CN105373132A - Low-altitude remote sensing system based on automatic cruise unmanned aerial vehicle and remote sensing method thereof - Google Patents
Low-altitude remote sensing system based on automatic cruise unmanned aerial vehicle and remote sensing method thereof Download PDFInfo
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- CN105373132A CN105373132A CN201510835491.6A CN201510835491A CN105373132A CN 105373132 A CN105373132 A CN 105373132A CN 201510835491 A CN201510835491 A CN 201510835491A CN 105373132 A CN105373132 A CN 105373132A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a low-altitude remote sensing system based on an automatic cruise unmanned aerial vehicle. The low-altitude remote sensing system comprises a load system, a data acquisition system, a data transmission system and a control system. High-precision constant altitude cruising of the unmanned aerial vehicle along a preset route can be realized, and remote sensing data acquisition is performed. The scheme has remarkable effects of being lightweight, high in time and space resolution and low in cost.
Description
Technical field
The invention belongs to Aerial Surveying Technology field, particularly relate to a kind of low-altitude remote sensing system based on unmanned vehicle.
Background technology
Unmanned vehicle, especially unmanned plane, be widely used in civilian and military activity.As low-latitude flying platform, unmanned plane, especially adopts the unmanned plane of the dynamic power of oil, has good load capacity, effectively can overcome terrain obstruction, complete the task of earth observation.Remote sensing technology is according to electromagnetic theory, applies the electromagnetic wave information of various sensor apparatus to distant object institute's radiation and reflection, carries out collecting, processing, and last imaging, thus the various scenery in ground is carried out to a kind of complex art of detecting and identifying.
Current remote sensing operation is mainly based on the platform such as satellite, manned aircraft, and the remote sensing images obtained based on satellite have large spatial scale, the feature of low time, spatial resolution, is applicable to the local geographic information analyzing macroscopic view.The remote sensing images obtained based on manned aircraft can make up the deficiency of satellite remote sensing images in Time and place resolution, provide the sensor information that a certain area is relatively concrete, but the use cost of manned aircraft is high, to carry sensor bulk huge and expensive, so its application scenarios is limited.Therefore, in the urgent need to developing a kind of lightweight, high time, spatial resolution, the low-altitude remote sensing system of low cost, with convenience, collects high-resolution some areas geography information at an easy rate.
Summary of the invention
In order to solve the problem, the present invention proposes a kind of low-altitude remote sensing system based on automatic cruising unmanned plane, it comprises: load system, data acquisition system (DAS), data transmission system and control system;
Load system comprises unmanned plane and increases steady The Cloud Terrace; Increasing steady The Cloud Terrace is installed on unmanned plane, for carry remote sensing equipment;
Data acquisition system (DAS) comprises remote sensing equipment;
Data transmission system is used for the data communication on unmanned plane and ground;
Control system comprises: flight controller, cradle head controllor, data acquisition controller, and wherein flight controller is for controlling the state of flight of unmanned plane; Cradle head controllor is for controlling The Cloud Terrace attitude; Data acquisition controller is used for the switch of control data collecting device and data are transmitted.
Preferably, described control system also comprises data communication controller, for by data back to ground control station; Or upload the data to line server by mobile communications network, by server forwards to the ground control station of access network.
Preferably, data acquisition controller comprises:
Microcontroller;
Trigger circuit, this circuit is connected with remote sensing equipment, according to the instruction of microcontroller, controls remote sensing equipment and opens or close data acquisition function;
Flight controller data communication interface:
Connect flight controller, the locating information that real-time reception flight controller exports and relative altitude information;
Remote sensing equipment data communication interface: carry out bidirectional data communication with remote sensing equipment.
Data communication controller interface: remote sensing image data is transferred to data communication controller.
Preferably, flight controller carries navigational material, carries out Data Fusion to the information that navigational material obtains, and controls unmanned plane and cruise along presetting course line take the altitude.
Preferably, cradle head controllor adjusts The Cloud Terrace attitude in real time according to attitude of flight vehicle information, makes the attitude of remote sensing equipment towards all keeping constant under different attitude of flight vehicle.
Preferably, the data collected to be kept on the storage card of the machine again by statistical conversion after flight terminates by remote sensing system, or pass remote sensing images back ground control station by data transmission system in real time.
Meanwhile, the invention allows for a kind of remote sensing technique using above-mentioned low-altitude remote sensing system, it comprises the following steps:
Step 11: setting remote sensing target region, flying height and/or course line;
Step 12: control the flight of unmanned plane, course line corrects and/or pose adjustment;
Step 13: control remote sensing system and carry out data acquisition.
Preferably, step 11 is further comprising the steps:
Step 111: delimit target data pickup area in conjunction with gps satellite positioning system by Geographic Information System;
Step 112: according to remote sensing equipment focal length and the spatial resolution demand determination flying height to remotely-sensed data;
Step 113: calculating according to height and remote sensing equipment focometer can coverage goal remote sensing data acquiring region and meet the course line of sidelapping ratio;
Step 114: according to the data collection point in the course line cooked up and longitudinal overlap ratio-dependent target remote sensing region.
Preferably, step 12 is further comprising the steps:
Step 121: judge whether current course line with default course line, deviation occurs, and is if so, then revised course by flight controller;
Step 122: fix duration according to current flight device location interval and judge whether carrying out data acquisition, if the data acquisition that current flight device enters near data collection point is interval, then enter flight attitude determination step;
Step 123: if attitude of flight vehicle is in put down fly state, then enter data collection steps, if attitude of flight vehicle is uneven, then by cradle head controllor adjustment The Cloud Terrace attitude.
Preferably, the present invention also comprises and adjusting the shooting attitude angle of remote sensing equipment, and concrete steps are as follows:
Step 131: the acquisition angles determining remote sensing images;
Step 132: obtain attitude of flight vehicle information from flight controller;
Step 133: obtain The Cloud Terrace attitude information from cradle head controllor;
Step 134: the attitude angle judging remote sensing equipment according to attitude of flight vehicle and The Cloud Terrace attitude information;
Step 135: cradle head controllor adjustment The Cloud Terrace attitude, the equipment attitude angle of making meets the demands.
The low-altitude remote sensing system of the automatic cruising unmanned plane of the present invention's design, can realize unmanned plane and cruise along presetting the high-precision fixed height in course line, and carry out remote sensing data acquiring.The program has lightweight, high time, spatial resolution, the remarkable result of low cost.
accompanying drawing illustrates:
Fig. 1 is low-altitude remote sensing system construction drawing.
Fig. 2 is data acquisition controller structural drawing.
Fig. 3 is low-altitude remote sensing system remote sensing data acquiring process flow diagram.
Fig. 4 is low-altitude remote sensing system remote sensing equipment pose adjustment process flow diagram.
embodiment:
embodiment one:
As shown in Figure 1, a kind of low-altitude remote sensing system based on automatic cruising unmanned plane that the present invention proposes, it comprises: load system, data acquisition system (DAS), data transmission system and control system.
Load system comprises unmanned plane and increases steady The Cloud Terrace.In light-weighted low-altitude remote sensing system, load system aircraft is based on unmanned plane, and depending on different remote sensing job requirements and task load, aircraft can select fixed-wing, many rotors and helicopter, it is characterized in that possessing autonomous flight ability, aerial mission can be performed by the both tramp-liners planned.Increasing steady The Cloud Terrace is installed on unmanned plane, for carry remote sensing equipment, increases steady The Cloud Terrace and comprises two servomotors.
Data acquisition system (DAS) comprises various remote sensing equipment, according to different mission requirements, can select different remote sensing equipments, and mainly can be divided into imaging device and survey sense equipment, wherein, imaging device comprises: multi-spectral imager, hyperspectral imager, Visible Light Camera; Survey sense equipment to comprise: microwave radiometer, laser radar.
For providing, data this locality of unmanned plane stores data transmission system, the data communication on unmanned plane and ground etc.; Comprise 2.4G point-to-point transmission system, cellular network transmission system and/or local datastore system.
Control system comprises: flight controller, cradle head controllor, data acquisition controller and data communication controller, passes through data bus communication each other.Wherein flight controller is for controlling the state of flight of unmanned plane; Cradle head controllor is for controlling The Cloud Terrace attitude, cradle head controllor is connected with controller of aircraft by serial ports, adjusting The Cloud Terrace attitude in real time according to the attitude of flight vehicle information that gyroscope in flight controller inertial navigation element IMU exports, making the attitude of remote sensing equipment towards all keeping constant under different attitude of flight vehicle; Data acquisition controller is used for the switch of control data collecting device and data are transmitted; Data communication controller is used for the communication connection of control data.
Data acquisition controller comprises (as shown in Figure 2):
Microcontroller, as the core of data acquisition controller.
Trigger circuit: this circuit is connected with remote sensing equipment, according to the instruction of microcontroller, control remote sensing equipment and open or close data acquisition function;
Flight controller interface: connect flight controller, the locating information that real-time reception flight controller exports and relative altitude information.This interface is by serial ports, I
2bus connection data acquisition controller and the flight controllers such as C or SPI, the GPS locating information that real-time reception flight controller exports and relative altitude information, these information can be recorded in the Metadata metadata of remote sensing images, are the necessary informations that preprocessing of remote sensing images carries out aerotriangulation.
Remote sensing equipment interface: carry out bidirectional data communication with remote sensing equipment; Downlink communication is connected with remote sensing equipment by serial ports, by the locating information that obtains from flight controller and relative altitude information real-time Transmission to remote sensing equipment, after remote sensing equipment obtains above-mentioned information, it is write the remote sensing images gathered in real time, it is pointed out that gps data bag adopts NEMA agreement to transmit; Uplink communication the remote sensing images collected by serial ports, I
2the buses such as C or SPI are uploaded to data acquisition controller, then carry out this locality storage by data acquisition controller or returned in real time by data communication controller.
Data communication controller interface: remote sensing image data is transferred to data communication controller.Connected mode comprises serial ports, I
2the data buss such as C or SPI.
After remote sensing equipment collects geodata, according to mission requirements, on the storage card that can save the data in the machine after flight terminates again by statistical conversion or pass remote sensing images back ground control station by data link in real time, carry out Real-time Remote Sensing information processing.
After data acquisition system (DAS) controller receives the view data that remote sensing equipment uploads, according to the mode of operation pre-set, by serial ports, I
2data write in SD card memory or transfer data to data communication controller by the data buss such as C or SPI.
Data communication controller returns to ground control station by 2.4G Point-to-Point Data Transmission link, or data are passed to line server, by server forwards to the ground control station of access network by the mobile communications network of the 3G standard such as network or WCDMA, TDSCDMA, CDMA2000 of the 4G standards such as FDD-LTE, TDD-LTE.
Flight controller carries navigational material, mainly comprises gps satellite locating module, IMU inertial navigation device, barometer and vision guided navigation device.Wherein gps satellite locating module real-time reception satellite location data, determine the current location of aircraft, IMU inertial navigation device comprises three-axis gyroscope, according to gyroscope feedack determination attitude of flight vehicle, barometric surveying static pressure is in conjunction with GPS elevation information determination relative flying height, and vision guided navigation device carries out assisting navigation by gathering aircraft surrounding enviroment image information.Flight controller carries out Data Fusion to navigational material institute obtaining information, realizes aircraft cruise along presetting the high-precision fixed height in course line by automatic control algorithm.
embodiment two:
On the basis of above embodiment, the present invention proposes a kind of remote sensing technique (as shown in Figure 3) using above-mentioned remote sensing system further.
First need the pickup area determining remotely-sensed data, in conjunction with gps satellite positioning system, target data pickup area delimited by Geographic Information System.According to remote sensing equipment focal length and the spatial resolution demand to remotely-sensed data, selected flying height, due to remote sensing equipment focal length within the specific limits, flying height determines the area coverage size of the remote sensing images of acquisition, and when remote sensing images splicing, require that adjacent plot remote sensing images have the sidelapping of 15%-30%, therefore the flying height of aircraft and remote sensing equipment focal length determine line of flight distribution target area being carried out to remote sensing data acquiring.Consider that course and course line exist certain deviation, sidelapping ratio should be made suitably to strengthen, improve the fault-tolerance of system.
After selected height, system calculates according to height and remote sensing equipment focometer automatically can coverage goal remote sensing data acquiring region and meet the course line of sidelapping ratio.After course line is determined, correspondingly, splice according to remote sensing images the requirement that adjacent remote sensing images longitudinal overlap ratio is not less than 55%-65%, determine the data collection point in target remote sensing region according to the course line cooked up.
When aircraft operation, flight controller navigational system continues to judge, whether current flight path coincide with default course line, departs from if exist, then constantly revise course by flying control, make aircraft's flight track and default course line error minimum; In flight course, fly control to fix duration according to current flight device location interval and judge whether carrying out data acquisition, if the data acquisition that current flight device enters near data collection point is interval, then enter next step equipment pose discrimination, if aircraft is in and flat flies state, then image data immediately, if attitude of flight vehicle is uneven, then carry out angle compensation by cradle head controllor adjustment The Cloud Terrace attitude, ensure that remote sensing equipment shooting angle is constant, then carry out data acquisition.
According to above content, remote sensing technique step can be designed as follows:
Step 11: the parameters such as setting remote sensing target region, flying height and/or course line.
Step 12: control the flight of unmanned plane, course line corrects and/or pose adjustment.
Step 13: control remote sensing system and carry out data acquisition.
Further, step 11 can preferably include following steps:
Step 111: delimit target data pickup area in conjunction with gps satellite positioning system by Geographic Information System.
Step 112: according to remote sensing equipment focal length and the spatial resolution demand determination flying height to remotely-sensed data.
Step 113: calculating according to height and remote sensing equipment focometer can coverage goal remote sensing data acquiring region and meet the course line of sidelapping ratio.
Step 114: after course line is determined, splices according to remote sensing images the requirement that adjacent remote sensing images longitudinal overlap ratio is not less than 55%-65%, determines the data collection point in target remote sensing region according to the course line cooked up.
Step 12 can preferably include following steps:
Step 121: flight corrects.When aircraft operation, flight controller navigational system continues to judge, whether current flight path coincide with default course line, departs from, then constantly revised course by flight controller if exist, make aircraft's flight track and default course line error minimum.
Step 122: data collection point judges.In flight course, flight controller is fixed duration according to current flight device location interval and is judged whether carrying out data acquisition, if the data acquisition that current flight device enters near data collection point is interval, then enters flight attitude determination step.
Step 123: flight attitude judges.If attitude of flight vehicle is in put down fly state, then enter image data step, if attitude of flight vehicle is uneven, then carries out angle compensation by cradle head controllor adjustment The Cloud Terrace attitude, ensure that remote sensing equipment shooting angle is constant.
For low-altitude remote sensing, because of the feature of its later stage remote sensing image processing, remote sensing equipment obtains remote sensing images to be needed to ensure its shooting stabilization of carriage angle, except maintenance attitude of flight vehicle is stable, also needs to utilize clouds terrace system carry out revising to remote sensing equipment shooting attitude angle and compensate.Adjustment flow process following (as shown in Figure 4) to remote sensing equipment shooting attitude angle: the acquisition angles first determining remote sensing images, in general, low-altitude remote sensing can be divided into vertical photography and oblique photograph, distinguish by remote sensing equipment primary optical axis with by the angle between the ground pedal line at remote sensing equipment lens combination center, angle be less than 3 ° for vertical photography, be greater than 3 ° be oblique photograph.After determining shooting angle, data acquisition controller needs from flying to control the attitude information that obtains aircraft and obtaining The Cloud Terrace attitude information from cradle head controllor, be used for judging the attitude angle of remote sensing equipment, if not in the error burst that given angle allows, then need pose adjustment information feed back to cradle head controllor, control The Cloud Terrace compensates, until equipment attitude angle judges that current device attitude angle is in the error burst that given acquisition angles allows, now meets the condition of data acquisition.
According to above content, the process step that can design remote sensing equipment Angle ambiguity is as follows:
Step 131: the acquisition angles determining remote sensing images;
Step 132: obtain attitude of flight vehicle information from flight controller;
Step 133: obtain The Cloud Terrace attitude information from cradle head controllor;
Step 134: the attitude angle judging remote sensing equipment according to attitude of flight vehicle and The Cloud Terrace attitude information;
Step 135: cradle head controllor adjustment The Cloud Terrace attitude, the equipment attitude angle of making meets the demands.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. based on a low-altitude remote sensing system for automatic cruising unmanned plane, it comprises: load system, data acquisition system (DAS), data transmission system and control system;
Load system comprises unmanned plane and increases steady The Cloud Terrace; Increasing steady The Cloud Terrace is installed on unmanned plane, for carry remote sensing equipment;
Data acquisition system (DAS) comprises remote sensing equipment;
Data transmission system is used for the data communication on unmanned plane and ground;
Control system comprises: flight controller, cradle head controllor, data acquisition controller, and wherein flight controller is for controlling the flight attitude of unmanned plane; Cradle head controllor is for controlling The Cloud Terrace attitude; Data acquisition controller is used for the switch of control data collecting device and data are transmitted.
2. remote sensing system according to claim 1, is characterized in that: described control system also comprises data communication controller, for by data back to ground control station; Or by mobile communications network, data are sent to line server, by server forwards to the ground control station of access network.
3. remote sensing system according to claim 2, is characterized in that: data acquisition controller comprises:
Microcontroller;
Trigger circuit, this circuit is connected with remote sensing equipment, according to the instruction of microcontroller, controls remote sensing equipment and opens or close data acquisition function;
Flight controller interface: connect flight controller, the locating information that real-time reception flight controller exports and relative altitude information;
Remote sensing equipment interface: carry out bidirectional data communication with remote sensing equipment;
Data communication controller interface: remote sensing image data is transferred to data communication controller.
4. remote sensing system according to claim 1, is characterized in that: flight controller carries navigational material, carries out Data Fusion to the information that navigational material obtains, and controls unmanned plane and cruise along presetting course line take the altitude.
5. remote sensing system according to claim 1, is characterized in that: cradle head controllor adjusts The Cloud Terrace attitude in real time according to the attitude information of unmanned plane, makes the attitude of remote sensing equipment towards all keeping constant under different attitude of flight vehicle.
6. remote sensing system according to claim 1, is characterized in that: the data collected to be kept on the storage card of the machine again by statistical conversion after flight terminates by remote sensing system, or pass remote sensing images back ground control station by data transmission system in real time.
7. use a remote sensing technique for the low-altitude remote sensing system described in any one of claim 1-6, it is characterized in that: comprise the following steps:
Step 11: setting remote sensing target region, flying height and/or course line;
Step 12: control the flight of unmanned plane, course line corrects and/or pose adjustment;
Step 13: control remote sensing system and carry out data acquisition.
8. remote sensing technique according to claim 7, is characterized in that: step 11 is further comprising the steps:
Step 111: delimit target data pickup area in conjunction with gps satellite positioning system by Geographic Information System;
Step 112: according to remote sensing equipment focal length and the spatial resolution demand determination flying height to remotely-sensed data;
Step 113: calculating according to height and remote sensing equipment focometer can coverage goal remote sensing data acquiring region and meet the course line of sidelapping ratio;
Step 114: according to the data collection point in the course line cooked up and longitudinal overlap ratio-dependent target remote sensing region.
9. remote sensing technique according to claim 7, step 12 is further comprising the steps:
Step 121: judge whether current course line with default course line, deviation occurs, and is if so, then revised course by flight controller;
Step 122: fix duration according to current flight device location interval and judge whether carrying out data acquisition, if the data acquisition that current flight device enters near data collection point is interval, then enter flight attitude determination step;
Step 123: if attitude of flight vehicle is in put down fly state, then enter data collection steps, if attitude of flight vehicle is uneven, then by cradle head controllor adjustment The Cloud Terrace attitude.
10. remote sensing technique according to claim 7, is characterized in that: also comprise and adjusting the shooting attitude angle of remote sensing equipment, concrete steps are as follows:
Step 131: the acquisition angles determining remote sensing images;
Step 132: obtain attitude of flight vehicle information from flight controller;
Step 133: obtain The Cloud Terrace attitude information from cradle head controllor;
Step 134: the attitude angle judging remote sensing equipment according to attitude of flight vehicle and The Cloud Terrace attitude information;
Step 135: cradle head controllor adjustment The Cloud Terrace attitude, the equipment attitude angle of making meets the demands.
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