CN104833343B - Complicated landform border based on multi-rotor aerocraft and Class area estimation System and method for - Google Patents
Complicated landform border based on multi-rotor aerocraft and Class area estimation System and method for Download PDFInfo
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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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
Technical field
The present invention relates to controlling field of engineering technology, information engineering technology and precision agriculture crossing domain and in particular to one
Plant the complicated landform border based on multi-rotor aerocraft and Class area estimation System and method for.
Background technology
Because the restriction of China's current agricultural production overall situation and soil are not concentrated and scattered management, lead to the agriculture of China
Industry produces also in extensive pattern, for example：In agricultural production, water resource service efficiency is low, and pesticide, fertilizer excessively use, manpower,
The present situations such as material resources high labor intensive.According to 2012 yearly correlation data displays, China's farmland irrigating water's effective utilization coefficients are far below generation
Boundary's advanced level；The grain yield of flat water is less than 2.4 jins/cubic metre；Produce up to 800 kilograms of 1 kilogram of grain water consumption.
Pesticide, the excessive use of fertilizer, lead to soil nutrient extremely to lack, ecological deterioration, and ecological environment is unbalance, and crop products do not reach
Target disastrous effect.For problem above, China's agricultural production is realized the irrigation of accurate agricultural water, soil application and pesticide spraying
It is imperative.Precision agriculture is the modern agricultural production pattern of the multi-crossed disciplines such as information technology, engineering technology application.Its
Optimize many agricultural productions factor such as irrigation water, soil application and pesticide spraying to the full extent, obtain maximum warp
Ji benefit simultaneously realizes the optimum ecological agriculture.And the premise realizing the irrigation of accurate agricultural water, soil application and pesticide spraying is to be subject to
Accurate measurement with soil landform border and area.Additionally, complicated landform border and area measurement can also be used for forest land measurement, soil
The important steps such as ground exploration.
At present, conventional acquisition landform border and the method for area have：1) adopt satellite or aircraft remote aerial photography, obtain ground
Shape image.It has the advantages that broad covered area, spatial resolution are high.But the method has O＆M cost height, poor real etc.
Defect；2) use the software such as Google Earth or Google Map.But the method needs manual confirmation landform boundary point, landform
Class area estimation precision is low；3) taken photo by plane software using Pix4UAV and Agisoft commercialization.It needs using aircraft or Aircraft
Clap 2 dimensions obtaining landform or 3 d image, generate DOM or DEM formatted file using the image obtaining；Then using pre- when taking photo by plane
First obtain the location data of landform boundary point or be manually entered landform border dot position information, and finally obtain the border of landform with
Class area estimation.The method need to be known a priori by the determination positional information of landform boundary point to be estimated, complete estimation procedure loaded down with trivial details it is impossible to
Realize On-line Estimation；4) use equipment field survey.The method is easily subject to the factors such as landform, geographical environment, weather condition
Impact, equipment cost is high.If to be estimated with a varied topography, artificial operation on the spot cannot be realized at all, and with bar with a varied topography
The increase of part, estimated accuracy drastically reduces.
Content of the invention
For prior art exist problem, the present invention provide a kind of complicated landform border based on multi-rotor aerocraft and
Class area estimation System and method for.
The technical scheme is that：
A kind of complicated landform border based on multi-rotor aerocraft and Class area estimation system, including：
Multi-rotor aerocraft：According to the work of the control instruction of PC end ground control system, obtain in real time front view picture with
Visible image, by the front view picture of acquisition and lower visible image, the real-time positioning information resolving the multi-rotor aerocraft obtaining, pseudorange with
PC end ground control system is transported in pseudorange rates passback；
Strapdown inertial navigation system：For obtaining the instantaneous inertial navigation data of multi-rotor aerocraft, and pass through SPI interface
Send data to the flight control of multi-rotor aerocraft；
Gps antenna：For receiving the instantaneous GPS navigation data of multi-rotor aerocraft and transmitting to GPS navigation data reception
Board；
GPS navigation data receives board：For resolving instantaneous GPS navigation data and at most rotor being transmitted by com interface
The flight control of aircraft；
PC end ground control system：For to multi-rotor aerocraft remotely control, according to multi-rotor aerocraft flight attitude,
The front view picture obtaining in real time is carried out to landform to be estimated with lower visible image, the real-time positioning information of passback, pseudorange and pseudorange rates
Boundary mapping and Class area estimation；Described PC end ground control system is determined with lower visible image according to the real-time front view picture obtaining to be treated
Estimate the boundary point of landform, realize multi-rotor aerocraft positioning according to real-time positioning information, pseudorange and pseudorange rates；Using determine
The boundary point of landform to be estimated and multi-rotor aerocraft flight attitude carry out boundary mapping and the Class area estimation of landform to be estimated；
The flight control of multi-rotor aerocraft, strapdown inertial navigation system and GPS navigation data receive board weight
The folded rotor support intersection being placed on multi-rotor aerocraft, i.e. the theoretical centroid position of multi-rotor aerocraft；Strap down inertial navigation is led
Boat system is connected with the flight control of multi-rotor aerocraft by SPI interface, and GPS navigation data receiver board card passes through
Com interface is connected with the flight control of multi-rotor aerocraft, and the outfan of gps antenna connects GPS navigation data and receives
The input of board, multi-rotor aerocraft is set up with PC end ground control system and is wirelessly connected.
The method that complicated landform border and Class area estimation are carried out using described complicated landform border and Class area estimation system,
Comprise the following steps：
Step 1, PC end ground control system send, to multi-rotor aerocraft, control instruction of taking off；
Step 2, multi-rotor aerocraft obtain flight attitude in real time, front view picture with lower visible image and is wirelessly transmitted to PC end
Ground control system；
Step 3, the instantaneous GPS navigation data of gps antenna real-time reception multi-rotor aerocraft simultaneously transmit to GPS navigation data
Receive board；
Step 4, strapdown inertial navigation system obtain the instantaneous inertial navigation data of multi-rotor aerocraft in real time, and pass through
SPI interface sends data to the flight control of multi-rotor aerocraft；
Step 5, GPS navigation data receive board and resolve instantaneous GPS navigation data and transmit at most rotor by com interface
The flight control of aircraft；
Step 6, the flight control of multi-rotor aerocraft are to instantaneous inertial navigation data and instantaneous GPS navigation data
Resolved, obtain real-time positioning information, pseudorange and the pseudorange rates of multi-rotor aerocraft and transmit to PC end ground control system；
Step 7, PC end ground control system are according to multi-rotor aerocraft flight attitude, the front view picture that obtains in real time with
Visible image, real-time positioning information, pseudorange and pseudorange rates, carry out boundary mapping and Class area estimation to landform to be estimated：According to real-time
The front view picture obtaining and lower visible image determine the boundary point of landform to be estimated；According to real-time positioning information, pseudorange and pseudorange rates
Realize multi-rotor aerocraft positioning；Boundary point and multi-rotor aerocraft flight attitude using the landform to be estimated determining are treated
Estimate boundary mapping and the Class area estimation of landform.
Described step 7 comprises the steps：
Step 7-1, the front view picture according to real-time acquisition and lower visible image, select the boundary point of landform to be estimated；
Step 7-2, PC end ground control system remotely control multi-rotor aerocraft obtains location information in current border point,
And it is back to PC end ground control system；
Step 7-3, PC end ground control system is processed to the current border point location information obtaining：Using Pauta
Criterion rejecting abnormalities location information simultaneously improves location information precision using EKPF method；
Step 7-4, judge whether current border point is in segmental arc：It is, then execution step 7-5；Otherwise execution step 7-8；
Step 7-5, multi-rotor aerocraft fly along segmental arc, and at interval of fixed time period, multi-rotor aerocraft hovers automatically
To obtain the location information of boundary point, and it is back to PC end ground control system and is processed：Using Pauta criterion rejecting abnormalities
Location information simultaneously improves location information precision using EKPF method；
If step 7-6 current border point is segmental arc terminating point, execution step 7-7, otherwise return to step 7-5；
Step 7-7, by all in the segmental arc starting point of acquisition, segmental arc terminating point and segmental arc boundary points every 3 be divided into one group,
If remaining boundary point is existed on segmental arc, described residue boundary point fore boundary point combination therewith completes to be grouped；Using segmentation two
Secondary interpolating method calculates segmental arc area；5 interpolation points of interpolation between adjacent two boundary points；If by segmental arc starting point to segmental arc terminating point
The straight inclination alpha of structure；X is set to the straight point midway of segmental arc terminating point structure by segmental arc starting pointStraight line intermediate pointWith yStraight line intermediate point；
The point midway of segmental arc is set to xSegmental arc intermediate pointWith ySegmental arc intermediate pointIf segmental arc boundary point is even number, take the average of middle two boundary points
As segmental arc intermediate point；If 0≤α≤90 ° ySegmental arc intermediate point≥yStraight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 90 ＜ α
≤ 180 °, xSegmental arc intermediate point≥xStraight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 180 ＜ α≤270 ° ySegmental arc intermediate point≤
yStraight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 270 360 ° of ＜ α ＜, xSegmental arc intermediate point≤xStraight line intermediate point, then segmental arc is convex arc
Section, on the contrary it is concave arc-shaped section；Defining figure convex arc section area is that just concave arc-shaped section area is negative；
Step 7-8, judge that whether current border point is the first two boundary point of landform to be estimated：It is, then execution step 7-
9, otherwise execution step 7-10；
If step 7-9 current border point is first boundary point of landform to be estimated, set this boundary point as salient point simultaneously
Return execution step 7-2；If current border point is second boundary point of landform to be estimated, set this boundary point as salient point,
Determined after initial rotation trend with position relationship by the yaw angle of the first two boundary point of landform to be estimated, return execution step 7-
2；
Step 7-10, judge current border point sex：If current border point rotating tendency is with initial rotation trend not
Unanimously, then this boundary point is concave point, execution step 7-11；If current border point rotating tendency is consistent with initial rotation trend,
This boundary point is salient point, execution step 7-12；
If step 7-11 has the salient point adjacent with current border point, ground control system calculating in PC end is by working as front
The gore that the previous boundary point of boundary's point salient point adjacent with current border point salient point adjacent with current border point is constituted
Long-pending, obtain salient point area and reject the salient point adjacent with current border point from landform to be estimated；Otherwise PC end ground controls system
System retains current border point in landform to be estimated；
Step 7-12, judge whether multi-rotor aerocraft has been back to starting point：It is that then PC end ground control system generates
Pre-estimation landform, and determine the final rotating tendency of landform to be estimated according to current segmental arc boundary point rotating tendency and determine pre-
Estimate landform boundary point sex；Otherwise, multi-rotor aerocraft flies to next boundary point, and returns execution step 7-1；
Step 7-13, the secondary concave point of pre-estimation landform boundary point judge：If the boundary point rotation in pre-estimation landform becomes
Gesture is different from the final rotating tendency of landform to be estimated, then this boundary point is secondary concave point, execution step 7-14；If pre-estimation ground
Boundary point rotating tendency in shape is identical with the final rotating tendency of landform to be estimated, then this boundary point is salient point, then PC end ground
Face control system retains current border point, execution step 7-15 in landform to be estimated；
Step 7-14, judge whether currently processed pre-estimation landform boundary point is continuous quadratic concave point：It is, then PC end ground
Calculating is obtained secondary recessed by face control system by the triangle area that current border point, previous concave point are constituted with an adjacent rear salient point
Point area, and reject current border point from pre-estimation landform；Otherwise PC end ground control system calculate by current border point and
The triangle area that the adjacent the first two salient point of current border point is constituted obtains secondary concave point area, and picks from pre-estimation landform
Except current border point；
Step 7-15, judge whether to reject the secondary concave point in pre-estimation landform completely；If not rejecting completely, under judging
One boundary point, and return execution step 7-13；If rejecting completely, execution step 7-16；
Step 7-16, PC end ground control system generates secondary pre-estimation landform and calculates secondary pre-estimation landform area,
Complete boundary mapping and the Class area estimation of landform to be estimated according to secondary pre-estimation landform：If the final rotation of landform to be estimated becomes
Gesture is clockwise：Final landform Class area estimation result to be estimated=secondary pre-estimation landform area-secondary concave point area+salient point
Area-segmental arc area；If the final rotating tendency of landform to be estimated is counterclockwise：Final landform Class area estimation result to be estimated
=secondary pre-estimation landform area-secondary concave point area-salient point area+segmental arc area.
Beneficial effect：
The present invention using the integrated navigation of double GPS pseudo range difference relative localizations and inertial navigation realize complicated landform border with
Area On-line Estimation, has low cost, high precision, remote controlled, can complete border and face to any landform at any time
The advantages of long-pending accurate estimation.Through test checking, this landform border reaches ± 1% with the estimated accuracy of Class area estimation system.
The present invention is a kind of with multi-rotor aerocraft for measuring carrier, realization complexity landform border and area On-line Estimation
System and method for.It realizes the remotely control of multi-rotor aerocraft, real time imaging and flight appearance by PC end ground control system
State obtains, and location information returns in real time；Constitute to combine with inertial navigation technology using double GPS pseudo range difference relative localization technology and lead
Boat system, realizes being accurately positioned of multi-rotor aerocraft and landform boundary point to be estimated；Rejected using Pauta criterion (3 σ criterion)
Abnormal data in location information；Using spreading kalman particle filter (Extended Kalman Particle Filter,
EKPF) method is filtered to the boundary point location information after rejecting abnormalities location information and improves positioning precision further；This
System and method for has low cost, high precision, and real-time is good, remote controlled, advantage easy and simple to handle.
Brief description
Fig. 1 is that the complicated landform border based on multi-rotor aerocraft of an embodiment of the present invention is total with Class area estimation system
Body structured flowchart；
Fig. 2 is the complicated landform border based on multi-rotor aerocraft and the Class area estimation method stream of an embodiment of the present invention
Cheng Tu；
Fig. 3 is the exemplary plot with area for the up time direction landform border of an embodiment of the present invention；
A () is landform schematic diagram to be estimated；
B () is the landform schematic diagram after sags and crests judgement；
C () is pre-estimation landform schematic diagram；
D () is secondary pre-estimation landform schematic diagram；
Fig. 4 is the exemplary plot on an embodiment of the present invention inverse time direction landform border and area；
A () is landform schematic diagram to be estimated；
B () is the landform schematic diagram after sags and crests judgement；
C () is pre-estimation landform schematic diagram；
D () is secondary pre-estimation landform schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawings embodiments of the invention are described further.
As shown in figure 1, a kind of complicated landform border based on multi-rotor aerocraft and Class area estimation system, including：
Multi-rotor aerocraft：According to the work of the control instruction of PC end ground control system, obtain in real time front view picture with
Visible image, by the front view picture of acquisition and lower visible image, the real-time positioning information resolving the multi-rotor aerocraft obtaining, pseudorange with
Pseudorange rates are back to PC end ground control system.
Strapdown inertial navigation system：For obtaining the instantaneous inertial navigation data of multi-rotor aerocraft, and pass through SPI interface
Send data to the flight control of multi-rotor aerocraft；Instantaneous inertial navigation data includes transient-flight attitude, speed
Degree and position.
Two IGO ESmart gps antennas carrying pseudo range measurement function：For receiving the instantaneous of multi-rotor aerocraft
GPS navigation data simultaneously transmits to GPS navigation data reception board.
OEMStarGPS navigation data receives board：For resolve instantaneous GPS navigation data and by com interface transmit to
The flight control of multi-rotor aerocraft.
PC end ground control system：For to multi-rotor aerocraft remotely control, according to multi-rotor aerocraft flight attitude,
The front view picture obtaining in real time is carried out to landform to be estimated with lower visible image, the real-time positioning information of passback, pseudorange and pseudorange rates
Boundary mapping and Class area estimation；Described PC end ground control system is determined with lower visible image according to the real-time front view picture obtaining to be treated
Estimate the boundary point of landform, realize multi-rotor aerocraft positioning according to real-time positioning information, pseudorange and pseudorange rates；Using determine
The boundary point of landform to be estimated and multi-rotor aerocraft flight attitude carry out boundary mapping and the Class area estimation of landform to be estimated.
The flight control of multi-rotor aerocraft, strapdown inertial navigation system and GPS navigation data receive board weight
The folded rotor support intersection being placed on multi-rotor aerocraft, i.e. the theoretical centroid position of multi-rotor aerocraft；Strap down inertial navigation is led
Boat system is connected with the flight control of multi-rotor aerocraft by SPI interface, and GPS navigation data receiver board card passes through
Com interface is connected with the flight control of multi-rotor aerocraft, and the outfan of gps antenna connects GPS navigation data and receives
The input of board, multi-rotor aerocraft and PC end ground control system are set up wirelessly by modes such as WIFI, 3G network, remote controls
Connect, realize the remotely control of multi-rotor aerocraft.
The flight control of multi-rotor aerocraft adopts ARM9 processor, and runs Linux 2.6.32 operation system
System.It is mainly used in realizing multi-rotor aerocraft manipulation, gesture stability etc.；Strapdown inertial guidance system by a barometer, 9 from
It is made up of the Inertial Measurement Unit (3 axle gyroscopes, 3 axis accelerometers and 3 axle magnetometers) spent；Double GPS pseudo range differences are relatively fixed
Position system receives board by the IGO ESmart gps antenna with pseudo range measurement function, OEMStar GPS navigation data and constitutes；
Strapdown inertial guidance system is combined with double GPS difference Relative positioning systems, constitutes integrated navigation system.
The method that complicated landform border and Class area estimation are carried out using described complicated landform border and Class area estimation system,
As shown in Fig. 2 comprising the following steps：
Step 1, PC end ground control system send, to multi-rotor aerocraft, control instruction of taking off；
Step 2, multi-rotor aerocraft obtain flight attitude in real time, front view picture with lower visible image and is wirelessly transmitted to PC end
Ground control system；
Step 3, the instantaneous GPS navigation data of gps antenna real-time reception multi-rotor aerocraft simultaneously transmit to GPS navigation data
Receive board；
Step 4, strapdown inertial navigation system obtain the instantaneous inertial navigation data of multi-rotor aerocraft in real time, and pass through
SPI interface sends data to the flight control of multi-rotor aerocraft；
Step 5, GPS navigation data receive board and resolve instantaneous GPS navigation data and transmit at most rotor by com interface
The flight control of aircraft；
Step 6, the flight control of multi-rotor aerocraft are to instantaneous inertial navigation data and instantaneous GPS navigation data
Resolved, obtain real-time positioning information, pseudorange and the pseudorange rates of multi-rotor aerocraft and transmit to PC end ground control system；
Step 7, PC end ground control system are according to multi-rotor aerocraft flight attitude, the front view picture that obtains in real time with
Visible image, real-time positioning information, pseudorange and pseudorange rates, carry out boundary mapping and Class area estimation to landform to be estimated：According to real-time
The front view picture obtaining and lower visible image determine the boundary point of landform to be estimated；According to real-time positioning information, pseudorange and pseudorange rates
Realize multi-rotor aerocraft positioning；Boundary point and multi-rotor aerocraft flight attitude using the landform to be estimated determining are treated
Estimate boundary mapping and the Class area estimation of landform.
The position data form defining boundary point is pdi=(xi, yi, yawi, marki), i=0,1..., n.xiWith yiPoint
Wei not position (initial position is defaulted as zero) in Gauss plane coordinate system；yawiFor multi-rotor aerocraft by boundary point
Pdi to next boundary point yaw angle (driftage angle range be -179 °～180 °, to driftage during flight before multi-rotor aerocraft
Angle is 0 °)；markiFor the concave point of boundary point pdi, salient point labelling；
Step 7-1, the front view picture according to real-time acquisition and lower visible image, select the boundary point of landform to be estimated；As Fig. 3
Pd0～pd8 in (a), the pd0～pd9 in Fig. 4 (a)；
Step 7-2, multi-rotor aerocraft hover 1 minute at the boundary point selecting, and PC end ground control system is remotely controlled
Multi-rotor aerocraft processed obtains location information in current border point, and is back to PC end ground control system；
Step 7-3, PC end ground control system is processed to the current border point location information obtaining：Using Pauta
Criterion (3 σ criterion) rejecting abnormalities location information simultaneously adopts spreading kalman particle filter (Extended Kalman Particle
Filter, EKPF) method raising location information precision；
Using the multi-rotor aerocraft position after rejecting abnormalities location information and velocity information as EKPF method input shape
State variable；The final location information exporting as current border point using EKPF method；
Step 7-4, judge whether current border point is in segmental arc：It is, then execution step 7-5；Otherwise execution step 7-8；
Segmental arc starting point and segmental arc terminating point are to be determined with lower visible image by observing front view picture：
Pd5, the pd8 in Fig. 4 (b) in segmental arc starting point such as Fig. 3 (b).
Pd6, the pd9 in Fig. 4 (b) in segmental arc terminating point such as Fig. 3 (b).
Step 7-5, multi-rotor aerocraft fly along segmental arc, and at interval of 15 seconds, multi-rotor aerocraft hovered automatically to obtain
300 location informations of boundary point, and be back to PC end ground control system and processed：Using Pauta criterion (3 σ criterion)
Rejecting abnormalities location information and using spreading kalman particle filter (Extended Kalman Particle Filter,
EKPF) method improves location information precision；
If step 7-6 current border point is segmental arc terminating point, execution step 7-7, otherwise return to step 7-5；
Step 7-7, by all in the segmental arc starting point of acquisition, segmental arc terminating point and segmental arc boundary points every 3 be divided into one group,
If remaining boundary point is existed on segmental arc, described residue boundary point fore boundary point combination therewith completes to be grouped；Using segmentation two
Secondary interpolating method calculates segmental arc area；5 interpolation points of interpolation between adjacent two boundary points；
If by segmental arc starting point to the straight inclination alpha of segmental arc terminating point structure；By segmental arc starting point to segmental arc terminating point structure
Straight point midway is set to xStraight line intermediate pointWith yStraight line intermediate point；The point midway of segmental arc is set to xSegmental arc intermediate pointWith ySegmental arc intermediate pointIf, segmental arc side
Boundary's point is even number, then the average taking middle two boundary points is as segmental arc intermediate point；If 0≤α≤90 ° ySegmental arc intermediate point≥yStraight line intermediate point,
Then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 90 ＜ α≤180 °, xSegmental arc intermediate point≥xStraight line intermediate point, then segmental arc is convex arc section, otherwise
For concave arc-shaped section；If 180 ＜ α≤270 ° ySegmental arc intermediate point≤yStraight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 270 ＜ α ＜
360 °, xSegmental arc intermediate point≤xStraight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；Defining figure convex arc section area is just concave arc-shaped section face
It is negative for amassing；
Saa in segmental arc area such as Fig. 3 (b) and Fig. 4 (b).
Step 7-8, judge that whether current border point is the first two boundary point of landform to be estimated：It is, then execution step 7-
9, otherwise execution step 7-10；
If step 7-9 current border point is first boundary point of landform to be estimated, set this boundary point as salient point simultaneously
Return execution step 7-2；If current border point is second boundary point of landform to be estimated, set this boundary point as salient point,
Determine initial rotation trend (clockwise by the yaw angle of the first two boundary point (pd1 and pd2) of landform to be estimated with position relationship
Or counterclockwise) after, return execution step 7-2；
Step 7-10, judge current border point sex：If current border point rotating tendency is with initial rotation trend not
Unanimously, then this boundary point is concave point, execution step 7-11；If current border point rotating tendency is consistent with initial rotation trend,
This boundary point is salient point (as pd1 and pd3 in Fig. 3 and Fig. 4 etc.), execution step 7-12；
If there is the salient point (pd2 and pd4 as in Fig. 3 and Fig. 4) adjacent with current border point, PC end in step 7-11
Ground control system calculates by the current border point salient point adjacent with the current border point salient point adjacent with current border point
The triangle area (the horizontal hatched area cpa as in Fig. 3 and Fig. 4) that previous boundary point is constituted, obtains salient point area simultaneously
The salient point adjacent with current border point is rejected from landform to be estimated；Otherwise PC end ground control system is protected in landform to be estimated
Stay current border point；
Step 7-12, judge whether multi-rotor aerocraft has been back to starting point：It is that then PC end ground control system generates
Pre-estimation landform (as Fig. 3 (c) and Fig. 4 (c)), and determine the final of landform to be estimated according to current segmental arc boundary point rotating tendency
Rotating tendency (if Fig. 3 is clockwise, Fig. 4 is counterclockwise) and determination pre-estimation landform boundary point sex；Otherwise, revolve more
Rotor aircraft flies to next boundary point, and returns execution step 7-1；
Step 7-13, the secondary concave point of pre-estimation landform boundary point judge：If the boundary point rotation in pre-estimation landform becomes
Gesture is different from the final rotating tendency of landform to be estimated, then this boundary point is secondary concave point, execution step 7-14；If pre-estimation ground
Boundary point rotating tendency in shape is identical with the final rotating tendency of landform to be estimated, then this boundary point is salient point, then PC end ground
Face control system retains current border point, execution step 7-15 in landform to be estimated；
Step 7-14, judge whether currently processed pre-estimation landform boundary point is continuous quadratic concave point：It is, currently processed
Pre-estimation landform boundary point be continuous quadratic concave point (pd4 as in Fig. 3), then PC end ground control system will calculate by current
The triangle area that boundary point, previous concave point are constituted with an adjacent rear salient point obtains secondary concave point area (the vertical shade in Fig. 3
Area scpa), and reject current border point from pre-estimation landform；Otherwise currently processed pre-estimation landform boundary point is
Discontinuously secondary concave point (pd2 as in Fig. 3 and Fig. 4), PC end ground control system calculates by current border point and current border
The triangle area that the adjacent the first two salient point of point is constituted obtains secondary concave point area (the vertical hatched area in Fig. 4
Scpa), reject current border point and from pre-estimation landform；
Step 7-15, judge whether to reject the secondary concave point in pre-estimation landform completely；If not rejecting completely, under judging
One boundary point, and return execution step 7-13；If rejecting completely, execution step 7-16；
Step 7-16, PC end ground control system generates secondary pre-estimation landform and calculates secondary pre-estimation landform area,
Complete boundary mapping and the Class area estimation of landform to be estimated according to secondary pre-estimation landform, obtain final landform area to be estimated
Estimated result (fa, such as Fig. 3 (d) and Fig. 4 (d))：If the final rotating tendency of landform to be estimated is clockwise：Final is to be estimated
Bis- concave point area scpa+ salient point area cpa- segmental arcs of bis- pre-estimation landform area spta- of landform Class area estimation result fa=
Area ssa；If the final rotating tendency of landform to be estimated is counterclockwise：Final landform Class area estimation result fa=bis- to be estimated
Secondary bis- concave point area scpa- salient point area cpa+ segmental arc area ssa of pre-estimation landform area spta-.
Claims (4)
1. a kind of complicated landform border based on multi-rotor aerocraft and Class area estimation system are it is characterised in that include：
Multi-rotor aerocraft：According to the control instruction work of PC end ground control system, obtain front view picture and lower view in real time
Picture, the real-time positioning information that the front view picture of acquisition with lower visible image, is resolved the multi-rotor aerocraft obtaining, pseudorange and pseudorange
PC end ground control system is transported in rate passback；
Strapdown inertial navigation system：For obtaining the instantaneous inertial navigation data of multi-rotor aerocraft, and by SPI interface by number
According to the flight control transmitting to multi-rotor aerocraft；
Gps antenna：For receiving the instantaneous GPS navigation data of multi-rotor aerocraft and transmitting to GPS navigation data reception board；
GPS navigation data receives board：For resolving instantaneous GPS navigation data and at most rotor flying being transmitted by com interface
The flight control of device；
PC end ground control system：For to multi-rotor aerocraft remotely control, according to multi-rotor aerocraft flight attitude, in real time
The front view picture obtaining enters row bound with lower visible image, the real-time positioning information of passback, pseudorange and pseudorange rates to landform to be estimated
Draw and Class area estimation；
The flight control of multi-rotor aerocraft, strapdown inertial navigation system and GPS navigation data receive that board is overlapping to be put
Put the rotor support intersection in multi-rotor aerocraft, i.e. the theoretical centroid position of multi-rotor aerocraft；Strap-down inertial system
System is connected with the flight control of multi-rotor aerocraft by SPI interface, and GPS navigation data receiver board card is connect by COM
Mouth is connected with the flight control of multi-rotor aerocraft, and the outfan of gps antenna connects GPS navigation data and receives board
Input, multi-rotor aerocraft is set up with PC end ground control system and is wirelessly connected.
2. the complicated landform border based on multi-rotor aerocraft according to claim 1 and Class area estimation system, its feature
It is,
Described PC end ground control system determines the border of landform to be estimated according to the real-time front view picture obtaining and lower visible image
Point, realizes multi-rotor aerocraft positioning according to real-time positioning information, pseudorange and pseudorange rates；Side using the landform to be estimated determining
Boundary's point and multi-rotor aerocraft flight attitude carry out boundary mapping and the Class area estimation of landform to be estimated.
3. complicated landform border and Class area estimation are carried out using the complicated landform border described in claim 1 and Class area estimation system
Method it is characterised in that comprising the following steps：
Step 1, PC end ground control system send, to multi-rotor aerocraft, control instruction of taking off；
Step 2, multi-rotor aerocraft obtain flight attitude in real time, front view picture with lower visible image and is wirelessly transmitted to PC end ground
Control system；
Step 3, the instantaneous GPS navigation data of gps antenna real-time reception multi-rotor aerocraft simultaneously transmit to GPS navigation data reception
Board；
Step 4, strapdown inertial navigation system obtain the instantaneous inertial navigation data of multi-rotor aerocraft in real time, and are connect by SPI
Mouth sends data to the flight control of multi-rotor aerocraft；
Step 5, GPS navigation data receive board and resolve instantaneous GPS navigation data and transmit at most rotor flying by com interface
The flight control of device；
Step 6, the flight control of multi-rotor aerocraft are carried out to instantaneous inertial navigation data and instantaneous GPS navigation data
Resolve, obtain real-time positioning information, pseudorange and the pseudorange rates of multi-rotor aerocraft and transmit to PC end ground control system；
Front view picture and lower view that step 7, PC end ground control system according to multi-rotor aerocraft flight attitude, obtain in real time
Picture, real-time positioning information, pseudorange and pseudorange rates, carry out boundary mapping and Class area estimation to landform to be estimated：Obtained according to real-time
Front view picture and lower visible image determine the boundary point of landform to be estimated；Realized according to real-time positioning information, pseudorange and pseudorange rates
Multi-rotor aerocraft positions；Carried out to be estimated using the boundary point of landform to be estimated determining and multi-rotor aerocraft flight attitude
The boundary mapping of landform and Class area estimation.
4. complexity landform border according to claim 3 is included with Class area estimation method it is characterised in that described step 7
Following steps：
Step 7-1, the front view picture according to real-time acquisition and lower visible image, select the boundary point of landform to be estimated；
Step 7-2, PC end ground control system remotely control multi-rotor aerocraft obtains location information in current border point, and returns
Reach PC end ground control system；
Step 7-3, PC end ground control system is processed to the current border point location information obtaining：Using Pauta criterion
Rejecting abnormalities location information simultaneously improves location information precision using EKPF method；
Step 7-4, judge whether current border point is in segmental arc：It is, then execution step 7-5；Otherwise execution step 7-8；
Step 7-5, multi-rotor aerocraft fly along segmental arc, and at interval of fixed time period, multi-rotor aerocraft hovers automatically to obtain
Take the location information of boundary point, and be back to PC end ground control system and processed：Using Pauta criterion rejecting abnormalities positioning
Information simultaneously improves location information precision using EKPF method；
If step 7-6 current border point is segmental arc terminating point, execution step 7-7, otherwise return to step 7-5；
Step 7-7, by all in the segmental arc starting point of acquisition, segmental arc terminating point and segmental arc boundary points every 3 be divided into one group, if arc
Remaining boundary point is existed on section, then by described residue boundary point fore boundary point combination therewith, completes to be grouped；Secondary interior using segmentation
Insert method calculates segmental arc area；5 interpolation points of interpolation between adjacent two boundary points；If being made up of to segmental arc terminating point segmental arc starting point
The inclination alpha of straight line；It is set to the straight point midway of segmental arc terminating point structure by segmental arc starting pointx Straight line intermediate pointWithy Straight line intermediate point；Arc
The point midway of section is set tox Segmental arc intermediate pointWithy Segmental arc intermediate pointIf segmental arc boundary point is even number, the average of middle two boundary points is taken to make
For segmental arc intermediate point；If 0≤α≤90 °,y Segmental arc intermediate point≥y Straight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 90<α≤
180 °,x Segmental arc intermediate point≥x Straight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 180<α≤270 °,y Segmental arc intermediate point≤y Straight line intermediate point, then segmental arc is convex arc section, otherwise is concave arc-shaped section；If 270<α<360 °,x Segmental arc intermediate point≤x Straight line intermediate point, then segmental arc is convex arc
Section, on the contrary it is concave arc-shaped section；Defining figure convex arc section area is that just concave arc-shaped section area is negative；
Step 7-8, judge that whether current border point is the first two boundary point of landform to be estimated：It is, then execution step 7-9, no
Then execution step 7-10；
If step 7-9 current border point is first boundary point of landform to be estimated, sets this boundary point and as salient point and return
Execution step 7-2；If current border point is second boundary point of landform to be estimated, set this boundary point as salient point, by treating
After the yaw angle of the first two boundary point of estimation landform determines initial rotation trend with position relationship, return execution step 7-2；
Step 7-10, judge current border point sex：If current border point rotating tendency is inconsistent with initial rotation trend,
Then this boundary point is concave point, execution step 7-11；If current border point rotating tendency is consistent with initial rotation trend, this border
Point is salient point, execution step 7-12；
If there is the salient point adjacent with current border point in step 7-11, the calculating of PC end ground control system by current border point,
The triangle area that the previous boundary point of the salient point adjacent with the current border point salient point adjacent with current border point is constituted, obtains
Reject the salient point adjacent with current border point to salient point area and from landform to be estimated；Otherwise PC end ground control system is being treated
Estimate to retain current border point in landform；
Step 7-12, judge whether multi-rotor aerocraft has been back to starting point：It is that then PC end ground control system generates and estimates
Meter landform, and determine the final rotating tendency of landform to be estimated according to current segmental arc boundary point rotating tendency and determine pre-estimation
Landform boundary point sex；Otherwise, multi-rotor aerocraft flies to next boundary point, and returns execution step 7-1；
Step 7-13, the secondary concave point of pre-estimation landform boundary point judge：If the boundary point rotating tendency in pre-estimation landform with
The final rotating tendency of landform to be estimated is different, then this boundary point is secondary concave point, execution step 7-14；If in pre-estimation landform
Boundary point rotating tendency identical with the final rotating tendency of landform to be estimated, then this boundary point be salient point, then PC end ground control
System processed retains current border point, execution step 7-15 in landform to be estimated；
Step 7-14, judge whether currently processed pre-estimation landform boundary point is continuous quadratic concave point：It is, then the control of PC end ground
Calculating is obtained secondary concave point face by the triangle area that current border point, previous concave point are constituted with an adjacent rear salient point by system processed
Long-pending, and reject current border point from pre-estimation landform；Otherwise PC end ground control system calculates by current border point and current
The triangle area that the adjacent the first two salient point of boundary point is constituted obtains secondary concave point area, and rejecting is worked as from pre-estimation landform
Fore boundary point；
Step 7-15, judge whether to reject the secondary concave point in pre-estimation landform completely；If not rejecting completely, judge lower
Boundary's point, and return execution step 7-13；If rejecting completely, execution step 7-16；
Step 7-16, PC end ground control system generates secondary pre-estimation landform and calculates secondary pre-estimation landform area, foundation
Secondary pre-estimation landform completes boundary mapping and the Class area estimation of landform to be estimated：If the final rotating tendency of landform to be estimated is
Clockwise：Final landform Class area estimation result to be estimated=secondary pre-estimation landform area-secondary concave point area+salient point surface
Long-pending-segmental arc area；If the final rotating tendency of landform to be estimated is counterclockwise：Final landform Class area estimation result to be estimated=
Secondary pre-estimation landform area-secondary concave point area-salient point area+segmental arc area.
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