CN103728637A - Farmland operation area boundary point and unmanned helicopter position point drawing method - Google Patents
Farmland operation area boundary point and unmanned helicopter position point drawing method Download PDFInfo
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Abstract
The invention discloses a farmland operation area boundary point and unmanned helicopter position point drawing method. The method includes the steps of determining an appropriate coordinate transformation system according to longitude and latitude information uploaded to a mobile device through a GPS module and a handheld GPS device which are carried by an unmanned helicopter, correctly expressing a farmland operation area boundary point, represented by the longitude transmitted by the handheld GPS device and the latitude transmitted by the handheld GPS device, as a coordinate point in a two-dimensional rectangular coordinate system with scales, drawing a farmland operation area boundary on a screen display program of the mobile device, converting the point represented by the longitude transmitted by the handheld GPS device of the unmanned helicopter and the latitude transmitted by the handheld GPS device of the unmanned helicopter into the coordinate point in the two-dimensional rectangular coordinate system where a farmland operation area is located, and drawing the real-time flight path of the unmanned helicopter. The farmland operation area boundary drawn through the method is extremely high in accuracy, good in instantaneity and high in reliability; the operation difficulty of an unmanned helicopter controller is greatly lowered, the air safety coefficient of the unmanned helicopter is increased, and the mechanical work efficiency is improved.
Description
Technical Field
The invention relates to a drawing method for boundary points of a farmland operation area and position points of an unmanned helicopter.
Background
Under the vigorous push of the department of agriculture, the mechanization levels of plowing, sowing, harvesting and the like of China are remarkably improved in recent years, but pesticide spraying (particularly rice pesticide spraying) is basically the traditional manual operation. China is a big agricultural country, how to effectively prevent agricultural pests becomes one of important targets of agricultural production in China, particularly, in the process of vigorously advocating and popularizing green agriculture and precision agriculture in China, low-cost, precise and high-environment-friendly pesticide spraying mechanization and automation which are suitable for the current situation of rural areas in China become an indispensable technology, and pesticide spraying by using a small unmanned helicopter is the best choice of pesticide spraying mechanization.
Under the current rural conditions in China, the method for spraying pesticide by using the small unmanned helicopter is a relatively practical and feasible method in China, particularly in southern areas. The unmanned pesticide spraying helicopter is high in speed, ultra-low-capacity pesticide spraying is used, pesticide and water resources are saved, pesticide residues and environmental pollution of crops are reduced, and remote operation can also reduce harm to pesticide applying personnel. The device is suitable for various terrains, accords with the current situation of rural roads in our city, and can realize cross-regional operation by matching with a table-board trolley.
In order to effectively promote the joint development of intensive agriculture and environment-friendly agriculture with low cost and high profit, the spraying and use of chemical preparations such as pesticides, herbicides and fertilizers are required to be precisely designed and controlled. The GPS is utilized to accurately draw a map of a farmland area for spraying operation of the unmanned helicopter, so that chemicals can be sprayed only at a required place, thereby saving the cost and protecting the environment.
At present, civil unmanned helicopters in China are in the initial development stage, the spraying condition of the aircrafts can be observed only through the condition seen by naked eyes when the aircrafts are operated by an aircraft control hand, and for larger farmlands or farmlands with complex terrains, personnel are required to be arranged on the boundary of the farmlands to command the aircraft control hand, so that the aircrafts are ensured not to fly out of the farmland. Therefore, the labor cost is increased, good real-time performance is not provided, and the efficiency of mechanical operation is reduced.
The patent of 'method for collecting farmland key point mapping chart' of Beijing agriculture information technology research center comprises the following steps: step 1: acquiring GPS position information; step 2: outlining the area to be measured; and step 3: surveying and mapping the critical dividing points of the farmland, and marking the names and the annotations of the plots; and 4, step 4: checking, prompting and dividing the farmland in real time; and 5: uploading mapping data; step 6: and acquiring a vector map.
The specific implementation process of the step 2 (outlining the area to be measured) is as follows: 2) acquiring position information: a) waiting for a satellite searching instruction to acquire position information; b) acquiring a remote sensing image on line (for auxiliary mapping); c) past data (suitable for incremental mapping) is acquired.
The control hand of the unmanned helicopter can roughly estimate the position of the current airplane on the map and roughly judge whether the airplane flies out of the farmland operation area or not by a mode of observing the mode while controlling the unmanned helicopter to obtain the contour map.
Obviously, the prior art has defects in practicability, reliability and precision.
The contour map of the farmland operation area drawn by the remote sensing image auxiliary surveying and mapping technology is only a static map, for the unmanned helicopter control hand, the auxiliary function of the map can only provide a rough reference, and in most cases, the unmanned helicopter control hand can still judge whether the unmanned helicopter flies out of the boundary of the farmland operation area only through own experience and intuition or a mode of arranging hands at the boundary of the farmland operation area, so that the unmanned helicopter control hand is neither intuitive nor reliable.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a farmland operation area boundary point and unmanned helicopter position point drawing method aiming at the defects of the prior art, the farmland operation area boundary with high drawing precision, good real-time performance and high reliability is drawn, the operation difficulty of an unmanned helicopter control hand is reduced, and the flight safety coefficient of the unmanned helicopter is improved.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a method for drawing boundary points of a farmland operation area and position points of an unmanned helicopter comprises the following steps:
1) receiving longitude coordinates and latitude coordinates of boundary points of a polygonal farmland operation area uploaded to mobile equipment from GPS equipment and longitude coordinates and latitude coordinates of a current position point of the unmanned helicopter, establishing a polar coordinate system A according to the boundary points of the farmland operation area and the longitude coordinates and the latitude coordinates of the current position point of the unmanned helicopter, and positioning the boundary points and the current position point of the unmanned helicopter in the polar coordinate system A; wherein the boundary point refers to the vertex of a polygon of the farmland operation area;
2) converting the polar coordinate system A into a rectangular coordinate system B by taking the polar axis of the polar coordinate system A as the positive direction of an X axis and the direction of alpha =90 degrees as the positive direction of a Y axis; wherein alpha represents an included angle between a connecting line of a certain boundary point and the origin of the polar coordinate system A and a polar axis in the counterclockwise direction;
3) translating the X axis and the Y axis of the rectangular coordinate system B to obtain a translated rectangular coordinate system B ', so that all boundary points and the current position point of the unmanned helicopter are in a first quadrant of the translated rectangular coordinate system B';
4) taking a rectangular coordinate system O as a system coordinate system of the mobile equipment, wherein the rectangular coordinate system O is a coordinate system formed by an X-axis forward direction and a Y-axis reverse direction; the rectangular coordinate system O is converted by the following equation to obtain the actual system coordinate system O' of the mobile device:
wherein, (x ', y ') is a coordinate obtained by converting a point (x, n) in the rectangular coordinate system O into the system coordinate system of the actual mobile device, and (baseX, baseY) is a coordinate obtained by converting the origin of the rectangular coordinate system O into the system coordinate system O ' of the actual mobile device;
5) and correspondingly drawing all boundary points in the B 'in the rectangular coordinate system translated in the step 3) and the current position point of the unmanned helicopter on an actual system coordinate system O' of the mobile equipment.
In the present invention, the polygonal farmland operation area is a quadrangular farmland operation area.
In step 1), the method for positioning the boundary point in the polar coordinate system includes:
1) acquiring longitude coordinates and latitude coordinates of four boundary points a, b, c and d of the quadrilateral farmland operation area; setting the boundary point a as the origin of coordinates of the polar coordinate system A;
2) respectively calculating the distances between the boundary point a and the boundary points b, c and d by using the longitude coordinates and the latitude coordinates of the four boundary points a, b, c and d;
3) respectively calculating azimuth angles of the boundary points b, c and d relative to the boundary point a by using longitude coordinates and latitude coordinates of the four boundary points a, b, c and d;
4) obtaining polar angles of the boundary points b, c and d in the polar coordinate system respectively according to the azimuth angles of the boundary points b, c and d calculated in the step 3) relative to the boundary point a;
5) and marking four boundary points a, b, c and d in the polar coordinate system A by using the distances and the polar angles determined in the step 2) and the step 4).
The specific process of translating the four boundary points a, B, c and d to the translated rectangular coordinate system B' is as follows: let the coordinates of the four boundary points a, B, c, d in the rectangular coordinate system B be a (x)a,ya)，b(xb,yb)，c(xc,yc)，d(xd,yd) Judging the x coordinate of the boundary point with the x coordinate value of the four boundary points a, B, c and d smaller than 0 in the rectangular coordinate system B, and recording as xminThe x coordinate and the x coordinate of the four boundary points a, B, c, d in the rectangular coordinate system B are setminAdding the absolute values of; judging the y coordinate of the boundary point with the y coordinate value of less than 0 in the rectangular coordinate system B of the four boundary points a, B, c and d, and recording as yminThe y coordinate and the y coordinate of the four boundary points a, B, c and d in the rectangular coordinate system B are setminThe absolute values of (a) are added.
Compared with the prior art, the invention has the beneficial effects that: the drawing method is simple, and the boundary precision of the drawn farmland operation area is extremely high, the real-time performance is good and the reliability is high by utilizing the GPS equipment and combining the coordinate transformation of the invention; by using the method, the current position of the unmanned helicopter and the farmland operation area can be drawn on one map in real time, so that the method is simple and clear, the operation difficulty of an operation hand of the unmanned helicopter is greatly reduced, the unmanned helicopter is prevented from flying out of the boundary of the farmland operation area, the flight safety coefficient of the unmanned helicopter is improved, and the efficiency of mechanical operation is improved.
Drawings
FIG. 1 is a schematic view of a field area according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method according to an embodiment of the present invention;
FIG. 3 is a schematic polar diagram;
FIG. 4 is a flowchart illustrating a method for establishing a polar coordinate system according to longitude and latitude coordinates of boundary points according to an embodiment of the present invention;
FIG. 5 is a flow chart of the azimuthal angle calculation according to an embodiment of the present invention;
FIG. 6 is a diagram illustrating the effect of locating boundary point coordinates on polar coordinates according to an embodiment of the present invention;
FIG. 7 is a flowchart illustrating a method for panning a rectangular coordinate system such that four boundary points are in a first quadrant according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of system coordinate system transformation of a mobile device;
FIG. 9 is a drawing effect diagram of real-time flight paths of the unmanned helicopter.
Detailed Description
As shown in fig. 1, the present invention takes the example of drawing a field working area with a quadrilateral field boundary of an arbitrary shape, assuming that the field working area is as shown in fig. 1. Wherein a, b, c and d are boundary points.
The flow chart of the method of the invention is shown in fig. 2, and the method is specifically divided into the following four steps:
the method comprises the following steps: and receiving longitude and latitude coordinates of farmland boundary points uploaded to the mobile equipment from the handheld GPS equipment, and establishing a polar coordinate system according to the longitude and latitude coordinates to sequentially position the boundary points, and recording the coordinate system as a coordinate system A.
Two parameters f (rho, alpha) =0 are needed for determining a point in a polar coordinate system. Where ρ represents a distance (polar distance) from a certain point to an origin O of the polar coordinate a, and α represents an angle (polar angle) between a line connecting the certain point and the origin O and the polar axis in the counterclockwise direction. As shown in fig. 3.
First, the longitude and latitude coordinates of 4 boundary points are obtained:
a (lnga, lata), b (lngb, latb), c (lngc, latc), d (lngd, latd). lng denotes longitude and lat denotes latitude. Since the earth is a nearly standard ellipsoid, its equator radius is 6378.140 km, its polar radius is 6356.755 km, and its average radius is 6371.004 km. Here, assuming that the earth is a perfect sphere, its radius is the average radius of the earth, denoted as R. According to the reference of 0 degree Longitude, the positive value (Longitude) of Longitude of east Longitude, the negative value (-Longitude) of Longitude of west Longitude, 90-Latitude value (90-Latitude) of north Latitude and 90+ Latitude value (90+ Latitude) of south Latitude are defined.
The design idea of establishing a polar coordinate algorithm according to the longitude value and the latitude value of the boundary point is as follows: the point a is fixed as the coordinate origin of the polar coordinate A, and then the polar coordinates of the three points b, c and d in the coordinate system A are calculated. Two parameters p and a are needed for locating a point in polar coordinates. Therefore, it is only necessary to obtain the distances (polar diameters) from the three points b, c, and d to the point a and the orientations (polar angles) of the three points with respect to the point a.
The method flow diagram is shown in fig. 4.
First, the distance between two points is calculated according to the longitude and latitude of the two points.
In the geometric calculation of the shortest distance between two points on the spherical surface, there is a direct calculation formula, which is shown as formula one:
(formula I: formula of shortest distance between two points on spherical surface)
Wherein,
lng1, Lat1 represents the longitude and latitude of point a, Lng2, Lat2 represents the longitude and latitude of point b;
m = Lat2-Lat1 is the difference between two latitudes, n = Lng2-Lng1 is the difference between two longitudes;
3.6378.137 is the radius of the earth in kilometers;
the result of the calculation, i.e. S, is in kilometers.
By applying the formula, the distance between two points can be obtained by substituting the longitude value and the latitude value of any two points.
In the present invention, the field boundaries need to be counted in meters, so scale conversion is added at the end, preserving the accuracy of 0.1 m. When the program is implemented, after the distance is calculated according to the formula, only one step is added: the calculation result S is multiplied by 10000 and then rounded, and divided by 10, and the number S of distance calculation results in kilometers is converted into a number of units in meters with an accuracy of 0.1 meter.
And secondly, calculating the azimuth angle of the second point relative to the first point according to the longitude and the latitude of the two points.
In spherical geometry, according to the spherical cosine theorem, the longitude and latitude of two known points can be used to find the central angle thereof, see formula two:
△σ=arccos(sinφ1sinφ2+cosφ1cosφ2cos△λ)
(formula two: sphere cosine theorem)
Wherein λ1,φ1And λ2,φ2Longitude and latitude of point 1 and point 2, respectively. Δ λ, Δ φ are the difference in longitude and latitude between point 2 and point 1, respectively.
Then, the azimuth angle of the point 2 relative to the point 1 is calculated according to the azimuth angle calculation formula of the spherical geometry:
(formula III: calculation formula of spherical upper azimuth angle)
A flowchart of the azimuth calculation method is shown in fig. 5.
And thirdly, obtaining the polar angles of the three points b, c and d in the polar coordinate system A according to the azimuth angles of the three points b, c and d relative to the point a.
Since the azimuth is the true north direction as the initial angle (the azimuth is 0), the clockwise rotation is the positive direction; in the polar coordinate system a, the start angle (polar angle is 0) is the polar axis. If it is specified that α =90 ° in the polar coordinate system a completely coincides with the true north direction, then the polar angle α at which the azimuth d is converted to polar coordinates is calculated by:
α=90-d
the transformation formula is applicable to both d ∈ (0, 360).
At this point, four boundary points a, b, c and d can be defined in the polar coordinate A. As known from the process of establishing polar coordinates, the coordinates defined for these points are relative coordinates in which the relative distance and the relative orientation are accurate. The actual effect is shown in fig. 6.
Step two: and converting the polar coordinate system A into a rectangular coordinate system B by taking the polar axis as the X-axis forward direction and the alpha = 90-degree direction as the Y-axis forward direction, and translating the X axis and the Y axis of the B coordinate system to enable the four boundary points to be positioned in the first quadrant of the translated rectangular coordinate system B'.
The polar coordinates are converted into rectangular coordinates.
In step one, four points a, b, c, d of longitude and latitude representation are already placed in a polar coordinate system A, and their coordinates are a (ρ)a,αa)，b(ρb,αb)，c(ρc,αc)，d(ρd,αd)。
The conversion formula for converting the coordinate points in the polar coordinate system into the coordinate points in the corresponding rectangular coordinate system is shown in formula four:
(formula four: conversion of polar coordinates to rectangular coordinates formula)
And secondly, translating the rectangular coordinate system to enable the four boundary points to be in the first quadrant.
After the polar coordinates are converted into rectangular coordinates, coordinates of four points a, b, c and d are expressed as a (x)a,ya)，b(xb,yb)，c(xc,yc)，d(xd,yd). Assuming that the X axis is translated downward by m units, the y coordinate equivalent to all coordinate points becomes y + m, and the X axis is translated leftward by n units, the X coordinate equivalent to all coordinate points becomes X + m, and in order to make the four boundary points all be in the first quadrant, it is only necessary to add the X coordinates of the four points to the absolute value | X + of the minimum X coordinate value in the X coordinates smaller than 0minAdding the y coordinates of the four points to the absolute value y of the value of the minimum y coordinate with the y coordinate less than 0minI.e. | is complete. The algorithm flow chart is shown in fig. 7.
Step three: the final displayed coordinates are plotted on the system coordinates of the mobile device.
As shown in fig. 8, the rectangular coordinate system O is a system coordinate system of the mobile device, which is not in accordance with the daily use habit, so that the direct drawing of the B ' coordinate system obtained in step two on the mobile device system coordinate system O (coordinate axes and scales are used inside the program and are not displayed on the screen display program) is not suitable, and the coordinate system for display should use the coordinate system O ' as represented by X ' O ' Y ' in fig. 8.
First, the coordinates with the O' origin located in the coordinate system O are determined from the actual display effect, assumed to be (baseX, baseY). Then, the conversion formula from the O coordinate to O' can be written as:
step four: and drawing all the points in the B 'coordinate system obtained in the fourth step on an O' coordinate system.
When the unmanned helicopter flies, only GPS signals are sent to the mobile device through the airborne GPS device, the current position point of the unmanned helicopter represented by longitude and latitude is processed by repeating the algorithm from the step one to the step four in the step 1, the real-time track point represented by the longitude and latitude is accurately converted into a point on a rectangular coordinate system on a screen display program of the mobile device, and then the point can be drawn on a displayed coordinate system O'. Real-time track rendering of the unmanned helicopter is shown in fig. 9.
According to the invention, the GPS information of the boundary points of the farmland operation area, which is sent to the mobile equipment (such as a tablet personal computer and a smart phone) carried by the control hand of the unmanned helicopter through the handheld high-precision GPS equipment, is processed by the coordinate conversion system provided by the invention, the boundary points of the farmland operation area expressed by longitude and latitude are converted into points on a rectangular coordinate system on a screen display program of the mobile equipment, and then the boundary of the farmland operation area is drawn in a connecting line mode.
The boundary of the farmland operation area drawn by the method has extremely high precision (the position is accurate to 0.1 m), good real-time performance (the image is formed by measuring at any time) and high reliability.
When the unmanned helicopter is in flight operation, the onboard GPS equipment sends a GPS signal of the current position of the airplane to the mobile equipment in real time, and the mobile equipment can convert the position coordinate of the unmanned helicopter represented by longitude and latitude into a point on a rectangular coordinate system on a screen display program of the mobile equipment by utilizing the coordinate conversion system provided by the invention again. Therefore, the current position and the farmland operation area of the unmanned helicopter can be drawn on one map in real time, and the control hand of the unmanned helicopter can intuitively judge whether the airplane flies in the correct farmland operation area only by observing the operation map in the screen display program on the mobile equipment.
The mode is used for assisting the operation of the control hand of the unmanned helicopter, the operation is simple and clear, the operation difficulty of the control hand of the unmanned helicopter is greatly reduced, and the flight safety coefficient of the unmanned helicopter is improved.
Claims (4)
1. A farmland operation area boundary point and unmanned helicopter position point drawing method is characterized by comprising the following steps:
1) receiving longitude coordinates and latitude coordinates of boundary points of a polygonal farmland operation area uploaded to mobile equipment from GPS equipment and longitude coordinates and latitude coordinates of a current position point of the unmanned helicopter, establishing a polar coordinate system A according to the boundary points of the farmland operation area and the longitude coordinates and the latitude coordinates of the current position point of the unmanned helicopter, and positioning the boundary points and the current position point of the unmanned helicopter in the polar coordinate system A; wherein the boundary point refers to the vertex of a polygon of the farmland operation area;
2) converting the polar coordinate system A into a rectangular coordinate system B by taking the polar axis of the polar coordinate system A as the positive direction of an X axis and the direction of alpha =90 degrees as the positive direction of a Y axis; wherein alpha represents an included angle between a connecting line of a certain boundary point and the origin of the polar coordinate system A and a polar axis in the counterclockwise direction;
3) translating the X axis and the Y axis of the rectangular coordinate system B to obtain a translated rectangular coordinate system B ', so that all boundary points and the current position point of the unmanned helicopter are in a first quadrant of the translated rectangular coordinate system B';
4) taking a rectangular coordinate system O as a system coordinate system of the mobile equipment, wherein the rectangular coordinate system O is a coordinate system formed by an X-axis forward direction and a Y-axis reverse direction; the rectangular coordinate system O is converted by the following equation to obtain the actual system coordinate system O' of the mobile device:
wherein, (x ', y ') is a coordinate obtained by converting a point (x, n) in the rectangular coordinate system O into the system coordinate system of the actual mobile device, and (baseX, baseY) is a coordinate obtained by converting the origin of the rectangular coordinate system O into the system coordinate system O ' of the actual mobile device;
5) and correspondingly drawing all boundary points in the B 'in the rectangular coordinate system translated in the step 3) and the current position point of the unmanned helicopter on an actual system coordinate system O' of the mobile equipment.
2. The field work area boundary point and unmanned helicopter position point mapping method of claim 1 wherein said polygonal field work area is a quadrilateral field work area.
3. The farmland operation area boundary point and unmanned helicopter position point mapping method according to claim 2, wherein in the step 1), the method for positioning the boundary point in the polar coordinate system comprises the following steps:
1) acquiring longitude coordinates and latitude coordinates of four boundary points a, b, c and d of the quadrilateral farmland operation area; setting the boundary point a as the origin of coordinates of the polar coordinate system A;
2) respectively calculating the distances between the boundary point a and the boundary points b, c and d by using the longitude coordinates and the latitude coordinates of the four boundary points a, b, c and d;
3) respectively calculating azimuth angles of the boundary points b, c and d relative to the boundary point a by using longitude coordinates and latitude coordinates of the four boundary points a, b, c and d;
4) obtaining polar angles of the boundary points b, c and d in the polar coordinate system respectively according to the azimuth angles of the boundary points b, c and d calculated in the step 3) relative to the boundary point a;
5) and marking four boundary points a, b, c and d in the polar coordinate system A by using the distances and the polar angles determined in the step 2) and the step 4).
4. The method for mapping the boundary points of the farmland operation area and the unmanned helicopter position points as claimed in claim 3, wherein the specific process of translating the four boundary points a, B, c, d to the translated rectangular coordinate system B' is as follows: let the coordinates of the four boundary points a, B, c, d in the rectangular coordinate system B be a (x)a,ya)，b(xb,yb)，c(xc,yc)，d(xd,yd) Judging the x coordinate of the boundary point with the x coordinate value of the four boundary points a, B, c and d smaller than 0 in the rectangular coordinate system B, and recording as xminFour boundary points a, bC, x coordinate and x coordinate of d in rectangular coordinate system BminAdding the absolute values of; judging the y coordinate of the boundary point with the y coordinate value of less than 0 in the rectangular coordinate system B of the four boundary points a, B, c and d, and recording as yminThe y coordinate and the y coordinate of the four boundary points a, B, c and d in the rectangular coordinate system B are setminThe absolute values of (a) are added.
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