CN104833343B - System and method for complex terrain boundary and area estimation based on multi-rotor aircraft - Google Patents

System and method for complex terrain boundary and area estimation based on multi-rotor aircraft Download PDF

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CN104833343B
CN104833343B CN201510290389.2A CN201510290389A CN104833343B CN 104833343 B CN104833343 B CN 104833343B CN 201510290389 A CN201510290389 A CN 201510290389A CN 104833343 B CN104833343 B CN 104833343B
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王宏
史添玮
刘冲
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Northeastern University China
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    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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    • G01C11/02Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract

The present invention provides a kind of complicated landform border based on multi-rotor aerocraft and Class area estimation System and method for, and system includes multi-rotor aerocraft, strapdown inertial navigation system, gps antenna, GPS navigation data reception board, PC end ground control system;The flight control of multi-rotor aerocraft, strapdown inertial navigation system receive the overlapping rotor support intersection being placed on multi-rotor aerocraft of board with GPS navigation data;Strapdown inertial navigation system, GPS navigation data are received board and are connected with the flight control of multi-rotor aerocraft respectively, gps antenna outfan connects GPS navigation data and receives board input, and multi-rotor aerocraft is set up with PC end ground control system and is wirelessly connected.The present invention realizes multi-rotor aerocraft remotely control, and real time imaging is obtained with flight attitude, and location information returns in real time;Integrated navigation system is constituted using double GPS pseudo range difference relative localization technology and inertial navigation technology, realizes being accurately positioned of multi-rotor aerocraft and landform boundary point to be estimated.

Description

基于多旋翼飞行器的复杂地形边界与面积估计系统与方法System and method for complex terrain boundary and area estimation based on multi-rotor aircraft

技术领域technical field

本发明涉及控制工程技术领域、信息工程技术和精准农业交叉领域,具体涉及一种基于多旋翼飞行器的复杂地形边界与面积估计系统与方法。The present invention relates to the fields of control engineering technology, information engineering technology and precision agriculture, in particular to a system and method for estimating complex terrain boundaries and areas based on multi-rotor aircraft.

背景技术Background technique

由于我国当前农业生产大环境的制约以及土地不集中且零散管理,导致我国的农业生产还处于粗放模式,例如:农业生产中水资源使用效率低,农药、肥料过度使用,人力、物力劳动强度大等现状。据2012年相关数据显示,我国农田灌溉水有效利用系数远低于世界先进水平;单位用水的粮食产量不足2.4斤/立方米;生产1公斤粮食耗水量高达800公斤。农药、肥料的过度使用,导致土地养分极度缺失,环境恶化,生态环境失衡,农作物产品不达标的恶果。针对以上问题,在我国农业生产中实现精确农业用水灌溉、土壤施肥与农药喷洒是势在必行的。精准农业是信息技术、工程技术等多学科交叉应用的现代农业生产模式。其在最大程度上优化了灌溉用水、土壤施肥与农药喷洒等诸多农业生产因素,获取最大的经济效益并实现良性生态农业。而实现精确农业用水灌溉、土壤施肥与农药喷洒的前提是受用土地地形边界与面积的精确测量。此外,复杂地形边界与面积测量也可用于林地测量、土地勘测等重要环节。Due to the constraints of my country's current agricultural production environment and the non-centralized and scattered management of land, my country's agricultural production is still in an extensive mode, for example: in agricultural production, the use of water resources is low, pesticides and fertilizers are excessively used, and human and material labor intensity is high. Wait for the status quo. According to relevant data in 2012, the effective utilization coefficient of farmland irrigation water in my country is far lower than the world's advanced level; the grain output per unit of water is less than 2.4 catties/cubic meter; the water consumption for producing 1 kg of grain is as high as 800 kg. Excessive use of pesticides and fertilizers has led to extreme lack of land nutrients, environmental deterioration, ecological environment imbalance, and the consequences of substandard crop products. In view of the above problems, it is imperative to realize precise agricultural water irrigation, soil fertilization and pesticide spraying in my country's agricultural production. Precision agriculture is a modern agricultural production model with interdisciplinary application of information technology and engineering technology. It optimizes many agricultural production factors such as irrigation water, soil fertilization and pesticide spraying to the greatest extent, so as to obtain the greatest economic benefits and realize benign ecological agriculture. The premise of realizing precise agricultural water irrigation, soil fertilization and pesticide spraying is the accurate measurement of the terrain boundary and area of the land to be used. In addition, complex terrain boundary and area measurement can also be used in important links such as forest land measurement and land survey.

目前,常用的获取地形边界与面积的方法有:1)采用卫星或飞机远程航拍,获取地形图像。其具有覆盖面广、空间分辨率高等优点。但该方法存在着运维成本高、实时性差等缺陷;2)使用Google Earth或Google Map等软件。但该方法需要手动确认地形边界点、地形面积估计精度低;3)使用Pix4UAV与Agisoft商用航拍软件。其需要利用飞行器或者飞机航拍获取地形的2维或3维图像,利用获取的图像生成DOM或DEM格式文件;然后利用航拍时预先获取地形边界点的定位数据或手动输入地形边界点位置信息,并最终获取地形的边界与面积估计。该方法需预先知道待估计地形边界点的确定位置信息,完成估计过程繁琐,无法实现在线估计;4)使用设备实地测量。该方法容易受地形、地理环境、天气条件等诸多因素影响,设备成本高。如果待估计地形复杂,根本无法实现人工实地作业,且随着地形复杂条件的增加,估计精度急剧降低。At present, commonly used methods for obtaining terrain boundaries and areas include: 1) Obtaining terrain images by using satellite or aircraft remote aerial photography. It has the advantages of wide coverage and high spatial resolution. However, this method has defects such as high operation and maintenance costs and poor real-time performance; 2) using software such as Google Earth or Google Map. However, this method needs to manually confirm the terrain boundary points, and the terrain area estimation accuracy is low; 3) Pix4UAV and Agisoft commercial aerial photography software are used. It needs to use aerial photography of aircraft or aircraft to obtain 2D or 3D images of terrain, and use the acquired images to generate DOM or DEM format files; then use aerial photography to obtain the positioning data of terrain boundary points in advance or manually input terrain boundary point position information, and Finally, the boundary and area estimates of the terrain are obtained. This method needs to know the definite location information of the terrain boundary points to be estimated in advance, and the estimation process is cumbersome, and online estimation cannot be realized; 4) Use equipment for field measurement. This method is easily affected by many factors such as terrain, geographical environment, and weather conditions, and the equipment cost is high. If the terrain to be estimated is complex, manual field operations cannot be realized at all, and with the increase of complex terrain conditions, the estimation accuracy decreases sharply.

发明内容Contents of the invention

针对现有技术存在的问题,本发明提供一种基于多旋翼飞行器的复杂地形边界与面积估计系统与方法。Aiming at the problems existing in the prior art, the present invention provides a complex terrain boundary and area estimation system and method based on a multi-rotor aircraft.

本发明的技术方案是:Technical scheme of the present invention is:

一种基于多旋翼飞行器的复杂地形边界与面积估计系统,包括:A complex terrain boundary and area estimation system based on multi-rotor aircraft, including:

多旋翼飞行器:根据PC端地面控制系统的控制指令工作,实时获取前视图像与下视图像,将获取的前视图像与下视图像、解算得到的多旋翼飞行器的实时定位信息、伪距与伪距率回传输至PC端地面控制系统;Multi-rotor aircraft: work according to the control commands of the ground control system on the PC side, obtain the front-view image and the bottom-view image in real time, and combine the acquired front-view image and the bottom-view image with the real-time positioning information and pseudo-range of the multi-rotor aircraft obtained through calculation The pseudo-range rate is transmitted back to the PC-side ground control system;

捷联惯性导航系统:用于获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;Strapdown inertial navigation system: used to obtain the instantaneous inertial navigation data of the multi-rotor aircraft, and transmit the data to the main flight control system of the multi-rotor aircraft through the SPI interface;

GPS天线:用于接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡;GPS antenna: used to receive the instantaneous GPS navigation data of the multi-rotor aircraft and transmit it to the GPS navigation data receiving board;

GPS导航数据接收板卡:用于解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统;GPS navigation data receiving board: used to calculate instantaneous GPS navigation data and transmit it to the main flight control system of the multi-rotor aircraft through the COM interface;

PC端地面控制系统:用于对多旋翼飞行器远程控制,根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、回传的实时定位信息、伪距与伪距率对待估计地形进行边界绘制与面积估计;所述PC端地面控制系统根据实时获取的前视图像与下视图像确定待估计地形的边界点,根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计;PC-side ground control system: used for remote control of the multi-rotor aircraft, according to the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image acquired in real time, the real-time positioning information returned, the pseudo-range and the pseudo-range rate to estimate the terrain Boundary drawing and area estimation; the PC-side ground control system determines the boundary points of the terrain to be estimated according to the front-view image and the down-view image acquired in real time, and realizes the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudo-range and pseudo-range rate; using The determined boundary points of the terrain to be estimated and the flight attitude of the multi-rotor aircraft perform boundary drawing and area estimation of the terrain to be estimated;

多旋翼飞行器的主飞行控制系统、捷联惯性导航系统与GPS导航数据接收板卡重叠放置在多旋翼飞行器的旋翼支架交汇处,即多旋翼飞行器的理论质心位置;捷联惯性导航系统通过SPI接口与多旋翼飞行器的主飞行控制系统连接,GPS导航数据接收板卡通过COM接口与多旋翼飞行器的主飞行控制系统连接,GPS天线的输出端连接GPS导航数据接收板卡的输入端,多旋翼飞行器与PC端地面控制系统建立无线连接。The main flight control system of the multi-rotor aircraft, the strapdown inertial navigation system and the GPS navigation data receiving board are overlapped and placed at the intersection of the rotor bracket of the multi-rotor aircraft, which is the theoretical center of mass of the multi-rotor aircraft; the strap-down inertial navigation system is connected through the SPI interface Connect with the main flight control system of the multi-rotor aircraft, the GPS navigation data receiving board is connected with the main flight control system of the multi-rotor aircraft through the COM interface, the output end of the GPS antenna is connected with the input end of the GPS navigation data receiving board, the multi-rotor aircraft Establish a wireless connection with the PC-side ground control system.

采用所述的复杂地形边界与面积估计系统进行复杂地形边界与面积估计的方法,包括以下步骤:The method for estimating complex terrain boundaries and areas using the complex terrain boundary and area estimation system includes the following steps:

步骤1、PC端地面控制系统向多旋翼飞行器发送起飞控制指令;Step 1. The PC-side ground control system sends a take-off control command to the multi-rotor aircraft;

步骤2、多旋翼飞行器实时获取飞行姿态、前视图像与下视图像并无线传输至PC端地面控制系统;Step 2. The multi-rotor aircraft obtains the flight attitude, front-view image and down-view image in real time and wirelessly transmits them to the PC-side ground control system;

步骤3、GPS天线实时接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡;Step 3, the GPS antenna receives the instantaneous GPS navigation data of the multi-rotor aircraft in real time and transmits it to the GPS navigation data receiving board;

步骤4、捷联惯性导航系统实时获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;Step 4, the strapdown inertial navigation system obtains the instantaneous inertial navigation data of the multi-rotor aircraft in real time, and transmits the data to the main flight control system of the multi-rotor aircraft through the SPI interface;

步骤5、GPS导航数据接收板卡解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统;Step 5, the GPS navigation data receiving board solves the instantaneous GPS navigation data and transmits it to the main flight control system of the multi-rotor aircraft through the COM interface;

步骤6、多旋翼飞行器的主飞行控制系统对瞬时惯性导航数据和瞬时GPS导航数据进行解算,得到多旋翼飞行器的实时定位信息、伪距与伪距率并传输至PC端地面控制系统;Step 6, the main flight control system of the multi-rotor aircraft calculates the instantaneous inertial navigation data and the instantaneous GPS navigation data, obtains the real-time positioning information, pseudo-range and pseudo-range rate of the multi-rotor aircraft and transmits them to the PC-side ground control system;

步骤7、PC端地面控制系统根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、实时定位信息、伪距与伪距率,对待估计地形进行边界绘制与面积估计:根据实时获取的前视图像与下视图像确定待估计地形的边界点;根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计。Step 7. Based on the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image obtained in real time, the real-time positioning information, pseudorange and pseudorange rate, the PC-side ground control system performs boundary drawing and area estimation of the terrain to be estimated: according to the real-time acquisition The front-view image and the bottom-view image determine the boundary points of the terrain to be estimated; realize the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudo-range and pseudo-range rate; use the determined boundary points of the terrain to be estimated and the flight attitude of the multi-rotor aircraft Boundary drawing and area estimation for estimated terrain.

所述步骤7包括如下步骤:Described step 7 comprises the steps:

步骤7-1、依据实时获取的前视图像与下视图像,选择待估计地形的边界点;Step 7-1. Select the boundary point of the terrain to be estimated according to the front-view image and the bottom-view image acquired in real time;

步骤7-2、PC端地面控制系统远程控制多旋翼飞行器在当前边界点获取定位信息,并回传至PC端地面控制系统;Step 7-2, the PC-side ground control system remotely controls the multi-rotor aircraft to obtain positioning information at the current boundary point, and sends it back to the PC-side ground control system;

步骤7-3、PC端地面控制系统对获取的当前边界点定位信息进行处理:采用Pauta准则剔除异常定位信息并采用EKPF方法提高定位信息精度;Step 7-3. The PC-side ground control system processes the obtained current boundary point positioning information: use the Pauta criterion to eliminate abnormal positioning information and use the EKPF method to improve the positioning information accuracy;

步骤7-4、判断当前边界点是否处于弧段:是,则执行步骤7-5;否则执行步骤7-8;Step 7-4, judging whether the current boundary point is in an arc segment: if yes, execute step 7-5; otherwise execute step 7-8;

步骤7-5、多旋翼飞行器沿弧段飞行,每间隔固定时间段,多旋翼飞行器自动悬停以获取边界点的定位信息,并回传至PC端地面控制系统进行处理:采用Pauta准则剔除异常定位信息并采用EKPF方法提高定位信息精度;Step 7-5. The multi-rotor aircraft flies along the arc segment. At a fixed time interval, the multi-rotor aircraft automatically hovers to obtain the positioning information of the boundary points, and sends it back to the PC-side ground control system for processing: use the Pauta criterion to eliminate abnormalities Positioning information and using the EKPF method to improve the accuracy of positioning information;

步骤7-6、若当前边界点为弧段终止点,执行步骤7-7,否则返回步骤7-5;Step 7-6. If the current boundary point is the end point of the arc segment, execute step 7-7, otherwise return to step 7-5;

步骤7-7、将获取的弧段起始点、弧段终止点与弧段上所有边界点每3个分为一组,若弧段上存在剩余边界点,则将所述剩余边界点与之前边界点组合,完成分组;采用分段二次内插方法计算弧段面积;相邻两边界点间内插5个插值点;设由弧段起始点至弧段终止点构成直线的倾角α;由弧段起始点至弧段终止点构成直线的中间点位置为x直线中间点与y直线中间点;弧段的中间点位置为x弧段中间点与y弧段中间点,若弧段边界点为偶数,则取中间两个边界点的均值作为弧段中间点;若0≤α≤90°y弧段中间点≥y直线中间点,则弧段为凸弧段,反之为凹弧段;若90<α≤180°,x弧段中间点≥x直线中间点,则弧段为凸弧段,反之为凹弧段;若180<α≤270°y弧段中间点≤y直线中间点,则弧段为凸弧段,反之为凹弧段;若270<α<360°,x弧段中间点≤x直线中间点,则弧段为凸弧段,反之为凹弧段;定义图凸弧段面积为正,凹弧段面积为负;Step 7-7, divide the obtained arc segment starting point, arc segment end point and all boundary points on the arc segment into groups of 3, if there are remaining boundary points on the arc segment, then combine the remaining boundary points with the previous Boundary points are combined to complete the grouping; the area of the arc is calculated by the segmented quadratic interpolation method; 5 interpolation points are interpolated between two adjacent boundary points; the inclination α of the straight line formed from the starting point of the arc to the end point of the arc is set; The middle point of the straight line formed from the start point of the arc segment to the end point of the arc segment is the middle point of the x line and the middle point of the y line; the middle point of the arc is the middle point of the x arc segment and the middle point of the y arc segment . If the point is an even number, the average of the two middle boundary points is taken as the middle point of the arc segment; if 0≤α≤90°y arc segment middle point≥y straight line middle point , the arc segment is a convex arc segment, otherwise it is a concave arc segment ; If 90<α≤180°, the middle point of the x arc segmentthe middle point of the x straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 180<α≤270° , the middle point of the y arc segment ≤ the middle point of the y straight line point , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 270<α<360°, the middle point of the x arc segment ≤ the middle point of the x straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; definition The area of a convex arc is positive, and the area of a concave arc is negative;

步骤7-8、判断当前边界点是否为待估计地形的前两个边界点:是,则执行步骤7-9,否则执行步骤7-10;Step 7-8, judging whether the current boundary point is the first two boundary points of the terrain to be estimated: if yes, then perform step 7-9, otherwise perform step 7-10;

步骤7-9、若当前边界点为待估计地形的第一个边界点,则设定该边界点为凸点并返回执行步骤7-2;若当前边界点为待估计地形的第二个边界点,则设定该边界点为凸点,由待估计地形的前两个边界点的偏航角与位置关系确定初始旋转趋势后,返回执行步骤7-2;Step 7-9. If the current boundary point is the first boundary point of the terrain to be estimated, set the boundary point as a convex point and return to step 7-2; if the current boundary point is the second boundary point of the terrain to be estimated point, then set the boundary point as a convex point, and after determining the initial rotation trend by the relationship between the yaw angle and the position of the first two boundary points of the terrain to be estimated, return to step 7-2;

步骤7-10、判断当前边界点凹凸属性:若当前边界点旋转趋势与初始旋转趋势不一致,则该边界点为凹点,执行步骤7-11;若当前边界点旋转趋势与初始旋转趋势一致,则该边界点为凸点,执行步骤7-12;Step 7-10, determine the concave-convex property of the current boundary point: if the current boundary point rotation trend is inconsistent with the initial rotation trend, then the boundary point is a concave point, and perform steps 7-11; if the current boundary point rotation trend is consistent with the initial rotation trend, Then the boundary point is a convex point, perform steps 7-12;

步骤7-11、若存在与当前边界点相邻的凸点,则PC端地面控制系统计算由当前边界点、与当前边界点相邻的凸点、与当前边界点相邻的凸点的前一边界点构成的三角形面积,得到凸点面积并从待估计地形中剔除与当前边界点相邻的凸点;否则PC端地面控制系统在待估计地形中保留当前边界点;Step 7-11, if there is a convex point adjacent to the current boundary point, the ground control system at the PC side calculates the current boundary point, the convex point adjacent to the current boundary point, and the previous A triangular area formed by a boundary point, obtain the convex point area and remove the convex point adjacent to the current boundary point from the terrain to be estimated; otherwise, the PC-side ground control system retains the current boundary point in the terrain to be estimated;

步骤7-12、判断多旋翼飞行器是否已返回至起始点:是,则PC端地面控制系统生成预估计地形,并依据当前弧段边界点旋转趋势确定待估计地形的最终旋转趋势以及确定预估计地形边界点凹凸属性;否则,多旋翼飞行器飞向下一边界点,并返回执行步骤7-1;Steps 7-12. Determine whether the multi-rotor aircraft has returned to the starting point: if yes, the ground control system on the PC side generates a pre-estimated terrain, and determines the final rotation trend of the terrain to be estimated and the pre-estimated terrain according to the current arc boundary point rotation trend Concave-convex property of the terrain boundary point; otherwise, the multi-rotor aircraft flies to the next boundary point, and returns to step 7-1;

步骤7-13、预估计地形边界点的二次凹点判定:若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势不同,则该边界点为二次凹点,执行步骤7-14;若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势相同,则该边界点为凸点,则PC端地面控制系统在待估计地形中保留当前边界点,执行步骤7-15;Step 7-13: Determination of the secondary concave point of the pre-estimated terrain boundary point: If the rotation trend of the boundary point in the pre-estimated terrain is different from the final rotation trend of the terrain to be estimated, then the boundary point is a secondary concave point, go to step 7 -14; if the rotation trend of the boundary point in the pre-estimated terrain is the same as the final rotation trend of the terrain to be estimated, then the boundary point is a convex point, then the ground control system on the PC end retains the current boundary point in the terrain to be estimated, and execute step 7 -15;

步骤7-14、判断当前处理的预估计地形边界点是否为连续二次凹点:是,则PC端地面控制系统将计算由当前边界点、前一凹点与相邻后一凸点构成的三角形面积得到二次凹点面积,并从预估计地形中剔除当前边界点;否则PC端地面控制系统计算由当前边界点、与当前边界点相邻的前两个凸点构成的三角形面积得到二次凹点面积,并从预估计地形中剔除当前边界点;Step 7-14. Determine whether the currently processed pre-estimated terrain boundary point is a continuous secondary concave point: if yes, the PC-side ground control system will calculate the current boundary point, the previous concave point and the next adjacent convex point. The area of the triangle is obtained from the area of the secondary concave point, and the current boundary point is eliminated from the estimated terrain; otherwise, the PC-side ground control system calculates the area of the triangle formed by the current boundary point and the first two convex points adjacent to the current boundary point to obtain the second The area of the second concave point, and remove the current boundary point from the pre-estimated terrain;

步骤7-15、判断是否完全剔除预估计地形中的二次凹点;若未完全剔除,则判断下一边界点,并返回执行步骤7-13;若完全剔除,则执行步骤7-16;Step 7-15, judging whether to completely eliminate the secondary concave point in the pre-estimated terrain; if not completely eliminated, then judge the next boundary point, and return to step 7-13; if completely eliminated, then execute step 7-16;

步骤7-16、PC端地面控制系统生成二次预估计地形并计算二次预估计地形面积,依据二次预估计地形完成待估计地形的边界绘制与面积估计:若待估计地形的最终旋转趋势为顺时针:最终的待估计地形面积估计结果=二次预估计地形面积-二次凹点面积+凸点面积-弧段面积;若待估计地形的最终旋转趋势为逆时针:最终的待估计地形面积估计结果=二次预估计地形面积-二次凹点面积-凸点面积+弧段面积。Steps 7-16. The PC-side ground control system generates the second estimated terrain and calculates the area of the second estimated terrain, and completes the boundary drawing and area estimation of the terrain to be estimated according to the second estimated terrain: if the final rotation trend of the terrain to be estimated Clockwise: the final estimated terrain area estimation result = secondary pre-estimated terrain area - secondary concave point area + convex point area - arc area; if the final rotation trend of the estimated terrain is counterclockwise: the final estimated terrain area Terrain area estimation result = secondary pre-estimated terrain area - secondary concave point area - convex point area + arc section area.

有益效果:Beneficial effect:

本发明采用双GPS伪距差分相对定位与惯性导航的组合导航实现复杂地形边界与面积在线估计,具有成本低、精度高,可远程控制,可在任意时间对任意地形完成边界与面积的精确估计等优点。经过测试验证,该地形边界与面积估计系统的估计精度达到±1%。The invention adopts the combined navigation of dual GPS pseudo-range differential relative positioning and inertial navigation to realize the online estimation of complex terrain boundary and area, has the advantages of low cost, high precision, remote control, and can complete the accurate estimation of boundary and area of any terrain at any time Etc. After testing and verification, the estimation accuracy of the terrain boundary and area estimation system reaches ±1%.

本发明是一种以多旋翼飞行器为测量载体,实现复杂地形边界与面积在线估计的系统与方法。其通过PC端地面控制系统实现多旋翼飞行器的远程控制,实时图像与飞行姿态获取,定位信息实时回传;采用双GPS伪距差分相对定位技术与惯性导航技术构成组合导航系统,实现多旋翼飞行器与待估计地形边界点的精确定位;采用Pauta准则(3σ准则)剔除定位信息中的异常数据;采用扩展卡尔曼粒子滤波(Extended Kalman Particle Filter,EKPF)方法对剔除异常定位信息后的边界点定位信息进行滤波并进一步提高定位精度;本系统与方法具有成本低、精度高,实时性好,可远程控制,操作简便的优点。The invention relates to a system and method for realizing online estimation of boundaries and areas of complicated terrains by using a multi-rotor aircraft as a measurement carrier. It realizes the remote control of the multi-rotor aircraft through the PC-side ground control system, real-time image and flight attitude acquisition, and real-time feedback of positioning information; the dual GPS pseudo-range differential relative positioning technology and inertial navigation technology are used to form a combined navigation system to realize multi-rotor aircraft. Precise positioning of the boundary points of the terrain to be estimated; using the Pauta criterion (3σ criterion) to remove abnormal data in the positioning information; using the Extended Kalman Particle Filter (EKPF) method to locate the boundary points after removing the abnormal positioning information The information is filtered and the positioning accuracy is further improved; the system and method have the advantages of low cost, high precision, good real-time performance, remote control, and easy operation.

附图说明Description of drawings

图1为本发明一种实施例的基于多旋翼飞行器的复杂地形边界与面积估计系统总体结构框图;Fig. 1 is a block diagram of the overall structure of the complex terrain boundary and area estimation system based on multi-rotor aircraft according to an embodiment of the present invention;

图2为本发明一种实施例的基于多旋翼飞行器的复杂地形边界与面积估计方法流程图;Fig. 2 is a flow chart of a complex terrain boundary and area estimation method based on a multi-rotor aircraft according to an embodiment of the present invention;

图3为本发明一种实施例的顺时方向地形边界与面积的示例图;Fig. 3 is an example diagram of the terrain boundary and area in the clockwise direction of an embodiment of the present invention;

(a)为待估计地形示意图;(a) is a schematic diagram of the terrain to be estimated;

(b)为凹凸点判断后的地形示意图;(b) is a schematic diagram of the terrain after the concave-convex points are judged;

(c)为预估计地形示意图;(c) is a schematic diagram of the estimated terrain;

(d)为二次预估计地形示意图;(d) is a schematic diagram of the secondary pre-estimated terrain;

图4为本发明一种实施例逆时方向地形边界与面积的示例图;Fig. 4 is an example diagram of terrain boundary and area in the counterclockwise direction of an embodiment of the present invention;

(a)为待估计地形示意图;(a) is a schematic diagram of the terrain to be estimated;

(b)为凹凸点判断后的地形示意图;(b) is a schematic diagram of the terrain after the concave-convex points are judged;

(c)为预估计地形示意图;(c) is a schematic diagram of the estimated terrain;

(d)为二次预估计地形示意图。(d) is a schematic diagram of the secondary pre-estimated terrain.

具体实施方式detailed description

下面结合附图对本发明的实施例做进一步说明。Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

如图1所示,一种基于多旋翼飞行器的复杂地形边界与面积估计系统,包括:As shown in Figure 1, a complex terrain boundary and area estimation system based on multi-rotor aircraft includes:

多旋翼飞行器:根据PC端地面控制系统的控制指令工作,实时获取前视图像与下视图像,将获取的前视图像与下视图像、解算得到的多旋翼飞行器的实时定位信息、伪距与伪距率回传至PC端地面控制系统。Multi-rotor aircraft: work according to the control commands of the ground control system on the PC side, obtain the front-view image and the bottom-view image in real time, and combine the acquired front-view image and the bottom-view image with the real-time positioning information and pseudo-range of the multi-rotor aircraft obtained through calculation The pseudo-range rate is sent back to the ground control system on the PC side.

捷联惯性导航系统:用于获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;瞬时惯性导航数据包括瞬时飞行姿态、速度及位置。Strapdown inertial navigation system: used to obtain the instantaneous inertial navigation data of the multi-rotor aircraft, and transmit the data to the main flight control system of the multi-rotor aircraft through the SPI interface; the instantaneous inertial navigation data includes instantaneous flight attitude, speed and position.

两个带有伪距测量功能的IGO ESmart GPS天线:用于接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡。Two IGO ESmart GPS antennas with pseudo-range measurement function: used to receive the instantaneous GPS navigation data of the multi-rotor aircraft and transmit it to the GPS navigation data receiving board.

OEMStarGPS导航数据接收板卡:用于解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统。OEMStarGPS navigation data receiving board: It is used to solve the instantaneous GPS navigation data and transmit it to the main flight control system of the multi-rotor aircraft through the COM interface.

PC端地面控制系统:用于对多旋翼飞行器远程控制,根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、回传的实时定位信息、伪距与伪距率对待估计地形进行边界绘制与面积估计;所述PC端地面控制系统根据实时获取的前视图像与下视图像确定待估计地形的边界点,根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计。PC-side ground control system: used for remote control of the multi-rotor aircraft, according to the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image acquired in real time, the real-time positioning information returned, the pseudo-range and the pseudo-range rate to estimate the terrain Boundary drawing and area estimation; the PC-side ground control system determines the boundary points of the terrain to be estimated according to the front-view image and the down-view image acquired in real time, and realizes the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudo-range and pseudo-range rate; using The determined boundary points of the terrain to be estimated and the flight attitude of the multi-rotor aircraft perform boundary drawing and area estimation of the terrain to be estimated.

多旋翼飞行器的主飞行控制系统、捷联惯性导航系统与GPS导航数据接收板卡重叠放置在多旋翼飞行器的旋翼支架交汇处,即多旋翼飞行器的理论质心位置;捷联惯性导航系统通过SPI接口与多旋翼飞行器的主飞行控制系统连接,GPS导航数据接收板卡通过COM接口与多旋翼飞行器的主飞行控制系统连接,GPS天线的输出端连接GPS导航数据接收板卡的输入端,多旋翼飞行器与PC端地面控制系统通过WIFI、3G网络、遥控等方式建立无线连接,实现多旋翼飞行器的远程控制。The main flight control system of the multi-rotor aircraft, the strapdown inertial navigation system and the GPS navigation data receiving board are overlapped and placed at the intersection of the rotor bracket of the multi-rotor aircraft, which is the theoretical center of mass of the multi-rotor aircraft; the strapdown inertial navigation system is connected through the SPI interface. Connect with the main flight control system of the multi-rotor aircraft, the GPS navigation data receiving board is connected with the main flight control system of the multi-rotor aircraft through the COM interface, the output end of the GPS antenna is connected with the input end of the GPS navigation data receiving board, the multi-rotor aircraft Establish a wireless connection with the PC-side ground control system through WIFI, 3G network, remote control, etc., to realize the remote control of the multi-rotor aircraft.

多旋翼飞行器的主飞行控制系统采用ARM9处理器,并运行Linux 2.6.32操作系统。其主要用于实现多旋翼飞行器操控、姿态控制等;捷联贯性导航系统由一个气压计、9自由度的惯性测量单元(3轴陀螺仪、3轴加速度计与3轴磁力计)构成;双GPS伪距差分相对定位系统由带有伪距测量功能的IGO ESmart GPS天线、OEMStar GPS导航数据接收板卡构成;捷联贯性导航系统与双GPS差分相对定位系统相结合,构成组合导航系统。The main flight control system of the multi-rotor aircraft uses an ARM9 processor and runs the Linux 2.6.32 operating system. It is mainly used to realize multi-rotor aircraft control, attitude control, etc.; the strapdown coherent navigation system consists of a barometer and a 9-degree-of-freedom inertial measurement unit (3-axis gyroscope, 3-axis accelerometer, and 3-axis magnetometer); The GPS pseudo-range differential relative positioning system is composed of IGO ESmart GPS antenna with pseudo-range measurement function and OEMStar GPS navigation data receiving board; the strapdown continuous navigation system is combined with the dual GPS differential relative positioning system to form an integrated navigation system.

采用所述的复杂地形边界与面积估计系统进行复杂地形边界与面积估计的方法,如图2所示,包括以下步骤:The method for complex terrain boundary and area estimation using the complex terrain boundary and area estimation system, as shown in Figure 2, comprises the following steps:

步骤1、PC端地面控制系统向多旋翼飞行器发送起飞控制指令;Step 1. The PC-side ground control system sends a take-off control command to the multi-rotor aircraft;

步骤2、多旋翼飞行器实时获取飞行姿态、前视图像与下视图像并无线传输至PC端地面控制系统;Step 2. The multi-rotor aircraft obtains the flight attitude, front-view image and down-view image in real time and wirelessly transmits them to the PC-side ground control system;

步骤3、GPS天线实时接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡;Step 3, the GPS antenna receives the instantaneous GPS navigation data of the multi-rotor aircraft in real time and transmits it to the GPS navigation data receiving board;

步骤4、捷联惯性导航系统实时获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;Step 4, the strapdown inertial navigation system obtains the instantaneous inertial navigation data of the multi-rotor aircraft in real time, and transmits the data to the main flight control system of the multi-rotor aircraft through the SPI interface;

步骤5、GPS导航数据接收板卡解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统;Step 5, the GPS navigation data receiving board solves the instantaneous GPS navigation data and transmits it to the main flight control system of the multi-rotor aircraft through the COM interface;

步骤6、多旋翼飞行器的主飞行控制系统对瞬时惯性导航数据和瞬时GPS导航数据进行解算,得到多旋翼飞行器的实时定位信息、伪距与伪距率并传输至PC端地面控制系统;Step 6, the main flight control system of the multi-rotor aircraft calculates the instantaneous inertial navigation data and the instantaneous GPS navigation data, obtains the real-time positioning information, pseudo-range and pseudo-range rate of the multi-rotor aircraft and transmits them to the PC-side ground control system;

步骤7、PC端地面控制系统根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、实时定位信息、伪距与伪距率,对待估计地形进行边界绘制与面积估计:根据实时获取的前视图像与下视图像确定待估计地形的边界点;根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计。Step 7. Based on the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image obtained in real time, the real-time positioning information, pseudorange and pseudorange rate, the PC-side ground control system performs boundary drawing and area estimation of the terrain to be estimated: according to the real-time acquisition The front-view image and the bottom-view image determine the boundary points of the terrain to be estimated; realize the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudo-range and pseudo-range rate; use the determined boundary points of the terrain to be estimated and the flight attitude of the multi-rotor aircraft Boundary drawing and area estimation for estimated terrain.

定义边界点的位置数据格式为pdi=(xi,yi,yawi,marki),i=0,1...,n。xi与yi分别为高斯平面坐标系中的位置(初始位置默认为坐标原点);yawi为多旋翼飞行器由边界点pdi到下一边界点的偏航角(偏航角范围为-179°~180°,多旋翼飞行器前向飞行时的偏航角为0°);marki为边界点pdi的凹点、凸点标记;The format of the position data defining the boundary point is pdi=( xi , y i , yaw i , mark i ), i=0, 1..., n. x i and y i are the positions in the Gaussian plane coordinate system (the initial position defaults to the coordinate origin); yaw i is the yaw angle of the multi-rotor aircraft from the boundary point pdi to the next boundary point (the range of the yaw angle is -179 °~180°, the yaw angle of the multi-rotor aircraft is 0° when it is flying forward); mark i is the concave and convex mark of the boundary point pdi;

步骤7-1、依据实时获取的前视图像与下视图像,选择待估计地形的边界点;如图3(a)中的pd0~pd8,图4(a)中的pd0~pd9;Step 7-1. Select the boundary points of the terrain to be estimated according to the front-view image and the bottom-view image acquired in real time; pd0-pd8 in Fig. 3(a) and pd0-pd9 in Fig. 4(a);

步骤7-2、多旋翼飞行器在选择的边界点处悬停1分钟,PC端地面控制系统远程控制多旋翼飞行器在当前边界点获取定位信息,并回传至PC端地面控制系统;Step 7-2. The multi-rotor aircraft hovers at the selected boundary point for 1 minute, and the PC-side ground control system remotely controls the multi-rotor aircraft to obtain positioning information at the current boundary point, and sends it back to the PC-side ground control system;

步骤7-3、PC端地面控制系统对获取的当前边界点定位信息进行处理:采用Pauta准则(3σ准则)剔除异常定位信息并采用扩展卡尔曼粒子滤波(Extended Kalman ParticleFilter,EKPF)方法提高定位信息精度;Step 7-3. The PC-side ground control system processes the obtained current boundary point positioning information: use the Pauta criterion (3σ criterion) to eliminate abnormal positioning information and use the Extended Kalman Particle Filter (EKPF) method to improve the positioning information precision;

将剔除异常定位信息后的多旋翼飞行器位置和速度信息作为EKPF方法的输入状态变量;将EKPF方法的输出作为当前边界点的最终定位信息;The position and velocity information of the multi-rotor aircraft after removing the abnormal positioning information is used as the input state variable of the EKPF method; the output of the EKPF method is used as the final positioning information of the current boundary point;

步骤7-4、判断当前边界点是否处于弧段:是,则执行步骤7-5;否则执行步骤7-8;Step 7-4, judging whether the current boundary point is in an arc segment: if yes, execute step 7-5; otherwise execute step 7-8;

弧段起始点与弧段终止点是通过观察前视图像与下视图像确定的:The arc start point and arc end point are determined by observing the front view image and the bottom view image:

弧段起始点如图3(b)中的pd5,图4(b)中的pd8。The starting point of the arc segment is pd5 in Fig. 3(b), and pd8 in Fig. 4(b).

弧段终止点如图3(b)中的pd6,图4(b)中的pd9。The end point of the arc segment is pd6 in Fig. 3(b), and pd9 in Fig. 4(b).

步骤7-5、多旋翼飞行器沿弧段飞行,每间隔15秒,多旋翼飞行器自动悬停以获取边界点的300个定位信息,并回传至PC端地面控制系统进行处理:采用Pauta准则(3σ准则)剔除异常定位信息并采用扩展卡尔曼粒子滤波(Extended Kalman Particle Filter,EKPF)方法提高定位信息精度;Step 7-5: The multi-rotor aircraft flies along the arc, and every 15 seconds, the multi-rotor aircraft hovers automatically to obtain 300 positioning information of the boundary points, and sends them back to the PC-side ground control system for processing: using the Pauta criterion ( 3σ criterion) to eliminate abnormal positioning information and use the Extended Kalman Particle Filter (EKPF) method to improve the accuracy of positioning information;

步骤7-6、若当前边界点为弧段终止点,执行步骤7-7,否则返回步骤7-5;Step 7-6. If the current boundary point is the end point of the arc segment, execute step 7-7, otherwise return to step 7-5;

步骤7-7、将获取的弧段起始点、弧段终止点与弧段上所有边界点每3个分为一组,若弧段上存在剩余边界点,则将所述剩余边界点与之前边界点组合,完成分组;采用分段二次内插方法计算弧段面积;相邻两边界点间内插5个插值点;Step 7-7, divide the obtained arc segment starting point, arc segment end point and all boundary points on the arc segment into groups of 3, if there are remaining boundary points on the arc segment, then combine the remaining boundary points with the previous Combining boundary points to complete the grouping; adopting the segmented quadratic interpolation method to calculate the arc area; interpolating 5 interpolation points between two adjacent boundary points;

设由弧段起始点至弧段终止点构成直线的倾角α;由弧段起始点至弧段终止点构成直线的中间点位置为x直线中间点与y直线中间点;弧段的中间点位置为x弧段中间点与y弧段中间点,若弧段边界点为偶数,则取中间两个边界点的均值作为弧段中间点;若0≤α≤90°y弧段中间点≥y直线中间点,则弧段为凸弧段,反之为凹弧段;若90<α≤180°,x弧段中间点≥x直线中间点,则弧段为凸弧段,反之为凹弧段;若180<α≤270°y弧段中间点≤y直线中间点,则弧段为凸弧段,反之为凹弧段;若270<α<360°,x弧段中间点≤x直线中间点,则弧段为凸弧段,反之为凹弧段;定义图凸弧段面积为正,凹弧段面积为负;Set the inclination angle α of the straight line formed from the starting point of the arc segment to the ending point of the arc segment; the middle point position of the straight line formed from the starting point of the arc segment to the ending point of the arc segment is the middle point of the x straight line and the middle point of the y straight line ; the middle point position of the arc segment It is the middle point of the x arc segment and the middle point of the y arc segment . If the boundary point of the arc segment is an even number, the mean value of the two middle boundary points is taken as the middle point of the arc segment; if 0≤α≤90° , the middle point of the y arc segment≥y If the middle point of the straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 90<α≤180°, x arc segment middle point ≥ x straight line middle point , the arc segment is a convex arc segment, otherwise it is a concave arc segment ; If 180<α≤270°, the middle point of the y arc segment ≤ the middle point of the y straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 270<α<360°, the middle point of the x arc segment ≤ the middle point of the x straight line point , the arc segment is a convex arc segment, otherwise it is a concave arc segment; the area of a convex arc segment is defined as positive, and the area of a concave arc segment is negative;

弧段面积如图3(b)与图4(b)中的saa。The arc area is shown as saa in Fig. 3(b) and Fig. 4(b).

步骤7-8、判断当前边界点是否为待估计地形的前两个边界点:是,则执行步骤7-9,否则执行步骤7-10;Step 7-8, judging whether the current boundary point is the first two boundary points of the terrain to be estimated: if yes, then perform step 7-9, otherwise perform step 7-10;

步骤7-9、若当前边界点为待估计地形的第一个边界点,则设定该边界点为凸点并返回执行步骤7-2;若当前边界点为待估计地形的第二个边界点,则设定该边界点为凸点,由待估计地形的前两个边界点(pd1与pd2)的偏航角与位置关系确定初始旋转趋势(顺时针或逆时针)后,返回执行步骤7-2;Step 7-9. If the current boundary point is the first boundary point of the terrain to be estimated, set the boundary point as a convex point and return to step 7-2; if the current boundary point is the second boundary point of the terrain to be estimated point, then set the boundary point as a convex point, determine the initial rotation trend (clockwise or counterclockwise) according to the relationship between the yaw angle and position of the first two boundary points (pd1 and pd2) of the terrain to be estimated, and return to the execution step 7-2;

步骤7-10、判断当前边界点凹凸属性:若当前边界点旋转趋势与初始旋转趋势不一致,则该边界点为凹点,执行步骤7-11;若当前边界点旋转趋势与初始旋转趋势一致,则该边界点为凸点(如图3与图4中的pd1与pd3等),执行步骤7-12;Step 7-10, determine the concave-convex property of the current boundary point: if the current boundary point rotation trend is inconsistent with the initial rotation trend, then the boundary point is a concave point, and perform steps 7-11; if the current boundary point rotation trend is consistent with the initial rotation trend, Then the boundary point is a convex point (such as pd1 and pd3 in Fig. 3 and Fig. 4), perform steps 7-12;

步骤7-11、若存在与当前边界点相邻的凸点(如图3与图4中的pd2与pd4),则PC端地面控制系统计算由当前边界点、与当前边界点相邻的凸点、与当前边界点相邻的凸点的前一边界点构成的三角形面积(如图3与图4中的横向阴影部分面积cpa),得到凸点面积并从待估计地形中剔除与当前边界点相邻的凸点;否则PC端地面控制系统在待估计地形中保留当前边界点;Step 7-11, if there is a convex point adjacent to the current boundary point (such as pd2 and pd4 in Figure 3 and Figure 4), the PC-side ground control system calculates the current boundary point, the convex point adjacent to the current boundary point point, the triangle area formed by the previous boundary point of the convex point adjacent to the current boundary point (as shown in Fig. point adjacent salient points; otherwise, the ground control system on the PC side will retain the current boundary point in the terrain to be estimated;

步骤7-12、判断多旋翼飞行器是否已返回至起始点:是,则PC端地面控制系统生成预估计地形(如图3(c)与图4(c)),并依据当前弧段边界点旋转趋势确定待估计地形的最终旋转趋势(如图3为顺时针,图4为逆时针)以及确定预估计地形边界点凹凸属性;否则,多旋翼飞行器飞向下一边界点,并返回执行步骤7-1;Steps 7-12. Determine whether the multi-rotor aircraft has returned to the starting point: if yes, then the ground control system on the PC side generates a pre-estimated terrain (as shown in Figure 3(c) and Figure 4(c)), and based on the boundary points of the current arc segment The rotation trend determines the final rotation trend of the terrain to be estimated (clockwise as shown in Figure 3, and counterclockwise in Figure 4) and determines the concave-convex property of the boundary point of the pre-estimated terrain; otherwise, the multi-rotor aircraft flies to the next boundary point and returns to the execution step 7-1;

步骤7-13、预估计地形边界点的二次凹点判定:若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势不同,则该边界点为二次凹点,执行步骤7-14;若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势相同,则该边界点为凸点,则PC端地面控制系统在待估计地形中保留当前边界点,执行步骤7-15;Step 7-13: Determination of the secondary concave point of the pre-estimated terrain boundary point: If the rotation trend of the boundary point in the pre-estimated terrain is different from the final rotation trend of the terrain to be estimated, then the boundary point is a secondary concave point, go to step 7 -14; if the rotation trend of the boundary point in the pre-estimated terrain is the same as the final rotation trend of the terrain to be estimated, then the boundary point is a convex point, then the ground control system on the PC end retains the current boundary point in the terrain to be estimated, and execute step 7 -15;

步骤7-14、判断当前处理的预估计地形边界点是否为连续二次凹点:是,当前处理的预估计地形边界点为连续二次凹点(如图3中的pd4),则PC端地面控制系统将计算由当前边界点、前一凹点与相邻后一凸点构成的三角形面积得到二次凹点面积(图3中的竖向阴影部分面积scpa),并从预估计地形中剔除当前边界点;否则当前处理的预估计地形边界点为不连续二次凹点(如图3与图4中的pd2),PC端地面控制系统计算由当前边界点、与当前边界点相邻的前两个凸点构成的三角形面积得到二次凹点面积(图4中的竖向阴影部分面积scpa),并从预估计地形中剔除当前边界点;Steps 7-14, judging whether the currently processed pre-estimated terrain boundary point is a continuous secondary concave point: yes, the currently processed pre-estimated terrain boundary point is a continuous secondary concave point (as shown in pd4 in Figure 3), then the PC terminal The ground control system will calculate the area of the triangle formed by the current boundary point, the previous concave point and the adjacent subsequent convex point to obtain the area of the secondary concave point (the area scpa of the vertical shaded part in Fig. Eliminate the current boundary point; otherwise, the currently processed pre-estimated terrain boundary point is a discontinuous secondary concave point (as shown in pd2 in Figure 3 and Figure 4), and the PC-side ground control system calculates the current boundary point, adjacent to the current boundary point The triangular area formed by the first two salient points of the first two convex points of the first two points obtains the area of the secondary concave point (the area scpa of the vertical shaded part in Fig. 4), and removes the current boundary point from the pre-estimated terrain;

步骤7-15、判断是否完全剔除预估计地形中的二次凹点;若未完全剔除,则判断下一边界点,并返回执行步骤7-13;若完全剔除,则执行步骤7-16;Step 7-15, judging whether to completely eliminate the secondary concave point in the pre-estimated terrain; if not completely eliminated, then judge the next boundary point, and return to step 7-13; if completely eliminated, then execute step 7-16;

步骤7-16、PC端地面控制系统生成二次预估计地形并计算二次预估计地形面积,依据二次预估计地形完成待估计地形的边界绘制与面积估计,得到最终的待估计地形面积估计结果(fa,如图3(d)与图4(d)):若待估计地形的最终旋转趋势为顺时针:最终的待估计地形面积估计结果fa=二次预估计地形面积spta-二次凹点面积scpa+凸点面积cpa-弧段面积ssa;若待估计地形的最终旋转趋势为逆时针:最终的待估计地形面积估计结果fa=二次预估计地形面积spta-二次凹点面积scpa-凸点面积cpa+弧段面积ssa。Steps 7-16. The ground control system at the PC end generates the second estimated terrain and calculates the area of the second estimated terrain, completes the boundary drawing and area estimation of the terrain to be estimated according to the second estimated terrain, and obtains the final estimation of the area of the terrain to be estimated Result (fa, as shown in Figure 3 (d) and Figure 4 (d)): If the final rotation trend of the terrain to be estimated is clockwise: the final estimation result of the terrain area to be estimated fa=secondary estimated terrain area spta-secondary Concave point area scpa+convex point area cpa-arc area ssa; if the final rotation trend of the terrain to be estimated is counterclockwise: the final estimation result of the terrain area to be estimated fa=secondary pre-estimated terrain area spta-secondary concave point area scpa -Bump area cpa+arc area ssa.

Claims (4)

1.一种基于多旋翼飞行器的复杂地形边界与面积估计系统,其特征在于,包括:1. A complex terrain boundary and area estimation system based on multi-rotor aircraft, characterized in that it comprises: 多旋翼飞行器:根据PC端地面控制系统的控制指令工作,实时获取前视图像与下视图像,将获取的前视图像与下视图像、解算得到的多旋翼飞行器的实时定位信息、伪距与伪距率回传输至PC端地面控制系统;Multi-rotor aircraft: work according to the control commands of the ground control system on the PC side, obtain the front-view image and the bottom-view image in real time, and combine the acquired front-view image and the bottom-view image with the real-time positioning information and pseudo-range of the multi-rotor aircraft obtained through calculation The pseudo-range rate is transmitted back to the PC-side ground control system; 捷联惯性导航系统:用于获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;Strapdown inertial navigation system: used to obtain the instantaneous inertial navigation data of the multi-rotor aircraft, and transmit the data to the main flight control system of the multi-rotor aircraft through the SPI interface; GPS天线:用于接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡;GPS antenna: used to receive the instantaneous GPS navigation data of the multi-rotor aircraft and transmit it to the GPS navigation data receiving board; GPS导航数据接收板卡:用于解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统;GPS navigation data receiving board: used to solve the instantaneous GPS navigation data and transmit it to the main flight control system of the multi-rotor aircraft through the COM interface; PC端地面控制系统:用于对多旋翼飞行器远程控制,根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、回传的实时定位信息、伪距与伪距率对待估计地形进行边界绘制与面积估计;PC-side ground control system: used for remote control of the multi-rotor aircraft, according to the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image acquired in real time, the real-time positioning information returned, the pseudo-range and the pseudo-range rate to estimate the terrain Boundary drawing and area estimation; 多旋翼飞行器的主飞行控制系统、捷联惯性导航系统与GPS导航数据接收板卡重叠放置在多旋翼飞行器的旋翼支架交汇处,即多旋翼飞行器的理论质心位置;捷联惯性导航系统通过SPI接口与多旋翼飞行器的主飞行控制系统连接,GPS导航数据接收板卡通过COM接口与多旋翼飞行器的主飞行控制系统连接,GPS天线的输出端连接GPS导航数据接收板卡的输入端,多旋翼飞行器与PC端地面控制系统建立无线连接。The main flight control system of the multi-rotor aircraft, the strapdown inertial navigation system and the GPS navigation data receiving board are overlapped and placed at the intersection of the rotor bracket of the multi-rotor aircraft, which is the theoretical center of mass of the multi-rotor aircraft; the strap-down inertial navigation system is connected through the SPI interface Connect with the main flight control system of the multi-rotor aircraft, the GPS navigation data receiving board is connected with the main flight control system of the multi-rotor aircraft through the COM interface, the output end of the GPS antenna is connected with the input end of the GPS navigation data receiving board, the multi-rotor aircraft Establish a wireless connection with the PC-side ground control system. 2.根据权利要求1所述的基于多旋翼飞行器的复杂地形边界与面积估计系统,其特征在于,2. the complex terrain boundary and area estimation system based on multi-rotor aircraft according to claim 1, is characterized in that, 所述PC端地面控制系统根据实时获取的前视图像与下视图像确定待估计地形的边界点,根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计。The PC-side ground control system determines the boundary points of the terrain to be estimated according to the front-view image and the down-view image acquired in real time, and realizes the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudorange and pseudorange rate; The boundary points and the flight attitude of the multi-rotor aircraft are used to draw the boundary and estimate the area of the terrain to be estimated. 3.采用权利要求1所述的复杂地形边界与面积估计系统进行复杂地形边界与面积估计的方法,其特征在于,包括以下步骤:3. adopt the method for complex terrain boundary and area estimation system to carry out complex terrain boundary and area estimation according to claim 1, it is characterized in that, comprise the following steps: 步骤1、PC端地面控制系统向多旋翼飞行器发送起飞控制指令;Step 1. The PC-side ground control system sends a take-off control command to the multi-rotor aircraft; 步骤2、多旋翼飞行器实时获取飞行姿态、前视图像与下视图像并无线传输至PC端地面控制系统;Step 2. The multi-rotor aircraft obtains the flight attitude, front-view image and down-view image in real time and wirelessly transmits them to the PC-side ground control system; 步骤3、GPS天线实时接收多旋翼飞行器的瞬时GPS导航数据并传输至GPS导航数据接收板卡;Step 3, the GPS antenna receives the instantaneous GPS navigation data of the multi-rotor aircraft in real time and transmits it to the GPS navigation data receiving board; 步骤4、捷联惯性导航系统实时获取多旋翼飞行器的瞬时惯性导航数据,并通过SPI接口将数据传输至多旋翼飞行器的主飞行控制系统;Step 4, the strapdown inertial navigation system obtains the instantaneous inertial navigation data of the multi-rotor aircraft in real time, and transmits the data to the main flight control system of the multi-rotor aircraft through the SPI interface; 步骤5、GPS导航数据接收板卡解算瞬时GPS导航数据并通过COM接口传输至多旋翼飞行器的主飞行控制系统;Step 5, the GPS navigation data receiving board solves the instantaneous GPS navigation data and transmits it to the main flight control system of the multi-rotor aircraft through the COM interface; 步骤6、多旋翼飞行器的主飞行控制系统对瞬时惯性导航数据和瞬时GPS导航数据进行解算,得到多旋翼飞行器的实时定位信息、伪距与伪距率并传输至PC端地面控制系统;Step 6, the main flight control system of the multi-rotor aircraft calculates the instantaneous inertial navigation data and the instantaneous GPS navigation data, obtains the real-time positioning information, pseudo-range and pseudo-range rate of the multi-rotor aircraft and transmits them to the PC-side ground control system; 步骤7、PC端地面控制系统根据多旋翼飞行器飞行姿态、实时获取的前视图像与下视图像、实时定位信息、伪距与伪距率,对待估计地形进行边界绘制与面积估计:根据实时获取的前视图像与下视图像确定待估计地形的边界点;根据实时定位信息、伪距与伪距率实现多旋翼飞行器定位;利用确定的待估计地形的边界点和多旋翼飞行器飞行姿态进行待估计地形的边界绘制与面积估计。Step 7. Based on the flight attitude of the multi-rotor aircraft, the front-view image and the down-view image obtained in real time, the real-time positioning information, pseudorange and pseudorange rate, the PC-side ground control system performs boundary drawing and area estimation of the terrain to be estimated: according to the real-time acquisition The front-view image and the bottom-view image determine the boundary points of the terrain to be estimated; realize the positioning of the multi-rotor aircraft according to the real-time positioning information, pseudo-range and pseudo-range rate; use the determined boundary points of the terrain to be estimated and the flight attitude of the multi-rotor aircraft Boundary drawing and area estimation for estimated terrain. 4.根据权利要求3所述的复杂地形边界与面积估计方法,其特征在于,所述步骤7包括如下步骤:4. complex terrain boundary and area estimation method according to claim 3, is characterized in that, described step 7 comprises the steps: 步骤7-1、依据实时获取的前视图像与下视图像,选择待估计地形的边界点;Step 7-1. Select the boundary point of the terrain to be estimated according to the front-view image and the bottom-view image acquired in real time; 步骤7-2、PC端地面控制系统远程控制多旋翼飞行器在当前边界点获取定位信息,并回传至PC端地面控制系统;Step 7-2, the PC-side ground control system remotely controls the multi-rotor aircraft to obtain positioning information at the current boundary point, and sends it back to the PC-side ground control system; 步骤7-3、PC端地面控制系统对获取的当前边界点定位信息进行处理:采用Pauta准则剔除异常定位信息并采用EKPF方法提高定位信息精度;Step 7-3. The PC-side ground control system processes the obtained current boundary point positioning information: use the Pauta criterion to eliminate abnormal positioning information and use the EKPF method to improve the positioning information accuracy; 步骤7-4、判断当前边界点是否处于弧段:是,则执行步骤7-5;否则执行步骤7-8;Step 7-4, judging whether the current boundary point is in an arc segment: if yes, execute step 7-5; otherwise execute step 7-8; 步骤7-5、多旋翼飞行器沿弧段飞行,每间隔固定时间段,多旋翼飞行器自动悬停以获取边界点的定位信息,并回传至PC端地面控制系统进行处理:采用Pauta准则剔除异常定位信息并采用EKPF方法提高定位信息精度;Step 7-5. The multi-rotor aircraft flies along the arc segment. At a fixed time interval, the multi-rotor aircraft automatically hovers to obtain the positioning information of the boundary points, and sends it back to the PC-side ground control system for processing: use the Pauta criterion to eliminate abnormalities Positioning information and using the EKPF method to improve the accuracy of positioning information; 步骤7-6、若当前边界点为弧段终止点,执行步骤7-7,否则返回步骤7-5;Step 7-6. If the current boundary point is the end point of the arc segment, execute step 7-7, otherwise return to step 7-5; 步骤7-7、将获取的弧段起始点、弧段终止点与弧段上所有边界点每3个分为一组,若弧段上存在剩余边界点,则将所述剩余边界点与之前边界点组合,完成分组;采用分段二次内插方法计算弧段面积;相邻两边界点间内插5个插值点;设由弧段起始点至弧段终止点构成直线的倾角α;由弧段起始点至弧段终止点构成直线的中间点位置为x 直线中间点y 直线中间点;弧段的中间点位置为x 弧段中间点y 弧段中间点,若弧段边界点为偶数,则取中间两个边界点的均值作为弧段中间点;若0≤α≤90°,y 弧段中间点y 直线中间点,则弧段为凸弧段,反之为凹弧段;若90<α≤180°,x 弧段中间点x 直线中间点,则弧段为凸弧段,反之为凹弧段;若180<α≤270°,y 弧段中间点y 直线中间点,则弧段为凸弧段,反之为凹弧段;若270<α<360°,x 弧段中间点x 直线中间点,则弧段为凸弧段,反之为凹弧段;定义图凸弧段面积为正,凹弧段面积为负;Step 7-7, divide the obtained arc segment starting point, arc segment end point and all boundary points on the arc segment into groups of 3, if there are remaining boundary points on the arc segment, then combine the remaining boundary points with the previous Boundary points are combined to complete the grouping; the area of the arc is calculated by the segmented quadratic interpolation method; 5 interpolation points are interpolated between two adjacent boundary points; the inclination α of the straight line formed from the starting point of the arc to the end point of the arc is set; The middle point of the straight line formed from the start point of the arc segment to the end point of the arc segment is the middle point of the x line and the middle point of the y line; the middle point of the arc is the middle point of the x arc segment and the middle point of the y arc segment . If the point is an even number, the average of the two middle boundary points is taken as the middle point of the arc segment; if 0≤α≤90°, the middle point of the y arc segment≥the middle point of the y line , the arc segment is a convex arc segment, otherwise it is a concave arc segment segment; if 90<α≤180°, the middle point of the x arc segment ≥ the middle point of the x straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 180<α≤270°, the middle point of the y arc segment ≤ y The middle point of the straight line , the arc segment is a convex arc segment, otherwise it is a concave arc segment; if 270<α<360°, x arc segment middle pointx straight line middle point , the arc segment is a convex arc segment, otherwise it is a concave arc segment ;Define the area of the convex arc segment in the graph as positive, and the area of the concave arc segment as negative; 步骤7-8、判断当前边界点是否为待估计地形的前两个边界点:是,则执行步骤7-9,否则执行步骤7-10;Step 7-8, judging whether the current boundary point is the first two boundary points of the terrain to be estimated: if yes, then perform step 7-9, otherwise perform step 7-10; 步骤7-9、若当前边界点为待估计地形的第一个边界点,则设定该边界点为凸点并返回执行步骤7-2;若当前边界点为待估计地形的第二个边界点,则设定该边界点为凸点,由待估计地形的前两个边界点的偏航角与位置关系确定初始旋转趋势后,返回执行步骤7-2;Step 7-9. If the current boundary point is the first boundary point of the terrain to be estimated, set the boundary point as a convex point and return to step 7-2; if the current boundary point is the second boundary point of the terrain to be estimated point, then set the boundary point as a convex point, and after determining the initial rotation trend by the relationship between the yaw angle and the position of the first two boundary points of the terrain to be estimated, return to step 7-2; 步骤7-10、判断当前边界点凹凸属性:若当前边界点旋转趋势与初始旋转趋势不一致,则该边界点为凹点,执行步骤7-11;若当前边界点旋转趋势与初始旋转趋势一致,则该边界点为凸点,执行步骤7-12;Step 7-10, determine the concave-convex property of the current boundary point: if the current boundary point rotation trend is inconsistent with the initial rotation trend, then the boundary point is a concave point, and perform steps 7-11; if the current boundary point rotation trend is consistent with the initial rotation trend, Then the boundary point is a convex point, perform steps 7-12; 步骤7-11、若存在与当前边界点相邻的凸点,则PC端地面控制系统计算由当前边界点、与当前边界点相邻的凸点、与当前边界点相邻的凸点的前一边界点构成的三角形面积,得到凸点面积并从待估计地形中剔除与当前边界点相邻的凸点;否则PC端地面控制系统在待估计地形中保留当前边界点;Step 7-11, if there is a convex point adjacent to the current boundary point, the ground control system at the PC side calculates the current boundary point, the convex point adjacent to the current boundary point, and the previous A triangular area formed by a boundary point, obtain the convex point area and remove the convex point adjacent to the current boundary point from the terrain to be estimated; otherwise, the PC-side ground control system retains the current boundary point in the terrain to be estimated; 步骤7-12、判断多旋翼飞行器是否已返回至起始点:是,则PC端地面控制系统生成预估计地形,并依据当前弧段边界点旋转趋势确定待估计地形的最终旋转趋势以及确定预估计地形边界点凹凸属性;否则,多旋翼飞行器飞向下一边界点,并返回执行步骤7-1;Steps 7-12. Determine whether the multi-rotor aircraft has returned to the starting point: if yes, the ground control system on the PC side generates a pre-estimated terrain, and determines the final rotation trend of the terrain to be estimated and the pre-estimated terrain according to the current arc boundary point rotation trend Concave-convex property of the terrain boundary point; otherwise, the multi-rotor aircraft flies to the next boundary point, and returns to step 7-1; 步骤7-13、预估计地形边界点的二次凹点判定:若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势不同,则该边界点为二次凹点,执行步骤7-14;若预估计地形中的边界点旋转趋势与待估计地形的最终旋转趋势相同,则该边界点为凸点,则 PC端地面控制系统在待估计地形中保留当前边界点,执行步骤7-15;Step 7-13: Determination of the secondary concave point of the pre-estimated terrain boundary point: If the rotation trend of the boundary point in the pre-estimated terrain is different from the final rotation trend of the terrain to be estimated, then the boundary point is a secondary concave point, go to step 7 -14; if the rotation trend of the boundary point in the pre-estimated terrain is the same as the final rotation trend of the terrain to be estimated, then the boundary point is a convex point, then the ground control system on the PC end retains the current boundary point in the terrain to be estimated, and execute step 7 -15; 步骤7-14、判断当前处理的预估计地形边界点是否为连续二次凹点:是,则PC端地面控制系统将计算由当前边界点、前一凹点与相邻后一凸点构成的三角形面积得到二次凹点面积,并从预估计地形中剔除当前边界点;否则PC端地面控制系统计算由当前边界点、与当前边界点相邻的前两个凸点构成的三角形面积得到二次凹点面积,并从预估计地形中剔除当前边界点;Step 7-14. Determine whether the currently processed pre-estimated terrain boundary point is a continuous secondary concave point: if yes, the PC-side ground control system will calculate the current boundary point, the previous concave point and the next adjacent convex point. The area of the triangle is obtained from the area of the secondary concave point, and the current boundary point is eliminated from the estimated terrain; otherwise, the PC-side ground control system calculates the area of the triangle formed by the current boundary point and the first two convex points adjacent to the current boundary point to obtain the second The area of the second concave point, and remove the current boundary point from the pre-estimated terrain; 步骤7-15、判断是否完全剔除预估计地形中的二次凹点;若未完全剔除,则判断下一边界点,并返回执行步骤7-13;若完全剔除,则执行步骤7-16;Step 7-15, judging whether to completely eliminate the secondary concave point in the pre-estimated terrain; if not completely eliminated, then judge the next boundary point, and return to step 7-13; if completely eliminated, then execute step 7-16; 步骤7-16、PC端地面控制系统生成二次预估计地形并计算二次预估计地形面积,依据二次预估计地形完成待估计地形的边界绘制与面积估计:若待估计地形的最终旋转趋势为顺时针:最终的待估计地形面积估计结果=二次预估计地形面积-二次凹点面积+凸点面积-弧段面积;若待估计地形的最终旋转趋势为逆时针:最终的待估计地形面积估计结果=二次预估计地形面积-二次凹点面积-凸点面积+弧段面积。Steps 7-16. The PC-side ground control system generates the second estimated terrain and calculates the area of the second estimated terrain, and completes the boundary drawing and area estimation of the terrain to be estimated based on the second estimated terrain: if the final rotation trend of the terrain to be estimated Clockwise: the final estimation result of terrain area to be estimated = quadratic estimated terrain area - quadratic concave point area + convex point area - arc area; if the final rotation trend of the estimated terrain is counterclockwise: the final estimated terrain area Terrain area estimation result = secondary pre-estimated terrain area - secondary concave point area - convex point area + arc segment area.
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