843939A (en) * | 2017-10-24 | 2018-03-27 | 防灾科技学院 | Coal fire recognition methods based on unmanned plane thermal infrared imagery |
| EP3640592A1 (en) * | 2018-10-15 | 2020-04-22 | Atlantic Inertial Systems Limited | A navigation system |
| GB2578108A (en) * | 2018-10-15 | 2020-04-22 | Atlantic Inertial Systems Ltd | A navigation system |
| US11029159B2 (en) | 2018-10-15 | 2021-06-08 | Atlantic Inertial Systems Limited | Navigation system |
| CN110186432A (en) * | 2019-07-08 | 2019-08-30 | 中国电建集团成都勘测设计研究院有限公司 | Ground control point installation aiding device for earth's surface deformation evolution |
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Application publication date: 20100630 |