CN104880177A - Multi-angle unmanned aerial survey system - Google Patents
Multi-angle unmanned aerial survey system Download PDFInfo
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- CN104880177A CN104880177A CN201510348739.6A CN201510348739A CN104880177A CN 104880177 A CN104880177 A CN 104880177A CN 201510348739 A CN201510348739 A CN 201510348739A CN 104880177 A CN104880177 A CN 104880177A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention discloses a multi-angle unmanned aerial survey system. The multi-angle unmanned aerial survey system is provided with a six-rotor-wing unmanned aerial vehicle, and each multi-view-angle inclined camera composed of five camera lenses is carried on the six-rotor-wing unmanned aerial vehicle. Each multi-view-angle inclined camera comprises a shooting unit, a controlling unit and a hanging unit. The six-rotor-wing unmanned aerial vehicle comprises an unmanned aerial vehicle flying platform system, a GPS, a flying controlling system, a remote sensing shooting system, a ground controlling system and a signal transmitting system. Ground images can be collected at the same time at multiple angles, in this way, the defect that according to a traditional aerial photography technology, shooting can be performed only at a vertical angle is overcome, the actual conditions of a ground feature can be reflected more really, and the defects in orthophotography are overcome; through integrating POS data, DSM data, vectors and others, a three-dimensional model establishing technology based on image intensive matching is established, a digital city model is rapidly and efficiently established, and therefore the working cost for three-dimensional model establishing is greatly lowered.
Description
Technical field
The invention belongs to technical field of taking photo by plane, particularly relate to the unmanned aerial survey system of a kind of multi-angle.
Background technology
In January, 1998, the U.S., from himself interests and unipolitics, economy, military strategic goal, proposes that " concept of digital earth, the building-up work of " digital city " has been carried out in domestic existing more than 100 city.Digital city three-dimensional modeling is built important component part as digital city and be have also been obtained fast development, a large amount of three-dimensional modeling work has all been carried out in the area that the current overwhelming majority builds digital city, but three-dimensional modeling job costs are high, speed is slow, at substantial man power and material.In recent years, traditional air photo technique and digital ground acquisition technique combine by international area of geographic information, develop a kind ofly to be called the new and high technology that airborne multi-angle oblique is photographed, and are called for short oblique photograph technology.Oblique photograph technology by carrying multiple stage or multiple sensors on same flying platform, simultaneously from multiple angle acquisition ground image, thus overcome traditional air photo technique and can only carry out the limitation of taking from vertical angle, the actual conditions of atural object can be reflected more truly, compensate for the deficiency of orthography, by integrating the data such as POS, DSM and vector, realize the dimensional Modeling Technology based on image dense Stereo Matching.There are multiple many camera lens tendency camera products at present both at home and abroad, include the ADS40 of Lai Ka company, ADS80 three line scanner digital camera, Pictometry company of U.S. multi-angle camera, the aviation oblique photograph system of 3 camera compositions of Trimble company and the SWDC-5 camera of the first woods academician of domestic Liu, upper Hainan Airlines distant company AMC580 camera, the TOPDC-5 inclined camera of Zhong Cexintu company, above camera major part adopts and measures digital camera, load is large, can only be arranged on large aircraft, when carrying out actual three-dimensional modeling and producing, need to apply for spatial domain, cost is high, cycle is long.
Prior art sets up three-dimensional model by taking pictures on the spot, and three-dimensional modeling job costs are high, and speed is slow, need at substantial man power and material, tradition air photo technique can only be taken from vertical angle, can not reflect the actual conditions of atural object truly, and orthography is not enough.
Summary of the invention
The object of the present invention is to provide the unmanned aerial survey system of a kind of multi-angle, be intended to solve prior art and set up three-dimensional model by taking pictures on the spot, three-dimensional modeling job costs are high, speed is slow, need at substantial man power and material, tradition air photo technique can only be taken from vertical angle, can not reflect the actual conditions of atural object truly, the problem of orthography deficiency.
The present invention is achieved in that the unmanned aerial survey system of a kind of multi-angle, and the unmanned aerial survey system of described multi-angle is provided with six rotor wing unmanned aerial vehicles, carries the various visual angles inclined camera be made up of five camera lenses above described six rotor wing unmanned aerial vehicles;
Described various visual angles inclined camera comprises: camera unit, control module and carry unit;
Camera unit, for obtaining the image data at Large visual angle angle;
Carry unit, is connected with described camera unit, for providing stable support for various visual angles inclined camera is connected with unmanned plane, reduces the dither that unmanned plane produces;
Control module, is connected with described carry unit, for realizing analysis and the storage of camera data;
Comprising of described six rotor wing unmanned aerial vehicles: unmanned plane during flying plateform system, GPS navigation system, flight control system, Aerial Photography system, ground control system, signal transmission system;
Described unmanned plane during flying plateform system, is made up of six screw propellers, by regulating six motor speeds to change gyroplane rotate speed, realizes lift variation, thus controls attitude and the position of aircraft;
Described GPS navigation system, utilizes GPS/INS integrated navigation, determines unmanned plane center position coordinate, coordinates flight control system, allows unmanned to fly according to planning course line, thus realizes unmanned plane and automatically control;
Described UAV Flight Control System, for completing the inner-outer loop flight tracking control of unmanned plane, navigation, guidance, aerial mission management, the task loading management of unmanned plane and controlling, realizes full control of authority and management to unmanned plane;
Described Aerial Photography system, realizes automatically controlling camera or camera shutter by remote controller, allows camera or video camera take according to given pace;
Described ground control system, by automatic direction finding equipment, guidance computer, radio signal sender and remote-control receiver, flight-control computer, robot pilot, steering gear system, transmit as radiation source by unmanned plane, land station uses radio direction finding equipment to record UAV Attitude, adopt radio response mode, record unmanned plane distance, utilize height sensor and telemeter channel to record unmanned plane height, from attitude, the Distance geometry height determination unmanned plane during flying parameter of unmanned plane.
Described signal transmission system, for realizing the communication between described ground control system and UAV Flight Control System.
Further, the camera unit of described various visual angles inclined camera comprises main body mechanism, the hang down camera and four cameras tilted looked;
Described camera is made up of small ccd imaging device and high picture element tight shot, and described camera is used for the synchronous image data obtaining Large visual angle angle, is spliced into the wide cut image measured for conventional radiography, carries out the foundation of true three-dimensional model.
Further, described control module comprises: trigger module, communication module, memory module and supply module;
Described trigger module, communication module, memory module are undertaken being connected and overall control by the single-chip microcomputer that digital signal processor DSP is core, and described supply module is responsible for providing power supply to trigger module, communication module, memory module by AC and DC power supply change-over device;
Trigger module, for receiving outer triggering signal, synchronously triggers the hang down camera and four camera exposures tilted external device feedback trigger pip looked;
Communication module, for the test before and after the setting of camera mould, camera flight and adjustment;
Memory module, for the storage of filmed image data;
Supply module, be made up of self-powered, DC power converter, camera charger, when carry platform provides power supply, powered to camera by charger after external impressed current being carried out filtering voltage regulation conversion by DC power converter, when there is no external power supply, use self-powered power supply.
Further, described flight control system comprises:
Main control module, flight for completing UAV Flight Control System controls and business management function, inside has 3 CAN 10 bus controllers, and 24 address buss and 32 single data buses and most peripherals pin are as general I/O port;
Sensor and steering wheel module, be connected with main control module by CAN, outside 16 A/D conversion chips are adopted to carry out sampled analogue signals, ADIS 16365 is communicated with main control module by SPI interface, tri-axis angular rate and the 3-axis acceleration signal of unmanned plane are provided to described main controller module, adopt NovAtel OEMV-1G GPS sensor to export longitude, latitude, sea level elevation, flight-path angle, sky, northeast ground velocity information;
Interface module, is connected with main control module by CAN, for meeting controlling functions and the expansion of SUAV (small unmanned aerial vehicle) complexity.
Further, described interface module comprises: gather 8 road A/D interfaces of external analog amount information, control 8 road D/A interfaces of external analog amount equipment, catch interface for system emulation 8 road PWM, control the I/O jaws equipment of unmanned plane 8 road DIO interfaces, with 10 road RS232/422 serial ports of external device communication and the 2 road CAN interfaces carrying out emulation experiment.
Further, described main control module comprises external clock circuit, reset circuit, debug i/f circuit, memory expansion circuit and power circuit;
Described external clock circuit, for providing clock signal for main control module;
Described reset circuit, for ensureing that main control module can normal reset;
Described debug i/f circuit, for debugging by BDM pattern;
Described memory expansion circuit controls to provide enough storage spaces for flying;
Described power circuit, for powering for main control module, also gives steering wheel, external device and sensor power simultaneously.
The unmanned aerial survey system of multi-angle provided by the invention, carry six rotor aerial survey unmanned planes of 5 camera lens inclined cameras by carrying multiple stage camera on six rotor wing unmanned aerial vehicle platforms, can simultaneously from multiple angle acquisition ground image, thus overcome traditional air photo technique and can only carry out the limitation of taking from vertical angle, the actual conditions of atural object can be reflected more truly, compensate for the deficiency of orthography, by integrating POS, the data such as DSM and vector, set up the dimensional Modeling Technology based on image dense Stereo Matching, rapidly and efficiently set up digital city model, greatly reduce three-dimensional modeling job costs.The outdoor scene three-dimensional model set up by this technology can be widely used in national defence and the development of the national economy every field such as city planning, construction landscape design, resource management, military battlefield manoeuvre, Governace, three-dimensional navigation and city tour's management system, anti-terrorism stability maintenance, security warning, rescue and relief work.
In addition, the six rotor aerial survey unmanned planes that the present invention adopts are by aeroplane photography, and photo control point and photogrammetric interior industry are arranged in field, only need the time to complete topographic map drawing, alleviate field survey personnel labor intensity, improve work efficiency; Adopt the present invention by flying platform carrying five camera lens inclined cameras on many rotor wing unmanned aerial vehicles, simultaneously from multiple angle acquisition ground image, integrate POS, the data such as DSM and vector, are utilized the three-dimensional modeling of image dense Stereo Matching automatically to generate object point of density cloud data, are mapped by automatically texture, the extensive three-dimensional model of fast creation, strong sense of reality, speed is fast, reduces project implementation cost.The present invention adopts non-metric camera, volume is light, and still may be used for photogrammetric measurement by camera calibration, cost is low, by carrying many rotor wing unmanned aerial vehicles, without the need to special place, vertical takeoff and landing, without the need to applying for spatial domain, pass through dense Stereo Matching, can fast creation large scale digital city three-dimensional model and make 4D measurement products, in aeroplane photography operation among a small circle, the aspects such as the economic benefit of its quick-reaction capability (QRC) and generation compared with traditional aeroplane photography have obvious advantage.
Accompanying drawing explanation
Fig. 1 is the unmanned aerial survey system structural representation of multi-angle that the embodiment of the present invention provides;
Fig. 2 is the various visual angles inclined camera structural representation that the embodiment of the present invention provides;
Fig. 3 is the flight control system structured flowchart that the embodiment of the present invention provides;
In figure: 1, six rotor wing unmanned aerial vehicles; 1-3-1, main control module; 1-3-2, sensor; 1-3-3, steering wheel module; 1-3-4, interface module; 2, various visual angles inclined camera; 2-1, main body mechanism; 2-2, inclined camera; 2-3, hang down look camera.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with embodiment, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention is by lift-launch five camera lens inclined camera, each side grain of surface structures can be obtained, by based on dense Stereo Matching algorithm automatic fast creation large scale digital city model, the three-dimensional model created is true, conventional three-dimensional modeling method, by texture of taking pictures on the spot, is carried out modeling by hand using 3DMAX as modeling, is compared with traditional three-dimensional modeling method, save a large amount of man power and material, meet the requirement of large scale digital city model.
Below in conjunction with accompanying drawing, application principle of the present invention is explained in detail.
As shown in Figure 1, the unmanned aerial survey system of the multi-angle of the embodiment of the present invention mainly comprises: the various visual angles inclined camera 2 be made up of 5 camera lenses and six rotor wing unmanned aerial vehicle 1 two parts form;
Six rotor wing unmanned aerial vehicles 1 carry various visual angles inclined camera 2 above.
The various visual angles inclined camera 2 of the embodiment of the present invention mainly comprises: camera unit, control module and carry unit three part form;
Camera unit, for obtaining the image data at Large visual angle angle;
Carry unit, is connected with described camera unit, for providing stable support for various visual angles inclined camera is connected with unmanned plane, reduces the dither that unmanned plane produces;
Control module, is connected with described carry unit, for realizing analysis and the storage of camera data;
As shown in Figure 2, wherein camera unit is made up of main body mechanism 2-1 and five compact camera, these five compact cameras comprise one hang down look camera 2-3 and four inclined camera 2-2, five cameras firmly connect by design angle by main body mechanism 2-1, each camera is by small ccd imaging device and high picture element tight shot composition, synchronously can obtain the image data at Large visual angle angle, this image data both can be spliced into the wide cut image measured for conventional radiography, also can carry out the foundation of true three-dimensional model.
Agent structure is connected hanging down with inclined camera depending on camera by dynamic mount, and dynamic mount is made up of shock-absorbing ball and The Cloud Terrace support;
Control module primarily of trigger module, communication module, memory module and supply module four part form;
Trigger module is mainly used in receiving outer triggering signal, synchronous triggering five compact cameras exposures also external device feedback trigger pip; Test before and after communication module is mainly used in the setting of camera mould, camera flies and adjustment etc.; Memory module is mainly used in the storage of filmed image data; Supply module is primarily of self-powered, DC power converter, camera charger composition, when carry platform can provide power supply, powered to camera by charger after external impressed current can being carried out filtering voltage regulation conversion by DC power converter, when not having external power supply, can use self-powered is its power supply.
Six rotor wing unmanned aerial vehicles 1 mainly comprise: unmanned plane during flying plateform system, GPS navigation system, flight control system, Aerial Photography system, ground control system, signal transmission system form;
Described unmanned plane during flying plateform system, is made up of six screw propellers, by regulating six motor speeds to change gyroplane rotate speed, realizes lift variation, thus controls attitude and the position of aircraft;
Described GPS navigation system, utilizes GPS/INS integrated navigation, determines unmanned plane center position coordinate, coordinates flight control system, allows unmanned to fly according to planning course line, thus realizes unmanned plane and automatically control;
Described UAV Flight Control System, for completing the inner-outer loop flight tracking control of unmanned plane, navigation, guidance, aerial mission management, the task loading management of unmanned plane and controlling, realizes full control of authority and management to unmanned plane;
Described Aerial Photography system, realizes automatically controlling camera or camera shutter by remote controller, allows camera or video camera take according to given pace;
Described ground control system, by automatic direction finding equipment, guidance computer, radio signal sender and remote-control receiver, flight-control computer, robot pilot, steering gear system, transmit as radiation source by unmanned plane, land station uses radio direction finding equipment to record UAV Attitude, adopt radio response mode, record unmanned plane distance, utilize height sensor and telemeter channel to record unmanned plane height, from attitude, the Distance geometry height determination unmanned plane during flying parameter of unmanned plane.
Described signal transmission system, for realizing the communication between described ground control system and UAV Flight Control System.
As shown in Figure 3, flight control system comprises: main control module 1-3-1, sensor 1-3-2, steering wheel module 1-3-3, interface module 1-3-4;
According to the technical requirement such as high integration, extensibility showing control system during SUAV (small unmanned aerial vehicle) pair, complete with the small-sized real-time control system hardware plan design that is core of MPC565 processor, flight control system is divided into main control module, sensor and steering wheel module, interface module, the misfortune reducing system is right, realizes the modular design of system.
Main control module 1-3-1, be made up of MPC565 chip, it is a member of Motorola MPC500 series compacting instruction set processor family, supports floating-point operation, controlling functions is powerful, and the flight that can complete design of UAV flight control system controls and business management function; The design of main control module needs to ensure that processor minimum system normally works, and comprises external clock circuit, reset circuit, debug i/f circuit, memory expansion circuit and power circuit.
Sensor 1-3-2 and steering wheel module 1-3-3, outside 16 A/D conversion chips are adopted to carry out sampled analogue signals, ADIS 16365 is communicated with main control module by SPI interface, tri-axis angular rate and the 3-axis acceleration signal of unmanned plane are provided to main controller module, NovAtel OEMV-1G GPS sensor is adopted to export the information such as longitude, latitude, sea level elevation, flight-path angle, sky, northeast ground velocity, NovAtel OEMV-1G supports difference function, have higher positioning precision and time ask precision; Wireless communication module Xtend is then communicated with main control module by serial ports; Steering wheel regulates rudder face according to the dutycycle of the pwm signal that main control module exports, and realizes controlling unmanned plane position and attitude.
Described main control module 1-3-1 comprises external clock circuit, reset circuit, debug i/f circuit, memory expansion circuit and power circuit;
Described external clock circuit, for providing clock signal for main control module;
Described reset circuit, for ensureing that main control module can normal reset;
Described debug i/f circuit, for debugging by BDM pattern;
Described memory expansion circuit controls to provide enough storage spaces for flying;
Described power circuit, for powering for main control module, also gives steering wheel, external device and sensor power simultaneously.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. the unmanned aerial survey system of multi-angle, is characterized in that, the unmanned aerial survey system of described multi-angle is provided with six rotor wing unmanned aerial vehicles, carries the various visual angles inclined camera be made up of five camera lenses above described six rotor wing unmanned aerial vehicles;
Described various visual angles inclined camera comprises: camera unit, control module and carry unit;
For obtaining the camera unit of the image data at Large visual angle angle;
Being connected with described camera unit, for providing stable support for various visual angles inclined camera is connected with unmanned plane, reducing the carry unit that unmanned plane produces dither;
Be connected with described carry unit, for realizing the control module of camera data analysis and storage;
Comprising of described six rotor wing unmanned aerial vehicles: unmanned plane during flying plateform system, GPS navigation system, flight control system, Aerial Photography system, ground control system, signal transmission system;
Being made up of six screw propellers, by regulating six motor speeds to change gyroplane rotate speed, realizing lift variation, thus control the unmanned plane during flying plateform system of attitude of flight vehicle and position;
Utilize GPS/INS integrated navigation, determine unmanned plane center position coordinate, coordinate flight control system, allow and unmanned to fly according to planning course line, thus realize the GPS navigation system that unmanned plane controls automatically;
For completing the inner-outer loop flight tracking control of unmanned plane, navigation, guidance, aerial mission management, the task loading management of unmanned plane and controlling, unmanned plane is realized to the UAV Flight Control System of full control of authority and management;
Realize automatically controlling camera or camera shutter by remote controller, allow camera or video camera carry out the Aerial Photography system of taking according to given pace;
By automatic direction finding equipment, guidance computer, radio signal sender and remote-control receiver, flight-control computer, robot pilot, steering gear system, transmit as radiation source by unmanned plane, land station uses radio direction finding equipment to record UAV Attitude, adopt radio response mode, record unmanned plane distance, height sensor and telemeter channel is utilized to record unmanned plane height, from the ground control system of the attitude of unmanned plane, Distance geometry height determination unmanned plane during flying parameter;
For realizing the signal transmission system of communication between described ground control system and UAV Flight Control System.
2. the unmanned aerial survey system of multi-angle as claimed in claim 1, is characterized in that, the camera unit of described various visual angles inclined camera comprises main body mechanism, the hang down camera and four cameras tilted looked;
Agent structure is connected hanging down with inclined camera depending on camera by dynamic mount, and dynamic mount is made up of shock-absorbing ball and The Cloud Terrace support;
For synchronously obtaining the image data at Large visual angle angle, be spliced into the wide cut image measured for conventional radiography, carry out the vertical of true three-dimension modeling and look camera and inclined camera, described hanging down is made up of small ccd imaging device and high picture element tight shot depending on camera and inclined camera.
3. the unmanned aerial survey system of multi-angle as claimed in claim 1, it is characterized in that, described control module comprises: trigger module, communication module, memory module and supply module;
For receiving outer triggering signal, synchronously trigger the hang down camera and four camera exposures tilted the trigger module of external device feedback trigger pip looked;
For the communication module of test before and after the setting of camera mould, camera flight with adjustment;
For the memory module that filmed image data store;
Be made up of self-powered, DC power converter, camera charger, when carry platform provides power supply, being powered to camera by charger after external impressed current being carried out filtering voltage regulation conversion by DC power converter, when there is no external power supply, using the supply module of self-powered power supply.
4. the unmanned aerial survey system of multi-angle as claimed in claim 1, it is characterized in that, described flight control system comprises:
Flight for completing UAV Flight Control System controls and business management function, and inside has 3 CAN 10 bus controllers, and 24 address buss and 32 single data buses and most peripherals pin are as general I/O port master module;
Be connected with main control module by CAN, outside 16 A/D conversion chips are adopted to carry out sampled analogue signals, ADIS 16365 is communicated with main control module by SPI interface, tri-axis angular rate and the 3-axis acceleration signal of unmanned plane are provided to described main controller module, adopt sensor and the steering wheel module of NovAtel OEMV-1G GPS sensor output longitude, latitude, sea level elevation, flight-path angle, sky, northeast ground velocity information;
Be connected with main control module by CAN, for meeting the interface module of SUAV (small unmanned aerial vehicle) complex control function and expansion.
5. the unmanned aerial survey system of multi-angle as claimed in claim 4, it is characterized in that, described interface module comprises: gather 8 road A/D interfaces of external analog amount information, control 8 road D/A interfaces of external analog amount equipment, catch interface for system emulation 8 road PWM, control the I/O jaws equipment of unmanned plane 8 road DIO interfaces, with 10 road RS232/422 serial ports of external device communication and the 2 road CAN interfaces carrying out emulation experiment.
6. the unmanned aerial survey system of multi-angle as claimed in claim 4, it is characterized in that, described main control module comprises external clock circuit, reset circuit, debug i/f circuit, memory expansion circuit and power circuit;
For providing the external clock circuit of clock signal for main control module;
For ensureing that main control module can the reset circuit of normal reset;
For the debug i/f circuit being undertaken debugging by BDM pattern;
For controlling to provide the memory expansion circuit of enough storage spaces for flight;
For powering for main control module, also give the power circuit of steering wheel, external device and sensor power simultaneously.
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