CN103412568B - Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie - Google Patents
Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie Download PDFInfo
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Abstract
A kind of boat is taken the photograph in unmanned plane aeroplane photography and is become flying height control method with sortie, comprise unmanned plane, unmanned plane during flying height control module, the boat be mounted on unmanned plane take the photograph equipment, its innovation is: in unmanned plane during flying process, carry out dynamic adjustments according to landform height change to the flying height of unmanned plane; Advantageous Effects of the present invention is: under the condition reducing landing number of times, effectively ensures that the ground resolution of image is in better state, meanwhile, also makes the consistance of the ground resolution of the different image in ground better, reduces the difficulty of later stage image processing.
Description
Technical field
The present invention relates to a kind of unmanned plane that adopts and carry out aerophotographic technology, particularly relate to a kind of with sortie change flying height unmanned aerial vehicle remote sensing images acquisition methods.
Background technology
Undertaking of surveying and mapping, as in social development and economic construction a property in early stage, basic work, is all of great practical significance to the rural-urban integrated planning in area, mountain region and new countryside construction etc.; Unmanned air vehicle technique is the emerging technology of rising in recent years, takes the photograph operation means compared to former boat, and employing unmanned plane carries out navigating taking the photograph and has low cost, easy to operate advantage;
In prior art, unmanned air vehicle technique has been used in mapping operation, but current applied environment is also only limitted to obtain the remote sensing image of plains region, this is mainly because plains region landform is comparatively mild, under the condition not considering weather effect, unmanned plane is when carrying out boat and taking the photograph to plains region, the relative height on unmanned plane and ground can maintain metastable height, the ground resolution obtaining image can be controlled preferably, and interior industry process is relatively easy;
For Mountainous Regions, because topographic relief is larger, the relative height on unmanned plane and ground is dynamic change state, and relative height is the key factor affecting image resolution, therefore, in prior art, when unmanned plane being used for mountain area boat and taking the photograph, the ground resolution ginseng that there is aerial stereo images is secondary uneven, in-and-out situation, this increases not only the difficulty of interior industry Image Matching, and in order to ensure the consistance of ground resolution, need to drive time that the frequent landing unmanned plane in ground carries out differing heights to the same area repeats shooting operation more, troublesome poeration, equipment loss is serious, and drive secondary increase along with taking off, the probability of appearance accident also increases relatively.
Summary of the invention
For the problem in background technology, the present invention proposes a kind of boat to take the photograph in unmanned plane aeroplane photography with sortie change flying height control method, comprise unmanned plane, unmanned plane during flying height control module, the boat be mounted on unmanned plane take the photograph equipment, its innovation is: the lens focus setting described boat to take the photograph equipment as f, pixel dimension be a, and f and a is known quantity; Fly in journey in the single rack time boat of a certain unmanned plane, regulate the flying height of unmanned plane as follows:
1) be preset with theoretical ground resolution GSD in unmanned plane during flying height control module, when just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
Reach Initial Flight Level and after arriving territory, predetermined air cover, boat is taken the photograph equipment and started working;
2), in unmanned plane during flying process, the flying height of unmanned plane is regulated according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h>0, namely ground elevation increases, then unmanned plane during flying height control module controls unmanned plane increases flying height, if h<0, namely ground elevation reduces, then unmanned plane during flying height control module controls unmanned plane reduction flying height, thus the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then ensure that the image resolution obtained is consistent.
After adopting aforementioned schemes, can in unmanned plane during flying process, according to theoretical ground resolution, dynamically regulate the flying height of unmanned plane, make the relative height on unmanned plane and ground maintain metastable state, ensure that ground resolution meets the demands, avoid repeatedly repeating shooting to the same area, also assures that the ground resolution of different image is relatively consistent, the difficulty of industry image processing in reducing simultaneously.For the concrete regulating measure of unmanned plane during flying height, adopt existing unmanned plane during flying attitude control technology to realize, do not repeat them here.
In order to improve the relative stability of the relative height of unmanned plane and ground further, the present invention has also done following improvement: in step 3) when regulating the flying height of unmanned plane, regulates unmanned plane during flying height Δ H as follows:
ΔH＝h
If Δ H is negative value, namely ground elevation value reduce, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, if Δ H be on the occasion of, namely ground elevation value increases, then unmanned plane during flying height control module controls the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1＝H0+ΔH。
After adopting this to improve, unmanned plane during flying height control module can regulate the flying height of unmanned plane quantitatively according to Δ H, to ensure the flying height controllable precise of unmanned plane.
Cause controlling difficulty to increase in order to avoid frequently regulating flying height, the present invention has also done following improvement: be also preset with ground change altitude datum h in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h > is h
0, then regulate by the flying height of mode in step 3) to unmanned plane.
Based on aforementioned schemes, the invention allows for a kind of with sortie change flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, take the photograph project demands according to boat and set theoretical ground resolution;
B, the preliminary survey of basis to actual landform, cook up unmanned plane during flying circuit;
C, when just taking off, solve the theoretical relative height H on unmanned plane and ground by following formula, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f is the lens focus that the boat be mounted on unmanned plane takes the photograph equipment, and a is the pixel dimension that the boat be mounted on unmanned plane takes the photograph equipment, and GSD is theoretical ground resolution;
Reach Initial Flight Level and after arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in unmanned plane during flying process, regulate the flying height of unmanned plane according to the fluctuating quantity on ground; If before unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and so the regulated value Δ H of unmanned plane during flying height control module to its flying height is as follows:
ΔH＝h
If floor level reduce, then h is negative value, if floor level increase, then h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H is negative value, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, when Δ H be on the occasion of time, then unmanned plane during flying height control module control unmanned plane flying height raising | Δ H|.
Preferably, ground change altitude datum h is preset with in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h > is h
0, then regulate by the flying height of mode in step D to unmanned plane.
Advantageous Effects of the present invention is: under the condition reducing landing number of times, effectively ensures that the ground resolution of image is in better state, meanwhile, also makes the consistance of the ground resolution of the different image in ground better, reduces the difficulty of later stage image processing.
Embodiment
A kind of boat is taken the photograph in unmanned plane aeroplane photography and is become flying height control method with sortie, comprise unmanned plane, unmanned plane during flying height control module, the boat be mounted on unmanned plane take the photograph equipment, its innovation is: the lens focus setting described boat to take the photograph equipment as f, pixel dimension be a, and f and a is known quantity; Fly in journey in the single rack time boat of a certain unmanned plane, regulate the flying height of unmanned plane as follows:
1) be preset with theoretical ground resolution GSD in unmanned plane during flying height control module, when just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
Reach Initial Flight Level and after arriving territory, predetermined air cover, boat is taken the photograph equipment and started working;
2), in unmanned plane during flying process, the flying height of unmanned plane is regulated according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h>0, namely ground elevation increases, then unmanned plane during flying height control module controls unmanned plane increases flying height, if h<0, namely ground elevation reduces, then unmanned plane during flying height control module controls unmanned plane reduction flying height, thus the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then ensure that the image resolution obtained is consistent.
Further, in step 3) when regulating the flying height of unmanned plane, regulate unmanned plane during flying height Δ H as follows:
ΔH＝h
If Δ H is negative value, namely ground elevation value reduce, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, if Δ H be on the occasion of, namely ground elevation value increases, then unmanned plane during flying height control module controls the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1＝H0+ΔH。
Further, ground change altitude datum h is also preset with in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h > is h
0, then regulate by the flying height of mode in step 3) to unmanned plane.
A kind of with sortie change flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, take the photograph project demands according to boat and set theoretical ground resolution;
B, the preliminary survey of basis to actual landform, cook up unmanned plane during flying circuit;
C, when just taking off, solve the theoretical relative height H on unmanned plane and ground by following formula, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f is the lens focus that the boat be mounted on unmanned plane takes the photograph equipment, and a is the pixel dimension that the boat be mounted on unmanned plane takes the photograph equipment, and GSD is theoretical ground resolution;
Reach Initial Flight Level and after arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in unmanned plane during flying process, regulate the flying height of unmanned plane according to the fluctuating quantity on ground; If before unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and so the regulated value Δ H of unmanned plane during flying height control module to its flying height is as follows:
ΔH＝h
If floor level reduce, then h is negative value, if floor level increase, then h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H is negative value, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, when Δ H be on the occasion of time, then unmanned plane during flying height control module control unmanned plane flying height raising | Δ H|.
Further, ground change altitude datum h is preset with in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h > is h
0, then regulate by the flying height of mode in step D to unmanned plane.
Claims (4)
1. a boat is taken the photograph in unmanned plane aeroplane photography and is become flying height control method with sortie, comprise unmanned plane, unmanned plane during flying height control module, the boat be mounted on unmanned plane take the photograph equipment, it is characterized in that: the lens focus setting described boat to take the photograph equipment as f, pixel dimension be a, and f and a is known quantity; Fly in journey in the single rack time boat of a certain unmanned plane, regulate the flying height of unmanned plane as follows:
1) be preset with theoretical ground resolution GSD in unmanned plane during flying height control module, when just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
Reach Initial Flight Level and after arriving territory, predetermined air cover, boat is taken the photograph equipment and started working;
2), in unmanned plane during flying process, the flying height of unmanned plane is regulated according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h>0, namely ground elevation increases, then unmanned plane during flying height control module controls unmanned plane increases flying height, if h<0, namely ground elevation reduces, then unmanned plane during flying height control module controls unmanned plane reduction flying height, thus the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then ensure that the image resolution obtained is consistent;
In step 3) when regulating the flying height of unmanned plane, regulate unmanned plane during flying height Δ H as follows:
ΔH=h
If Δ H is negative value, namely ground elevation value reduce, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, if Δ H be on the occasion of, namely ground elevation value increases, then unmanned plane during flying height control module controls the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1=H0+ΔH。
2. boat according to claim 1 is taken the photograph in unmanned plane aeroplane photography and is become flying height control method with sortie, it is characterized in that: be also preset with ground change altitude datum h in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h>h
0, then regulate by the flying height of mode in step 3) to unmanned plane.
3. become a flying height unmanned aerial vehicle remote sensing images acquisition methods with sortie, it is characterized in that:
A, take the photograph project demands according to boat and set theoretical ground resolution;
B, the preliminary survey of basis to actual landform, cook up unmanned plane during flying circuit;
C, when just taking off, solve the theoretical relative height H on unmanned plane and ground by following formula, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f is the lens focus that the boat be mounted on unmanned plane takes the photograph equipment, and a is the pixel dimension that the boat be mounted on unmanned plane takes the photograph equipment, and GSD is theoretical ground resolution;
Reach Initial Flight Level and after arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in unmanned plane during flying process, regulate the flying height of unmanned plane according to the fluctuating quantity on ground; If before unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and so the regulated value Δ H of unmanned plane during flying height control module to flying height is as follows:
ΔH=h
If floor level reduce, then h is negative value, if floor level increase, then h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H is negative value, then unmanned plane during flying height control module control unmanned plane flying height reduce | Δ H|, when Δ H be on the occasion of time, then unmanned plane during flying height control module control unmanned plane flying height raising | Δ H|.
4. same sortie according to claim 3 becomes flying height unmanned aerial vehicle remote sensing images acquisition methods, it is characterized in that: be preset with ground change altitude datum h in described unmanned plane during flying height control module
0if, h≤h
0, then the flying height of unmanned plane is not regulated, if h>h
0, then regulate by the flying height of mode in step D to unmanned plane.
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| CN113238581A (en) * | 2016-02-29 | 2021-08-10 | 星克跃尔株式会社 | Method and system for flight control of unmanned aerial vehicle |
| CN107108023B (en) * | 2016-12-22 | 2019-09-27 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method |
| CN106774406B (en) * | 2016-12-30 | 2023-06-23 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle image automatic acquisition system and method |
| CN107065932B (en) * | 2017-06-15 | 2020-04-07 | 西安电子科技大学 | Control method of disaster detection quad-rotor unmanned aerial vehicle |
| WO2019000323A1 (en) * | 2017-06-29 | 2019-01-03 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle and control method therefor, and control terminal and control method therefor |
| CN108562279B (en) * | 2018-03-06 | 2021-06-22 | 平湖市城工建设测绘设计有限责任公司 | Unmanned aerial vehicle surveying and mapping method |
| CN109000524B (en) * | 2018-08-09 | 2021-11-05 | 长安大学 | Boundary control blasting method for reducing over-excavation and under-excavation |
| CN111367302B (en) * | 2020-03-03 | 2023-03-21 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
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