CN102749071A - Method for monitoring soil erosion based on unmanned aerial vehicle aerial photography - Google Patents
Method for monitoring soil erosion based on unmanned aerial vehicle aerial photography Download PDFInfo
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Abstract
The present invention discloses a method for monitoring soil erosion based on unmanned aerial vehicle aerial photography. The method is characterized by: adopting an unmanned low altitude aerial vehicle as a remote sensing platform, and integrating a digital camera, a differential GPS and a gyro platform; adopting a digital photography technology, and adopting a low altitude unmanned aerial vehicle with characteristics of high resolution and large scale to acquire a plurality of long-period observation image data of a research area; adopting a computer digital image processing system to import a processed image into a CAD; carrying out recognition and measurement on quantity and quality of soil erosion investigation factors in the CAD based on culture conformation law and image characteristics in the research area, wherein the factors comprise length, width, depth, volume and other factors of a channel; and calculating values of channel head advancing, channel widening, and channel down-cutting, and then calculating channel erosion and an average erosion modulus in many years so as to monitor soil erosion change in the whole research area, such that a convenient and efficient method is provided for good treatment and monitor of water and soil loss.
Description
One, technical field
The invention relates to the method for the monitoring soil erosion, a kind of especially method based on the unmanned plane aeroplane photography monitoring soil erosion.
Two, technical background
Traditional soil erosion survey method is ground appearance to be set, regularly to survey, and generally utilize airborne remote sensing and space satellite remote sensing to investigate simultaneously, but above-mentioned all technology all has its significant disadvantages and deficiency:
1. appearance ground, ground, slow in action when runoff plots is regularly surveyed is set, the manual work input that labor capacity is big, needs are a large amount of, cost is high, and the cycle is long;
2. utilize common manned airborne remote sensing owing to many links such as needs transitions, expense is difficult to regular development the, poor stability than higher;
When 3. adopting the space satellite remote sensing monitoring; Its spatial and temporal resolution is lower, and flying height is on cloud layer, and it is bigger that image definition is influenced by cloud layer; And erosion is distributed in mountain area, with a varied topography more; So precision is lower, and high-resolution remote sensing image costs an arm and a leg, and also receives the restriction in the cycle of heavily visiting and the influence of cloud.
So in the soil erosion survey process, adopt traditionally when method such as appearance ground, ground, runoff plots, manned airborne remote sensing and space satellite remote sensing is set, bring a lot of troubles and inefficiency inevitably.Therefore, prior art exists cost high, and the cycle is long, influenced greatly by cloud layer; How shortcomings such as poor stability under the situation that does not influence the aerial survey precision, reduce cost; Shorten the image update cycle, improve image definition, increase security and become this area scientific and technical personnel problem anxious to be solved.
Three, summary of the invention
In order to overcome a lot of troubles that existing method is brought inevitably in the monitoring soil erosion process; Increase work efficiency; The purpose of this invention is to provide a kind ofly based on unmanned plane aeroplane photography monitoring soil erosion method, it has overcome the above-mentioned shortcoming that existing method exists.
The objective of the invention is to realize like this:
1. in study area; Adopt the unmanned plane low flyer as remote-sensing flatform; Integrate digital camera, differential GPS and gyropanel; Utilize digital photography technology, obtain high ground resolution, large-scale low latitude unmanned plane carries out repeatedly the image data that long period observation obtains to survey region;
2. through the computer digit image processing system; Towards the more serious study area of soil losses, the image that obtains is carried out orthorectify handle, become orthogonal projection by original central projection; So the corresponding relation of also changing engineer's scale is the image that obtains handling well.Again with the image of handling well; Be generally the tif form; Import among the CAD, according to atural object conformation rule and imaging characteristic, the quality and quantity of the investigation factor of the erosion development degree that the soil erosion is regional is discerned in CAD and is measured; Comprise boat sheet the erosion channel length, width, the degree of depth, area, the volume that measured at that time, then extrapolate the vertical factor such as compare of raceway groove again.
3. in each item soil erosion factor amount of the corresponding erosion groove of the image of different times; Thereby obtain that the ditch head advances, the value of quantitative test such as raceway groove is widened, gullying; So obtain the erosion amount and the annual erosion modulus of different times; Establishment aviation soil erosion survey table, thus the variation of the soil erosion in the whole survey region is monitored.
The method of establishment aviation soil erosion survey table is following: according to the soil erosion factor of image interpretation on CAD, measurement; Comprise that corroding the vertical factor such as compare of channel length, width, the degree of depth, area, volume, raceway groove is the following questionnaire of actual measurement soil erosion establishment on the ground: the value that 1. obtains in erosion groove length, width, volume, ditch head to the exit or entrance of a clitch discrepancy in elevation and the airborne survey according to some actual measurements on the ground compares; Obtain actual measurement and accurate measurement comparison sheet as a result, through to precision relatively review aerial survey the time precision whether credible; 2. according to the boat sheet of some identical raceway groove different times, in CAD, after measuring, obtain raceway groove different times metamorphosis measurement table, comprise channel area, channel length, channel width, channel depth, raceway groove volume; 3. according to raceway groove different times metamorphosis measurement table, can obtain raceway groove different times erosive velocity, erosion amount and erosion modulus table at last, comprise calculated amount such as the ditch head advances, raceway groove is widened, gullying, erosion amount, average annual erosion modulus.
It is following wherein to measure the method that corrodes channel length: through the computer digit image processing system; Collection digital camera in the remote-sensing flatform of unmanned plane low flyer, differential GPS, gyro, digital photography technology are combined; Get access to true coordinate value in the image; If corroding the length of raceway groove AB is L, (X
1, Y
1, Z
1) be the coordinate that ditch head center A is ordered, (X
2, Y
2, Z
2) be the coordinate that center, exit or entrance of a clitch B is ordered, by mathematical model 1:
Calculate channel length, accompanying drawing 1.
It is following wherein to measure the method that corrodes channel width: get access to true coordinate value in the image through the computer digit image processing system; With the raceway groove center line is benchmark; And on its tangent both direction and the distance between the intersection point of raceway groove edge line for corroding the width of raceway groove, establish to corrode on the raceway groove AB center line and put C (C
x, C
y, C
z) with the intersection point of raceway groove edge line be D (D
x, D
y, D
z), E (E
x, E
y, E
z), then by mathematical model 2:
Obtain the channel width on the C point, accompanying drawing 1.
The method that wherein measure to corrode the raceway groove mean breadth is following: get access to true coordinate value in the image through the computer digit image processing system, on the raceway groove center line, select a plurality of points calculate its width D '
i, by mathematical model 3:
Obtain corroding the raceway groove mean breadth, accompanying drawing 1.
It is following wherein to measure the method that corrodes channel depth: get access to true coordinate value in the image through the computer digit image processing system, certain 1 C (C on the raceway groove center line
x, C
y, C
z) on, with on the center line direction tangential with the intersection point D (D of raceway groove edge line
x, D
y, D
z), by mathematical model 4:G '=D
z-C
zObtain channel depth, accompanying drawing 1.
The method that wherein measures ditch head to the exit or entrance of a clitch discrepancy in elevation is following: get access to true coordinate value in the image through the computer digit image processing system, establish ditch top coordinate A (X
1, Y
1, Z
1), exit or entrance of a clitch coordinate B (X
2, Y
2, Z
2), by mathematical model 5:C=Z
1-Z
2Obtain ditch and push up to the exit or entrance of a clitch discrepancy in elevation, accompanying drawing 1.
The method that wherein measures the vertical ratio of raceway groove is following: by mathematical model 6:i=L/C, obtain the vertical ratio of raceway groove.
It is following wherein to measure erosion raceway groove Method for Area: get access to true coordinate value in the image through the computer digit image processing system, be located on the raceway groove edge line, get a S clockwise
i(S
Xi, S
Yi, S
Zi), i=1,2...n constitutes a polygon, by mathematical model 7:
Obtain area, accompanying drawing 2.
The method that wherein measures the volume that corrodes raceway groove is following: get access to true coordinate value in the image through the computer digit image processing system, form a polyhedron, reconnaissance V therein by raceway groove edge line and bottom of trench center line
i(V
Xi, V
Yi, V
Zi) i=0,1...n...m, by mathematical model 8:
Obtain the raceway groove volume, d represents to constitute leg-of-mutton determinant, accompanying drawing 3 on the polyhedron.
It is following wherein to measure the method that the ditch head advances: the channel length values that obtains in the boat sheet through two different times separately successively is L
1, L
2, its Air China sheet year number N at interval, by mathematical model 9:
Obtain ditch head advance value.
It is following wherein to measure the method that raceway groove widens: the channel width value that obtains in the boat sheet through two different times separately successively is D
1, D
2, its Air China sheet year number N at interval, by mathematical model 10:
Obtain the ditch head value of widening.
The method that wherein measures gullying is following: the channel depth value that obtains in the boat sheet through two different times separately successively is G
1, G
2, its Air China sheet year number N at interval, by mathematical model 11:
Obtain ditch head incision value.
The method that wherein measures the average annual erosion amount of raceway groove is following: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 12:
Obtain the average annual erosion amount of raceway groove.
The method that wherein measures the average annual erosion modulus of raceway groove is following: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 13:
Obtain the average annual erosion modulus of raceway groove, ρ is the soil weight.
This invention compared with prior art has the following advantages:
1. motor-driven responding ability fast
The UAS transportation is convenient, lift-off setup time weak point, simple to operate, can arrive the monitored area fast, and airborne high precision remote sensing equipment can obtain the remote sensing monitoring result at short notice fast;
2. excellent performance
Unmanned plane can be by predetermined line of flight autonomous flight, shooting, and the course line control accuracy is high, and flight attitude is steady; Flying height can below clouds be flown from 50m to 4000m, can effectively avoid the influence of cloud, height control accuracy 10m; Velocity range is from 70km/h to 160km/h, but all smooth flights adapt to different remote sensing tasks;
3. operation is simple and reliable
Flight operation robotization, intelligent degree height, simple to operate, be convenient to grasp and training; In case remote control is malfunctioning or other faults, by ground staff's operation, if trouble shooting then control by the ground staff and continue flight, otherwise automatic deployment is reclaimed;
4. high-definition remote sensing image data acquisition capability
The high precision digital image-forming equipment that unmanned plane carries; Possess area cover, vertical or be inclined to the technical capability of picture; The spatial resolution of obtaining image reaches decimeter grade, is suitable for 1: 1 ten thousand or scale remote sensing demands of applications more, can carry the general data camera as required; Can from figure, obtain the various essential informations of more accurate erosion groove.
5. use cost is low
The operation cost of UAS is lower, and training time of flight operation person is short, the depositing of system, easy maintenance, the expense that also can remove accent machine and shutdown from.
Four, description of drawings
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
Fig. 1 is the erosion groove planimetric map; Fig. 2 is an erosion groove planimeter nomogram; Fig. 3 is an erosion groove volumescope nomogram;
Five, embodiment
At first select survey region; Collection digital camera, differential GPS and gyropanel in the unmanned plane are set parameter, according to weather, survey region position etc. unmanned plane is set, unmanned plane is navigated to fly; To photographing in the survey region; Obtain image data, output data is handled image well in the computer digit image processing system.
Import among the CAD at the striograph of handling well; The quality and quantity of the investigation factor of the erosion development degree that the soil erosion is regional is discerned on image and is measured; According to the factor of interpretation on the image, comprise the factor such as length, width, the degree of depth, volume of raceway groove.
It is following wherein to measure the method that corrodes channel length: through the computer digit image processing system; Collection digital camera in the remote-sensing flatform of unmanned plane low flyer, differential GPS, gyro, digital photography technology are combined; Get access to true coordinate value in the image; If corroding the length of raceway groove AB is L, (X
1, Y
1, Z
1) be the coordinate that ditch head center A is ordered, (X
2, Y
2, Z
2) be the coordinate that center, exit or entrance of a clitch B is ordered, by mathematical model 1:
Calculate channel length.
It is following wherein to measure the method that corrodes channel width: get access to true coordinate value in the image through the computer digit image processing system; With the raceway groove center line is benchmark; And on its tangent both direction and the distance between the intersection point of raceway groove edge line for corroding the width of raceway groove, establish to corrode on the raceway groove AB center line and put C (C
x, C
y, C
z) with the intersection point of raceway groove edge line be D (D
x, D
y, D
z), E (E
x, E
y, E
z), then by mathematical model 2:
Obtain the channel width on the C point.
The method that wherein measure to corrode the raceway groove mean breadth is following: get access to true coordinate value in the image through the computer digit image processing system, on the raceway groove center line, select a plurality of points calculate its width D '
i, by mathematical model 3:
Obtain corroding the raceway groove mean breadth.
It is following wherein to measure the method that corrodes channel depth: get access to true coordinate value in the image through the computer digit image processing system, certain 1 C (C on the raceway groove center line
x, C
y, C
z) on, with on the center line direction tangential with the intersection point D (D of raceway groove edge line
x, D
y, D
z), by mathematical model 4:G '=D
z-C
zObtain channel depth.
The method that wherein measures ditch head to the exit or entrance of a clitch discrepancy in elevation is following: get access to true coordinate value in the image through the computer digit image processing system, establish ditch top coordinate A (X
1, Y
1, Z
1), exit or entrance of a clitch coordinate B (X
2, Y
2, Z
2), by mathematical model 5:C=Z
1-Z
2Obtain ditch and push up to the exit or entrance of a clitch discrepancy in elevation.
The method that wherein measures the vertical ratio of raceway groove is following: by mathematical model 6:i=L/C, obtain the vertical ratio of raceway groove.
It is following wherein to measure erosion raceway groove Method for Area: get access to true coordinate value in the image through the computer digit image processing system, be located on the raceway groove edge line, get a S clockwise
i(S
Xi, S
Yi, S
Zi), i=1,2...n constitutes a polygon, by mathematical model 7:
Obtain area.
The method that wherein measures the volume that corrodes raceway groove is following: get access to true coordinate value in the image through the computer digit image processing system, form a polyhedron, reconnaissance V therein by raceway groove edge line and bottom of trench center line
i(V
Xi, V
Yi, V
Zi) i=0,1...n...m, by mathematical model 8:
Obtain the raceway groove volume, d represents to constitute leg-of-mutton determinant on the polyhedron.
It is following wherein to measure the method that the ditch head advances: the channel length values that obtains in the boat sheet through two different times separately successively is L
1, L
2, its Air China sheet year number N at interval, by mathematical model 9:
Obtain ditch head advance value.
It is following wherein to measure the method that raceway groove widens: the channel width value that obtains in the boat sheet through two different times separately successively is D
1, D
2, its Air China sheet year number N at interval, by mathematical model 10:
Obtain the ditch head value of widening.
The method that wherein measures gullying is following: the channel depth value that obtains in the boat sheet through two different times separately successively is G
1, G
2, its Air China sheet year number N at interval, by mathematical model 11:
Obtain ditch head incision value.
The method that wherein measures the average annual erosion amount of raceway groove is following: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 12:
Obtain the average annual erosion amount of raceway groove.
The method that wherein measures the average annual erosion modulus of raceway groove is following: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 13:
Obtain the average annual erosion modulus of raceway groove, ρ is the soil weight.Thereby the variation to the soil erosion in the whole survey region is monitored; Obtain soil erosion variation tendency; In conjunction with its corresponding water-and-soil conservation measures of the factor of influence of each item soil erosion; In data, analyze the reason that causes the soil erosion to change, for running off a kind of convenience, high-efficiency method are provided in better improvement, monitoring water and soil ground.
Claims (15)
1. method based on the unmanned plane aeroplane photography monitoring soil erosion; It is characterized in that: adopt the unmanned plane low flyer as remote-sensing flatform; Integrate digital camera, differential GPS and gyropanel; By digital photography technology, obtain high ground resolution, large-scale low latitude unmanned plane carries out repeatedly the image data that long period observation obtains to survey region; Through the computer digit image processing system; After image handled, image is imported among the CAD, towards the more serious study area of soil losses; According to atural object conformation rule and imaging characteristic; In CAD, the quality and quantity of the investigation factor of the erosion development degree in soil erosion zone is discerned on image and measured,, comprise the factors such as length, width, the degree of depth, volume of raceway groove according to the factor of interpretation on the image; Thereby obtain that the ditch head advances, the value of quantitative test such as raceway groove is widened, gullying; Extrapolate groove channel erosion amount and annual erosion modulus again, establishment aviation soil erosion survey table, thus the variation of the soil erosion in the whole survey region is monitored.
2. the method for establishment aviation soil erosion survey table is following: according to the soil erosion factor of image interpretation on CAD, measurement; Comprise that corroding the vertical factor such as compare of channel length, width, the degree of depth, area, volume, raceway groove is the following questionnaire of actual measurement soil erosion establishment on the ground: the value that 1. obtains in erosion groove length, width, volume, ditch head to the exit or entrance of a clitch discrepancy in elevation and the airborne survey according to some actual measurements on the ground compares; Obtain actual measurement and accurate measurement comparison sheet as a result, through to precision relatively review aerial survey the time precision whether credible; 2. according to the boat sheet of some identical raceway groove different times, in CAD, after measuring, obtain raceway groove different times metamorphosis measurement table, comprise channel area, channel length, channel width, channel depth, raceway groove volume; 3. according to raceway groove different times metamorphosis measurement table, can obtain raceway groove different times erosive velocity, erosion amount and erosion modulus table at last, comprise calculated amount such as the ditch head advances, raceway groove is widened, gullying, erosion amount, average annual erosion modulus.
3. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes channel length; It is characterized in that: through the computer digit image processing system; Collection digital camera in the remote-sensing flatform of unmanned plane low flyer, differential GPS, gyro, digital photography technology are combined; Get access to true coordinate value in the image, establishing the length that corrodes raceway groove AB is L, (X
1, Y
1, Z
1) be the coordinate that ditch head center A is ordered, (X
2, Y
2, Z
2) be the coordinate that center, exit or entrance of a clitch B is ordered, by mathematical model 1:
Calculate channel length.
4. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes channel width; It is characterized in that: get access to true coordinate value in the image through the computer digit image processing system; With the raceway groove center line is benchmark; And on its tangent both direction and the distance between the intersection point of raceway groove edge line for corroding the width of raceway groove, establish to corrode on the raceway groove AB center line and put C (C
x, C
y, C
z) with the intersection point of raceway groove edge line be D (D
x, D
y, D
z), E (E
x, E
y, E
z), then by mathematical model 2:
Obtain the channel width on the C point.
5. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes the raceway groove mean breadth, it is characterized in that: get access to true coordinate value in the image through the computer digit image processing system, on the raceway groove center line, select a plurality of points calculate its width D '
i, by mathematical model 3:
Obtain corroding the raceway groove mean breadth.
6. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes channel depth, it is characterized in that: get access to true coordinate value in the image through the computer digit image processing system, certain 1 C (C on the raceway groove center line
x, C
y, C
z) on, with on the center line direction tangential with the intersection point D (D of raceway groove edge line
x, D
y, D
z), by mathematical model 4:G '=D
z-C
zObtain channel depth.
7. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes raceway groove discrepancy in elevation degree, it is characterized in that: get access to true coordinate value in the image through the computer digit image processing system, establish ditch top coordinate A (X
1, Y
1, Z
1), exit or entrance of a clitch coordinate B (X
2, Y
2, Z
2), by mathematical model 5:C=Z
1-Z
2Obtain ditch and push up to the exit or entrance of a clitch discrepancy in elevation.
8. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes the vertical ratio of raceway groove, it is characterized in that: by mathematical model 6:i=L/C, obtain the vertical ratio of raceway groove.
9. unmanned plane aeroplane photography remote sensing according to claim 1 measures corrodes the raceway groove Method for Area, it is characterized in that: get access to true coordinate value in the image through the computer digit image processing system, be located on the raceway groove edge line, get a S clockwise
i(S
Xi, S
Yi, S
Zi), i=1,2...n constitutes a polygon, by mathematical model 7:
Obtain area.
10. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that corrodes the raceway groove volume; It is characterized in that: get access to true coordinate value in the image through the computer digit image processing system; Form a polyhedron, reconnaissance V therein by raceway groove edge line and bottom of trench center line
i(V
Xi, V
Yi, V
Zi) i=0,1...n...m, by mathematical model 8:
Obtain the raceway groove volume, d represents to constitute leg-of-mutton determinant on the polyhedron.
11. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that the erosion groove head advances, and it is characterized in that: the channel length values that obtains in the boat sheet through two different times separately successively is L
1, L
2, its Air China sheet year number N at interval, by mathematical model 9:
Obtain ditch head advance value.
12. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method that the erosion groove raceway groove is widened, and it is characterized in that: the channel width value that obtains in the boat sheet through two different times separately successively is D
1, D
2, its Air China sheet year number N at interval, by mathematical model 10:
Obtain the ditch head value of widening.
13. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method for erosion groove gullying, it is characterized in that: the channel depth value that obtains in the boat sheet through two different times separately successively is G
1, G
2, its Air China sheet year number N at interval, by mathematical model 11:
Obtain ditch head incision value.
14. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method for the average annual erosion amount of erosion groove raceway groove, it is characterized in that: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 12:
Obtain the average annual erosion amount of raceway groove.
15. unmanned plane aeroplane photography remote sensing according to claim 1 measures the method for the average annual erosion modulus of erosion groove raceway groove, it is characterized in that: the raceway groove volumetric values that obtains in the boat sheet through two different times separately successively is V
1, V
2, its Air China sheet year number N at interval, by mathematical model 13:
Obtain the average annual erosion modulus of raceway groove, ρ is the soil weight.
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