CN105527969B - A kind of mountain garden belt investigation and monitoring method based on unmanned plane - Google Patents
A kind of mountain garden belt investigation and monitoring method based on unmanned plane Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The present invention provides a kind of mountain garden belt investigation and monitoring method based on unmanned plane, including step S1：Determine control time, investigation method and investigation precision；S2：If investigation method is program-controlled operating type, plans course line and monitored automatically by prebriefed pattern, obtain monitoring data；If investigation method is wireless remotecontrol operating type, remote manual control aircraft carries out filming image, obtains monitoring data；S3：Free-air correction processing is carried out to every sub-picture in monitoring data, realizes the space splicing of image；And spectrum, texture structure difference progress visual interpretation or computer automatic sorting using the different zones of vegetation on remote sensing image, identification altitudinal vegetation zone boundary line；The statistics measure analysis of altitudinal vegetation zone structure is completed by GIS-Geographic Information System and result exports.The present invention is time saving and energy saving, the climbing sampling positioning up and down in mountainous region without investigation and monitoring personnel；Investigation result is handled using image analysis technology, and Vertical vegetation zone accuracy of identification is high, and positioning is more accurate.
Description
Technical field
The invention belongs to mountain garden type structures to monitor field, more particularly, to a kind of mountainous region based on unmanned plane
Altitudinal vegetation zone investigation and monitoring method.
Background technology
Mountain garden belt refers to that mountain garden type increases with height above sea level and shows certain sequence and arrangement architecture
Vertical differentiation phenomenon.Mountain garden belt be both mountain environment structure essential characteristic and earth science research through canonical form
One of, be still now mountain environment monitoring and scientific research important content.
At present, mountain garden belt acquisition of information mainly has artificial on-site inspection, Satellite Remote Sensing two ways.Its
Middle tradition mountain garden belt information acquisition method predominantly carries out artificial on-site inspection, identification along the vertical laying circuit of massif
Vegetation pattern is counted, measures the height above sea level of different zone of vegetation bounds.Since mountain topography landforms are complicated, surface cover type
Various, often accessibility is poor, and manual research heavy workload, the field of investigation are small, investigation circuit is subjected to limitation, and investigation result is past
Toward representative deficiency, and Personal Risk easily occurs in working.
Mountain garden belt satellite remote sensing method mainly identifies vegetation horizontal distribution information by remote sensing image, and then folded
Altitude data is added to obtain the vertical information of altitudinal vegetation zone.And often hypsography is big in mountain area, vegetation pattern is complicated various and vertical
Apparent to heterogeneity, smaller horizontal distance often corresponds to larger vertical height difference and multiple altitudinal vegetation zones.Therefore, mountainous region is vertical
There are mixed pixel phenomenon is prominent, zone of vegetation identification difficulty is big, boundary line elevation location precision in the zone of vegetation is low for zone of vegetation satellite remote sensing
The problems such as.
For unmanned plane as a kind of small-sized aircraft, flight line is flexible, and deployment is convenient, can carry multiple sensors,
More application is obtained in ECOLOGICAL ENVIRONMENTAL MONITORING field.However, at present UAV system stress to overlook more it is vertical take pictures or image,
It is mostly earth's surface horizontal direction extension image to obtain data, lacks the detection system specifically for the vertical information in mountainous region, now there is no and be based on
The mountain garden belt monitoring system and method for unmanned plane.
Invention content
In view of the drawbacks of the prior art, the purpose of the present invention is to provide a kind of mountain garden belts based on unmanned plane
Investigation and monitoring method, it is intended to which solving mountainous region Vertical vegetation zone satellite remote sensing in the prior art, there are mixed pixel phenomenon protrusion, plants
The problem of difficulty is big and boundary line elevation location precision in the zone of vegetation is low is identified by band.
The present invention provides a kind of mountain garden belt investigation and monitoring methods based on unmanned plane, include the following steps：
S1：Determine control time, investigation method and investigation precision；
Control time is determined according to Various Seasonal vegetation phenology feature, select the different zones of vegetation tone and texture in remote sensing
The time easily distinguished on image carries out investigation；The investigation method includes program-controlled operating type and wireless remotecontrol operating type；
The investigation precision is depending on the requirement of specific survey tasks；
S2：If investigation method is program-controlled operating type, plans course line and monitored automatically by prebriefed pattern, obtain monitoring number
According to；If investigation method is wireless remotecontrol operating type, remote manual control aircraft carries out filming image, obtains monitoring data；
The course line includes：Aircraft-horizontal fixed range of massif slope surface is kept to extend along slope and keeps aircraft-massif
The horizontal fixed range horizontal direction extension of slope surface；
S3：Free-air correction processing is carried out to every sub-picture in monitoring data, realizes the space splicing of image；And using not
With spectrum, texture structure difference progress visual interpretation or computer automatic sorting of the zone of vegetation on remote sensing image, vegetation is identified
Belt boundary line；The statistics measure analysis of altitudinal vegetation zone structure is completed by GIS-Geographic Information System and result exports.
Further, in step S2, when investigation method is program-controlled operating type, aircraft navigates according to the investigation of planning
Line flies automatically, and the multi-spectral imager that aircraft carries is during aircraft flight, automatic continuous filmed image.
Further, multi-spectral imager keeps horizontal attitude filmed image, and shooting azimuth is moved towards for vertical massif.
Further, in image captured by multi-spectral imager adjacent image keep more than 3% degree of overlapping.
Further, in step S2, when investigation method is wireless remotecontrol operating type, pass through ground control station pair
Aircraft carries out remote manual control flight control；After aircraft lift-off, measured between aircraft and massif in real time using laser range finder
Horizontal distance, utilize CCD camera captured in real-time video image.
Further, according to real-time video Imaging Study aircraft flight environment, remotely-piloted vehicle avoids possible barrier
Hinder；According to laser range finder data, remotely-piloted vehicle makes it keep predeterminated level distance with massif.
Further, multi-spectral imager posture is adjusted using holder, makes multi-spectral imager holding horizontal and vertical
Massif moves towards filmed image.
Further, multi-spectral imager sequential shoot image, adjacent image keeps more than 3% in captured image
Degree of overlapping.
It is an advantage of the invention that：It is time saving and energy saving, the climbing sampling positioning up and down in mountainous region without investigation and monitoring personnel；It is reachable
Property it is good, the actual track in by manual research is not limited, and investigation result is representative more preferable；Mountainous region field investigation work can be reduced
In Personal Risk；Investigation result is handled using image analysis technology, and Vertical vegetation zone accuracy of identification is high, and positioning is more accurate.
Description of the drawings
Fig. 1 is a kind of structural representation of the mountain garden belt investigation and monitoring system based on unmanned plane provided by the invention
Figure；
Fig. 2 is that a kind of flow of mountain garden belt investigation and monitoring method based on unmanned plane provided by the invention is illustrated
Figure.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The invention belongs to mountain garden type structures to monitor field, and in particular to a kind of mountain garden based on unmanned plane hangs down
Straight band investigation and monitoring system and method.It is an object of the invention to be directed in existing mountain garden belt investigation and monitoring technology,
Often limited and low boundary line elevation location precision in the satellite remote sensing zone of vegetation deficiency of manual work heavy workload, investigation circuit, carries
System and method is monitored for a kind of mountain garden belt based on unmanned plane.The system and method can monitor mountain garden type
Vertical variations identify belt vertical structure information, measure different zone of vegetation bound height, and can investigate altitudinal vegetation zone
Horizontal-extending pattern realizes the quantitative extraction of the vertical information of mountain garden.
To achieve the above object, the present invention adopts the following technical scheme that：
A kind of mountain garden belt monitoring system and method based on unmanned plane, the system is by ground control station, flight
Camera system and image processing and analyzing system three parts composition.Wherein flight camera system is led by aircraft, communication system, satellite
Boat system, holder, five part of remote sensor composition.
Fixed-wing, more rotors or helicopter multiple types, preferably multi-rotor aerocraft can be used in aircraft.The communication system
System, satellite navigation system are installed on aircraft, and remote sensor is equipped on by holder on aircraft.Remote sensor is main
Including：Multi-spectral imager, CCD camera, laser range finder.Multi-spectral imager is used to obtain the high spectral resolution of target
Image, for CCD camera for shooting vegetation true color picture, CCD camera is used for recorded video, laser ranging in flight course
Instrument is used to measure the distance between aircraft and massif.
Holder can be realized carries out 360 ° of rotated detections of horizontal direction for carried sensor during aircraft flight.
Ground control station includes computer, wireless communication apparatus, attitude-control device, can control the flight shape of aircraft in real time
State, and the image of real-time display remote sensor acquisition and video surveillance result.
Described image processing analysis system include computer and remote Sensing Image Analysis software, it can be achieved that multi-spectral imager and
The input and output of vertical image acquired in CCD camera, geometric correction, space splicing, spectrum analysis, image classification, statistics measure
Etc. functions.
The present invention also provides a kind of mountain garden belt monitoring methods based on unmanned plane, include the following steps：
(1) control time, investigation method and investigation precision are determined；Wherein, it is determined according to Various Seasonal vegetation phenology feature
Control time selects the time that the tone of the different zones of vegetation and texture are easily distinguished on remote sensing image to carry out investigation.Investigation method
It is broadly divided into program-controlled operating type and wireless remotecontrol operating type.It is right depending on investigation precision is required according to specific survey tasks
It is investigated in altitudinal vegetation zone, the spatial resolution of multi-spectral imager filmed image center pel is generally required to be not less than 10 meters.
According to survey tasks required precision and multi-spectral imager specific performance parameter, determine in survey tasks between aircraft and massif
Horizontal distance.
(2) program-controlled operation is carried out in selection, plans course line and is monitored automatically by prebriefed pattern.Using flight-line design software plan
Course line, course line are broadly divided into holding aircraft-horizontal fixed range of massif slope surface and extend along slope and keep aircraft-massif slope surface
Horizontal fixed range horizontal direction extends two kinds.Wherein, aircraft flies automatically according to the investigation course line of planning, what aircraft carried
Multi-spectral imager is during aircraft flight, automatic continuous filmed image.Multi-spectral imager keeps horizontal attitude shooting
Image, shooting azimuth are moved towards for vertical massif.Adjacent image keeps more than 3% weight in image captured by multi-spectral imager
Folded degree.
(3) wireless remotecontrol operation is carried out in selection, and remote manual control aircraft carries out filming image；Wherein, investigator's profit
Remote manual control flight is carried out to aircraft with ground control station.After aircraft lift-off, flight is measured in real time using laser range finder
Horizontal distance between device and massif utilizes CCD camera captured in real-time video image.According to real-time video Imaging Study aircraft
Flight environment of vehicle, remotely-piloted vehicle avoid possible obstacle；According to laser range finder data, remotely-piloted vehicle makes it be kept with massif
Predeterminated level distance；Multi-spectral imager posture is adjusted using holder, walks the horizontal and vertical massif of multi-spectral imager holding
To filmed image.Multi-spectral imager sequential shoot image, adjacent image keeps more than 3% degree of overlapping in captured image.
In embodiments of the present invention, step (2) and step (3) can be individually performed, and complete independently field investigation task also may be used
With in a survey tasks priority subregion be used in combination, it is comprehensive to complete field investigation task.
(4) indoor unmanned plane monitoring data image processing and analyzing, altitudinal vegetation zone structure recognition, result output.Using distant
Feel image processing software and free-air correction processing is carried out to every sub-picture, realize the space splicing of image；Existed using the different zones of vegetation
Spectrum, texture structure difference on remote sensing image carry out visual interpretation or computer automatic sorting, identification altitudinal vegetation zone boundary line；
The statistics measure analysis of altitudinal vegetation zone structure is completed using GIS software and result exports.
It is an advantage of the invention that：It is time saving and energy saving, the climbing sampling positioning up and down in mountainous region without investigation and monitoring personnel；It is reachable
Property it is good, the actual track in by manual research is not limited, and investigation result is representative more preferable；Mountainous region field investigation work can be reduced
In Personal Risk；Investigation result is handled using image analysis technology, and Vertical vegetation zone accuracy of identification is high, and positioning is more accurate.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.Specific embodiment described herein is only used for explaining the present invention, is not used to limit
The present invention.
As shown in Figure 1, the mountain garden belt based on unmanned plane monitors system by ground control station, flight camera system
And image processing and analyzing system three parts composition.Wherein flight camera system includes aircraft, communication system, satellite navigation system
System, five part of holder and remote sensor.Be different from current UAV system in geographical environment monitoring stress to overlook it is vertical
Mode is taken pictures or images, the main remote sensor horizontal direction detection of this system detection mode so as to obtain the vertical information of massif, is kept away
Exempt to overlook vertical the drawbacks of compressing vertical space distributed intelligence of taking pictures, prominent vertical Informational Expression, so as to preferably mountainous region is suitble to plant
By identifying and positioning for vertical band structure.
Dotted line indicates flight camera system two kinds of main course line extending directions in program-controlled operation in Fig. 1.In program-controlled flight
In the process, aircraft is relatively fixed with massif slope surface horizontal distance, and specific distance is according to predetermined detection requirement and multispectral imaging
Instrument specific performance parameter determines.
In Fig. 1 image processing and analyzing system can be directed to longitudinal image for being obtained of flight camera system carry out digital processing and
Analysis.
As shown in Fig. 2, the mountain garden belt monitoring method based on unmanned plane is made of five steps.It was embodied
Journey is as follows：
(1) control time, investigation method and investigation precision are determined.
According to Various Seasonal vegetation phenology feature, the tone and texture for selecting the different zones of vegetation are easily distinguished on remote sensing image
Time carry out investigation.Such as Mount Taibai south slope broad leaved and deciduous broad leaved forest belt and coniferous forest region, can choose autumn and winter is investigated, and is fallen leaves
It is relatively easy to distinguish from image tone with coniferous forest region after broad leaved forest zones vegetation fallen leaves.
Investigation method is broadly divided into program-controlled operating type and wireless remotecontrol operating type；Wherein, program-controlled operating type is
Refer to unmanned plane by program, the automatic flight operating type along prebriefed pattern.Wireless remotecontrol operating type refers to that investigator is led to
Cross the operating type that beeper manipulates unmanned plane during flying.There is in the case of topographic(al) data preferably program-controlled operating type.
Investigation precision according to specific survey tasks require depending on, for altitudinal vegetation zone investigate, generally require it is multispectral into
As the spatial resolution of instrument filmed image center pel is not less than 10 meters.According to survey tasks required precision and multispectral imaging
Instrument specific performance parameter determines the horizontal distance between aircraft and massif in survey tasks.
(2) it if investigation method is program-controlled operation, plans course line and is monitored automatically by prebriefed pattern.
Using flight-line design software plan course line, course line is broadly divided into holding aircraft-horizontal fixed range of massif slope surface
Extend along slope and the horizontal fixed range horizontal direction of aircraft-massif slope surface is kept to extend two kinds.Aircraft is according to the investigation of planning
Course line is flown automatically, and the multi-spectral imager that aircraft carries is during aircraft flight, automatic continuous filmed image.Shooting
Multi-spectral imager keeps horizontal during image, and shooting azimuth is moved towards for vertical massif.In image captured by multi-spectral imager
Adjacent image keeps more than 3% degree of overlapping.After completing planning airline operation task, terminate program-controlled operation.
(3) if investigation method is wireless remotecontrol operation, remote manual control aircraft carries out filming image.
Investigator carries out remote manual control flight using ground control station to aircraft.After aircraft lift-off, laser is utilized
Rangefinder measures the horizontal distance between aircraft and massif in real time, utilizes CCD camera captured in real-time video image.According to real-time
Video image observation flight device flight environment of vehicle, remotely-piloted vehicle avoid possible obstacle；According to laser range finder data, remote control flies
Row device makes it keep predeterminated level distance with massif；Multi-spectral imager posture is adjusted using holder, protects multi-spectral imager
Water holding is put down and vertical massif moves towards filmed image.Sequential shoot image, adjacent image is protected in image captured by multi-spectral imager
Hold more than 3% degree of overlapping.Behind image covering survey area, terminate radio remote sensing operation.
The step (2) and step (3) can be individually performed in a field investigation task, and complete independently field investigation is appointed
Business, priority subregion can also be used in combination in a survey tasks, comprehensive to complete survey tasks.
(4) indoor unmanned plane monitoring data image processing and analyzing, altitudinal vegetation zone structure recognition, result display output.
Free-air correction processing is carried out to every sub-picture using remote sensing image processing software, realizes the space splicing of image；Profit
Visual interpretation or computer automatic sorting are carried out with spectrum of the different zones of vegetation on remote sensing image, texture structure difference, is identified
Altitudinal vegetation zone boundary line；The statistics measure analysis of altitudinal vegetation zone structure is completed using GIS software；According to requiring
The various ways progress result such as selection table, image is shown and output.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made all within the spirits and principles of the present invention etc., should all include
Within protection scope of the present invention.
Claims (6)
- A kind of 1. mountain garden belt investigation and monitoring method based on unmanned plane, which is characterized in that include the following steps：S1：Determine control time, investigation method and investigation precision；Control time is determined according to Various Seasonal vegetation phenology feature, select the different zones of vegetation tone and texture in remote sensing image On time for easily distinguishing carry out investigation；The investigation method includes program-controlled operating type and wireless remotecontrol operating type；It is described Investigation precision is depending on the requirement of specific survey tasks；S2：If investigation method is program-controlled operating type, plans course line and monitored automatically by prebriefed pattern, obtain monitoring data； If investigation method is wireless remotecontrol operating type, remote manual control aircraft carries out filming image, obtains monitoring data；The course line includes：Aircraft-horizontal fixed range of massif slope surface is kept to extend along slope and keeps aircraft-massif slope surface Horizontal fixed range horizontal direction extension；S3：Free-air correction processing is carried out to every sub-picture in monitoring data, realizes the space splicing of image；And utilize different plants By spectrum, texture structure difference progress visual interpretation or computer automatic sorting of the band on remote sensing image, identify that vegetation is vertical Band boundary line；The statistics measure analysis of altitudinal vegetation zone structure is completed by GIS-Geographic Information System and result exports；In step S2, when investigation method is program-controlled operating type, aircraft flies automatically according to the investigation course line of planning, flight The multi-spectral imager that device carries is during aircraft flight, automatic continuous filmed image；Multi-spectral imager keeps horizontal attitude filmed image, and shooting azimuth is moved towards for vertical massif.
- 2. mountain garden belt investigation and monitoring method as described in claim 1, which is characterized in that multi-spectral imager is clapped Take the photograph the degree of overlapping that adjacent image in image keeps more than 3%.
- 3. mountain garden belt investigation and monitoring method as described in claim 1, which is characterized in that in step S2, work as investigation When mode is wireless remotecontrol operating type, remote manual control flight control is carried out to aircraft by ground control station；Aircraft After lift-off, measure the horizontal distance between aircraft and massif in real time using laser range finder, regarded using CCD camera captured in real-time Frequency image.
- 4. mountain garden belt investigation and monitoring method as claimed in claim 3, which is characterized in that according to real-time video image Observation flight device flight environment of vehicle, remotely-piloted vehicle avoid possible obstacle；According to laser range finder data, remotely-piloted vehicle makes it Predeterminated level distance is kept with massif.
- 5. the mountain garden belt investigation and monitoring method as described in claim 1 or 3, which is characterized in that adjusted using holder Multi-spectral imager posture makes the horizontal and vertical massif of multi-spectral imager holding move towards filmed image.
- 6. mountain garden belt investigation and monitoring method as claimed in claim 5, which is characterized in that multi-spectral imager sequence Filmed image, adjacent image keeps more than 3% degree of overlapping in captured image.
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| WO2018094583A1 (en) * | 2016-11-22 | 2018-05-31 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle obstacle-avoidance control method, flight controller and unmanned aerial vehicle |
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| CN107742276A (en) * | 2017-03-27 | 2018-02-27 | 苏州星宇测绘科技有限公司 | One kind is based on the quick processing system of the airborne integration of unmanned aerial vehicle remote sensing image and method |
| CN109767387A (en) * | 2018-12-26 | 2019-05-17 | 北京木业邦科技有限公司 | A kind of forest image acquiring method and device based on unmanned plane |
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| CN105527969A (en) | 2016-04-27 |
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