CN105676870A - Photo control point information collecting method and system based on unmanned plane - Google Patents
Photo control point information collecting method and system based on unmanned plane Download PDFInfo
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- CN105676870A CN105676870A CN201610032499.3A CN201610032499A CN105676870A CN 105676870 A CN105676870 A CN 105676870A CN 201610032499 A CN201610032499 A CN 201610032499A CN 105676870 A CN105676870 A CN 105676870A
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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
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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 provides a photo control point information collecting method and system based on an unmanned plane. The method comprises that a ground monitoring station determines the course of the unmanned plane according to remote sensing images including a photo control point collection area and DEM (Digital Elevation Model) data; after that the ground monitoring station finds that the unmanned plane reaches the photo control point collection area, the accurate position of a photo control point is determined according to the remote sensing images including the photo control point collection area and video images, of the photo control point collection area, returned by the unmanned plane; and after that unmanned plane drops in the accurate position of the photo control point, a photo control point information collecting instruction is sent to the unmanned plane. The ground monitoring station controls ON/OFF of the photo control point information collecting system in which the unmanned plane is integrated, information of the photo control point is collected and stored automatically, and a return instruction is sent to the unmanned plane so that the unmanned plane returns. People are not required to reach the site in the whole process to collect information of the photo control point automatically.
Description
Technical field
The present invention relates to field of aerial photography measurement, in particular to a kind of photo control point information collecting method based on unmanned plane and system.
Background technology
Photo control point is the photogrammetric basis resolving empty three encryptions and mapping, and the mensuration of its coordinate directly influences interior industry and becomes the mathematical accuracy of figure.
Along with the application of the development of surveying and mapping technology and satellite positioning tech, in correlation technique, measure the main dynamic satellite position system GPS RTK of employing as control and implement Photo-control points survey in conjunction with GPS static state method of reseptance. Main working process is: interior industry drafts plane and the sensor distributing of elevation photogrammetric control point surveying, field operation is made an on-the-spot survey on the spot, on-the-spot selected photo control point position, setting up GPS scope on known point position is base station (or CROS runs station continuously), movement station either statically or dynamically it is observed with GPS, both observe certain time simultaneously, and observation stings point and ornamenting after terminating on base map, records photo control point description of station. Through resolving afterwards, draw coordinate and the elevation information of mobile site.
In order to solve the problem that personnel are difficult to the field photogrammetric control point surveying of arrival area, a large amount of exploration has been done by units concerned. Study the one-tenth diagram technology of rare/few image dipole method on the one hand, even not want field photo control point can become figure less; Collect on the other hand, integrate photo control point information, set up photo control point storehouse, the whole nation. But in actual production, it is not necessary to the precision of field photo control point direct mapping is sometimes up to less than requiring. And, photo control point storehouse there is also problems, and one is that the photo control point of nationwide not yet all covers, and some areas still suffer from white space; Though two is that some region covers, but density is uncommon, some position is unreasonable; Three is the precision restriction having photo control point at present, it is difficult to meet the needs of the aspects such as large scale topographical map; Four is that atural object image in some photo control point regional extent changes greatly, and has been not suitable as photo control point and has used.
In the process realizing the present invention, inventor have found that in correlation technique and there is problems in that
In correlation technique, cannot avoiding field and carry out photo control point information gathering on the spot, the observation measured as control in the wild is all by manually the measurement devices such as gps antenna, receiver and spider being transported to scene in implementing, through leveling centering, implement GPS static state or GPSRTK dynamically observes.The area severe for the topography and geomorphologies such as forest, island, desert, desert, glacier and natural conditions or because of deathtraps such as radiation, toxic gas leakages, personnel cannot arrive, then cannot realize field photo control point information gathering, and then photo control point cannot be got, therefore precision clear area is become, this not only affects interior industry and becomes the mathematical accuracy of figure, even influences whether the progress of whole Surveying Engineering.
Summary of the invention
In view of this, the purpose of the embodiment of the present invention is in that to provide the method and system of a kind of photo control point information gathering based on unmanned plane, control unmanned plane by ground monitoring station and automatically obtain photo control point information, it is not necessary to manually go deep into scene and can complete the automatic collection of photo control point information.
First aspect, a kind of method embodiments providing photo control point information gathering based on unmanned plane, wherein, described method includes:
The course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station, and described course line is sent to described unmanned plane;
After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;
The data of the accurate location of described photo control point are sent to described unmanned plane by described ground monitoring station, and after monitoring described unmanned plane and drop to the position of described photo control point, send the instruction of photo control point information gathering to described unmanned plane;
After the instruction that described unmanned plane completes described photo control point information gathering is monitored at described ground monitoring station, send, to described unmanned plane, instruction of making a return voyage.
In conjunction with first aspect, embodiments provide the first possible implementation of above-mentioned first aspect, wherein, described ground monitoring station according to described in comprise photo control point pickup area remote sensing image and the video image of photo control point pickup area of described unmanned plane passback determine the accurate location of photo control point, including:
The base map in described photo control point region is chosen at described ground monitoring station from the described remote sensing image comprising photo control point pickup area;
The video image of the photo control point pickup area that described ground monitoring station returns according to described base map and described unmanned plane chooses the accurate location of photo control point, and determines the data of the accurate location of described photo control point.
In conjunction with first aspect, embodiments providing the implementation that the second of above-mentioned first aspect is possible, wherein, described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system and closes the instruction of photo control point information acquisition system;
The described instruction sending photo control point information gathering to described unmanned plane, including:
Described ground monitoring station sends the instruction opening photo control point information acquisition system to described unmanned plane, so that described unmanned plane opens photo control point information acquisition system, gathers and store the information of the described photo control point observed;
Described ground monitoring station sends the instruction closing photo control point information acquisition system to described unmanned plane, so that described unmanned plane closes described photo control point information acquisition system.
Possible implementation in conjunction with the second of first aspect, embodiments provide the third possible implementation of above-mentioned first aspect, wherein, described ground monitoring station sends the instruction closing photo control point information acquisition system to described unmanned plane, also includes:
The dump energy of described unmanned plane is monitored at described ground monitoring station;
When the dump energy of described unmanned plane reaches energy threshold, then close the instruction of photo control point information acquisition system to described unmanned plane.
Second aspect, embodiments provides the another kind of photo control point information collecting method based on unmanned plane, and wherein, described method includes:
Unmanned plane receives the course line that ground monitoring station sends, according to described airline operation;
When described unmanned plane receives the video image acquisition instruction that described ground monitoring station sends, gather video image and transmit to described ground monitoring station;
After described unmanned plane receives the data of the accurate location of the photo control point that described ground monitoring station sends, drop to the accurate location of described photo control point;
When described unmanned plane receives the photo control point information gathering instruction that described ground monitoring station sends, gather the information of described photo control point;
When described unmanned plane receives the instruction of making a return voyage that described ground monitoring station sends, go up to the air from the accurate location of described photo control point and make a return voyage.
In conjunction with second aspect, embodiments providing the first possible implementation of above-mentioned second aspect, wherein, described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system and closes the instruction of photo control point information acquisition system;
The described photo control point information gathering instruction receiving the transmission of described ground monitoring station when described unmanned plane, gathers the information of described photo control point, including:
When described unmanned plane receives the instruction opening photo control point information acquisition system that described ground monitoring station sends, then open photo control point information acquisition system, gather and store the information of described photo control point;
When described unmanned plane receives the instruction closing photo control point information acquisition system that described ground monitoring station sends, then close photo control point information acquisition system.
The third aspect, embodiments provides the system of a kind of photo control point information gathering based on unmanned plane, and wherein, described system includes: ground monitoring station and unmanned plane, wherein,
Described ground monitoring station includes:
Flight course planning module, for the course line according to the remote sensing image and digital elevation model dem data planning unmanned plane that comprise photo control point pickup area;
Data link transmission module, for being sent to described unmanned plane by described course line;
Monitoring module, is used for monitoring whether described unmanned plane arrives described photo control point pickup area;
Module is determined in photo control point position, for, after described monitoring module monitors to described unmanned plane arrives described photo control point pickup area, determining the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;
Described data link transmission module, the data being additionally operable to the accurate location by described photo control point are sent to described unmanned plane;
Described monitoring module, is additionally operable to monitor whether described unmanned plane drops to the accurate location of described photo control point;
Described number passes link transmission module, is additionally operable to after described monitoring module monitors the accurate location that described unmanned plane drops to described photo control point, sends the instruction of photo control point information gathering to described unmanned plane;
Described monitoring module, is additionally operable to monitor whether described unmanned plane completes the instruction of described photo control point information gathering;
Described number passes link transmission module, is additionally operable to after described monitoring module monitors the instruction that described unmanned plane completes described photo control point information gathering, sends, to described unmanned plane, instruction of making a return voyage;
Described unmanned plane, including:
Flight module, for receiving the course line that described ground monitoring station sends, navigates by water according to described course line;
Video image acquisition module, for when receiving the video image acquisition instruction that described ground monitoring station sends, gathering video image;
Transmission of video images module, for the transmission of video images extremely described ground monitoring station described video image acquisition module collected;
Described flight module, is additionally operable to, after receiving the data of accurate location of the photo control point that described ground monitoring station sends, drop to the accurate location of described photo control point;
Photo control point information acquisition module, for when receiving the photo control point information gathering instruction that described ground monitoring station sends, gathering the information of described photo control point;
Described flight module, is additionally operable to after receiving the instruction of making a return voyage that described ground monitoring station sends, and goes up to the air from the position of described photo control point and makes a return voyage.
In conjunction with the third aspect, embodiments providing the first possible implementation of the above-mentioned third aspect, wherein, module is determined in described photo control point position, including:
Choose unit, for choosing the base map in described photo control point region from the described remote sensing image comprising photo control point pickup area;
Determining unit, the video image of the photo control point pickup area for returning according to described base map and described unmanned plane chooses the accurate location of photo control point, and determines the data of the accurate location of described photo control point.
In conjunction with the third aspect, embodiments providing the implementation that the second of the above-mentioned third aspect is possible, wherein, described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system, close the instruction of photo control point information acquisition system;
Described number passes link transmission module, also includes:
Open command transmitting element, for sending the instruction opening photo control point information acquisition system to described unmanned plane, so that described unmanned plane opens photo control point information acquisition system, gathers and stores the information of the photo control point observed;
Described photo control point information acquisition module, including:
Collecting unit, for when receiving the instruction opening photo control point information acquisition system that described ground monitoring station sends, opening described photo control point information acquisition system, gathers and stores the information of the described photo control point observed;
Described number passes link transmission module, also includes: out code transmitting element, for sending the instruction closing photo control point information acquisition system to described unmanned plane, so that described unmanned plane closes described photo control point information acquisition system;
Described photo control point information acquisition module, also includes: closing unit, for when receiving the instruction closing photo control point information acquisition system that described ground monitoring station sends, then closing described photo control point information acquisition system.
In conjunction with the third aspect, embodiments provide the third possible implementation of the above-mentioned third aspect, wherein, described monitoring module, it is additionally operable to monitoring station and monitors the dump energy of described unmanned plane;
Described out code transmitting element, the dump energy being additionally operable to work as described unmanned plane reaches energy threshold, then close the instruction of photo control point information acquisition system to described unmanned plane.
In the photo control point information collecting method based on unmanned plane and system of embodiment of the present invention offer, the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station; After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;And after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane. Being controlled, by ground monitoring station, the photo control point information acquisition system start that unmanned plane is integrated, automatically gather and store the information of photo control point, collection sends, to described unmanned plane, instruction of making a return voyage after terminating makes described unmanned plane make a return voyage. Whole process can complete the automatic collection of photo control point information without manually going deep into scene.
For making the above-mentioned purpose of the present invention, feature and advantage to become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, it is described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, the accompanying drawing used required in embodiment will be briefly described below, it is to be understood that, the following drawings illustrate only certain embodiments of the present invention, therefore the restriction to scope it is not construed as, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 illustrates the flow chart of the method for the photo control point information gathering based on unmanned plane of the side, ground monitoring station that the embodiment of the present invention 1 provides;
Fig. 2 illustrates the flow chart of the method for the photo control point information gathering based on unmanned plane of the unmanned pusher side that the embodiment of the present invention 2 provides;
Fig. 3 illustrates the structure chart of the system of the photo control point information gathering based on unmanned plane that the embodiment of the present invention 3 provides;
Fig. 4 illustrates the structure chart at the ground monitoring station of the system of the photo control point information gathering based on unmanned plane that the embodiment of the present invention 3 provides;
Fig. 5 illustrates the structure chart of the unmanned plane of the system of the photo control point information gathering based on unmanned plane that the embodiment of the present invention 3 provides.
Detailed description of the invention
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments. Generally can with various different configurations arrange and design with the assembly of the embodiment of the present invention that illustrate described in accompanying drawing herein. Therefore, below the detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed the scope of the present invention, but is merely representative of the selected embodiment of the present invention. Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the premise not making creative work, broadly fall into the scope of protection of the invention.
Considering in correlation technique, some Field Force cannot arrive, then cannot realize field photo control point information gathering, and then photo control point cannot be got, therefore becoming precision clear area, this not only affects interior industry and becomes the mathematical accuracy of figure, even influences whether the progress of whole Surveying Engineering. Based on this, the present invention provides the method and system of a kind of photo control point information gathering based on unmanned plane, controls unmanned plane by ground monitoring station and automatically obtains photo control point information, it is not necessary to manually gos deep into scene and can complete the automatic collection of photo control point information.
Monitoring station side, 1 pair of ground is described by the examples below.
Embodiment 1
Shown in Figure 1, the flow chart of the method for the photo control point information gathering based on unmanned plane is provided for the embodiment of the present invention, specifically includes following steps:
Step 101: the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station, and described course line is sent to described unmanned plane;
Before carrying out photo control point information gathering, ground monitoring station is according to the existing airborne and spaceborne RS image comprising photo control point pickup area, selected described photo control point pickup area, the i.e. outline point position of photo control point, afterwards in conjunction with digital elevation model dem data, it is determined that unmanned plane during flying is to the course line of described photo control point pickup area, and described course line is sent to described unmanned plane, after described unmanned plane receives described course line, according to the pickup area of described airline operation to described photo control point.
Step 102, arriving after described photo control point pickup area when described ground monitoring station monitors described unmanned plane, the video image of the photo control point pickup area returned according to the described remote sensing image comprising photo control point pickup area and described unmanned plane determines the accurate location of photo control point;
Wherein, unmanned plane is mounted with video image acquisition device and self poisoning system, the ground monitoring station self poisoning system according to described unmanned plane, monitors the position of described unmanned plane.
When monitoring described unmanned plane during flying to after described photo control point pickup area, the instruction of video image acquisition is sent to described unmanned plane, described unmanned plane gathers image according to the video image acquisition device self installed, and described image returns to described ground monitoring station in real time.
The base map in described photo control point region is chosen at ground monitoring station from the existing remote sensing image comprising photo control point pickup area, the image returned according to described base map and described unmanned plane by operator selects suitable position as the position of photo control point from described photo control point pickup area, ground monitoring station obtains the position of the photo control point that operator select, it is determined that the accurate location of this photo control point and the data of accurate location.
It should be noted that, when selecting the position of photo control point, can according to the image of the base map in the photo control point region chosen and passback, avoid position that aircraft cannot land as photo control point, and, the required precision that in working in view of mapping, data process, photo control point information gathering must be steady and continuous carry out the static observation of a period of time, therefore, unmanned plane must drop to after on the some position of selected photo control point, opens photo control point information collecting device and carries out static observation.
Photo control point can be elected to be and must have following four condition: a, can clearly differentiate on airborne and spaceborne RS image map and be characteristic point position; B, clearly to differentiate on the video image of passback in real time; C, carrying platform to have the space of safe landing; D, unobstructed within the scope of 100m around some position. As Rule of judgment, rely on the video image of passback in real time, in conjunction with accuracy and the enforceability of image map on a large scale and original resolution remote sensing image comprehensive descision point position.
The data of the accurate location of described photo control point are sent to described unmanned plane by step 103, described ground monitoring station, and after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane.
After determining the accurate location of photo control point, the data of the accurate location of the photo control point determined are sent to described unmanned plane, described unmanned plane receives described data and drops to the some position that described data are corresponding, when ground monitoring station monitors after described unmanned plane drops to the some position that described data are corresponding, send the instruction of photo control point information gathering to described unmanned plane.
Wherein, the instruction of photo control point information gathering includes: opens the instruction of photo control point information acquisition system and closes the instruction of photo control point information acquisition system.
Ground monitoring station sends the instruction opening photo control point information acquisition system to described unmanned plane, after described unmanned plane receives this instruction, send pulse signal to photo control point information acquisition system and open photo control point information acquisition system, by photo control point information acquisition system automatically to the information of this photo control point and store.
The dump energy of described unmanned plane is monitored at ground monitoring station in real time, owing to photo control point information acquisition system also can the energy of loss unmanned plane, make a return voyage safely in order to ensure unmanned function, ground monitoring station calculates the energy threshold of unmanned plane, when the dump energy monitoring described unmanned plane reaches this energy threshold, the instruction closing photo control point information acquisition system is then sent to described unmanned plane, or, guarantee to gather after photo control point information at the information acquisition system of unmanned plane under the premise that unmanned function is maked a return voyage safely, sent the instruction closing photo control point information acquisition system to described unmanned plane by ground monitoring station.
Described unmanned plane receives the instruction closing photo control point information acquisition system, sends pulse signal to photo control point acquisition system and closes photo control point information acquisition system.
Step 104, when described ground monitoring station is monitored after described unmanned plane completes the instruction of described photo control point information gathering, send, to described unmanned plane, instruction of making a return voyage.
Wherein it is desired to it is noted that can return according to original course line when unmanned plane returns, or it is that described unmanned plane plans other course lines by ground monitoring station.
In the photo control point information collecting method based on unmanned plane and system of embodiment of the present invention offer, the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station; After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback; And after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane. Being controlled, by ground monitoring station, the photo control point information acquisition system start that unmanned plane is integrated, automatically gather and store the information of photo control point, collection sends, to described unmanned plane, instruction of making a return voyage after terminating makes described unmanned plane make a return voyage. Whole process can complete the automatic collection of photo control point information without manually going deep into scene.
2 pairs are described based on the unmanned pusher side of the method for the photo control point information gathering of unmanned plane by the examples below.
Embodiment 2
Shown in Figure 2, for the flow chart of method of the photo control point information gathering based on unmanned plane that the embodiment of the present invention provides, the method, with unmanned plane for performing subject, specifically includes following steps:
Step 201, unmanned plane receive the course line that ground monitoring station sends, and navigate by water according to described course line;
Unmanned plane is transformed by the present invention, is integrated with photo control point information acquisition system, and realizes the effective control to the switching on and shutting down of photo control point information acquisition system, information storage, meanwhile, is also integrated with the collection of video image, real-time Transmission link.
When unmanned plane receives the course line that ground monitoring station sends, navigate by water according to described course line, it should be noted that unmanned plane simply reaches the general location of photo control point according to course line, does not land.
Step 202, when described unmanned plane receives the video image acquisition instruction that described ground monitoring station sends, gather video image and transmit extremely described ground monitoring station;
Wherein, unmanned plane is mounted with video image acquisition device and self poisoning system, the ground monitoring station self poisoning system according to described unmanned plane, monitor the position of described unmanned plane, when monitoring described unmanned plane during flying to after described photo control point pickup area, send the instruction of video image acquisition to described unmanned plane, the image collected is back to described ground monitoring station by image collecting device by unmanned plane in real time.
Step 203, when described unmanned plane receive described ground monitoring station send photo control point accurate location data after, drop to the accurate location of described photo control point;
After ground monitoring station determines the accurate location of photo control point, it is to be determined to the data of accurate location of photo control point be sent to described unmanned plane, described unmanned plane drop on this photo control point point position.
Step 204, when described unmanned plane receive described ground monitoring station send photo control point information gathering instruction, gather the information of described photo control point.
Wherein, described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system, close the instruction of photo control point information acquisition system;
When receiving the instruction opening photo control point information acquisition system that described ground monitoring station sends, then open described photo control point information acquisition system, gather and store described photo control point for information about;
When receiving the instruction closing photo control point information acquisition system that described ground monitoring station sends, then close described photo control point information acquisition system.
It should be noted that unmanned plane received the reception order of the instruction opening photo control point information acquisition system in photo control point information gathering instruction before closing the instruction of photo control point information acquisition system.
Step 205, when described unmanned plane receives the instruction of making a return voyage that described ground monitoring station sends, go up to the air from the accurate location of described photo control point and make a return voyage.
When unmanned plane receives the instruction of making a return voyage that ground monitoring station sends, then make a return voyage according to the course back lift-off of ground monitoring station planning.
Wherein it is desired to it is noted that can return according to original course line when unmanned plane returns, or it is that described unmanned plane plans other course lines by ground monitoring station.
In the photo control point information collecting method based on unmanned plane and system of embodiment of the present invention offer, the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station; After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback; And after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane. Being controlled, by ground monitoring station, the photo control point information acquisition system start that unmanned plane is integrated, automatically gather and store the information of photo control point, collection sends, to described unmanned plane, instruction of making a return voyage after terminating makes described unmanned plane make a return voyage. Whole process can complete the automatic collection of photo control point information without manually going deep into scene.
Below in conjunction with concrete application scenarios, the above-mentioned method based on the photo control point information gathering of unmanned plane of the present invention being described in detail, unmanned plane is for rotor wing unmanned aerial vehicle.
First, the rotor wing unmanned aerial vehicle performing photo control point information gathering is integrated with the double-frequency GPS equipment of photo control point information gathering, and is capable of the effective control to the switching on and shutting down of double-frequency GPS equipment, power supply, information storage etc. In order to save space and weight, the storage part of exploitation double-frequency GPS equipment plate card level product, it is achieved binary system is containing the record of carrier phase information file; Double-frequency GPS equipment plate card is integrated in flight control assemblies and encapsulates, and the Combined Calculation of realization and original airborne IMU data, data after storage resolving; Exploitation flight controls to trigger double-frequency GPS equipment switching on and shutting down pulse command, it is achieved automatically controls GPS switching on and shutting down, implements static observation.
Secondly, rotor wing unmanned aerial vehicle is also integrated with the collecting device of video image and the real-time Transmission link of video image, and after video image acquisition, energy real-time Transmission is to ground monitoring station; Achieve the acquisition of rotor wing unmanned aerial vehicle video image and Air-Ground figure and pass the real-time Transmission of link.
3rd, ground monitoring station is integrated with the remote sensing image in the acquisition range of photo control point point position, realize the quickly display of GB level massive remote sensing image, mobile and convergent-divergent, and the intercepting of little scope (511 × 511 pixel) original resolution image and display. The mode that ground monitoring station is conventionally monitored shows important monitoring parameter during rotor wing unmanned aerial vehicle flight, as flying height, air speed, ground velocity, satellite number, total voltage and steering wheel voltage, voyage show, flight attitude etc. Secondly, it is necessary to load image map, according to the requirement of photo control point information gathering, a range of Aero-Space image in photo control point pre-reconnaissance position is loaded. The Aero-Space image being not less than 5GB can be loaded. Image map needs band latitude and longitude coordinates, and can realize fast browsing, translation and convergent-divergent. And, after rotor wing unmanned aerial vehicle flies to previously selected photo control point pickup area according to instruction, the image map at ground monitoring station shows rotor wing unmanned aerial vehicle position in real time, for instance, being marked out with red " aircraft " on base map its position, travel track shows with red line. Further, it is also possible to the interfaces windows at ground monitoring station shows the video image of acquisition in real time. Further, after collecting photo control point dot information, utilize the coordinate information of institute's reconnaissance position of airborne and spaceborne RS image map and carrying platform record, Auto-writing photo control point information.
Concrete photo control point information gathering is as follows:
Step 1, take off before test-based examination. Test relevant device before taking off, mainly include the pre-takeoff check of rotor wing unmanned aerial vehicle, the switching on and shutting down test of ground monitoring station control double-frequency GPS equipment, video image test transmission etc. Before task starts, perform the initialization operation of photo control point information collecting device.
Step 2, the outline point position according to the selected photo control point of the remote sensing image comprising photo control point pickup area, the ground monitoring station, in conjunction with existing dem data, accurately plan the line of flight, and described course line be sent to described rotor wing unmanned aerial vehicle.
After step 3, rotor wing unmanned aerial vehicle receive this course line, according to this airline operation, wherein, this rotor wing unmanned aerial vehicle has self poisoning system and (is different from integrated double-frequency GPS equipment, in order to save energy, the present invention, when not receiving the instruction of collection information, will not open double-frequency GPS equipment, the alignment system only utilizing rotor wing unmanned aerial vehicle self positions), the position of this rotor wing unmanned aerial vehicle is monitored according to the alignment system of this rotor wing unmanned aerial vehicle self in ground monitoring station.
Step 4, after monitoring the described rotor wing unmanned aerial vehicle described photo control point pickup area of arrival (namely outline point position), the instruction of video image acquisition is sent to described rotor wing unmanned aerial vehicle, utilize the real-time Transmission link of video image by the image transmitting that gathers to ground monitoring station, ground monitoring station is based on large-scale remote sensing image base map, grasp the approximate location of rotor wing unmanned aerial vehicle, this region original resolution image (511 × 511 pixel) is transferred centered by rotor wing unmanned aerial vehicle, operator return image in conjunction with this region original resolution image and video, analyze its reasonability as photo control point point position, and the risk of its landing of comprehensive descision, and then select suitable some position as the position of photo control point, ground monitoring station obtains the position of the photo control point that operator select, and determine the data of the position of this photo control point.
It should be noted that rotor wing unmanned aerial vehicle self is according to the course line navigation determined, will not land before being not received by the photo control point position that ground monitoring station sends.
Step 5, the position data of described photo control point is sent to described flight equipment, control it to land in the position of photo control point, and after monitoring rotor wing unmanned aerial vehicle and drop to the position of described photo control point, send the instruction of photo control point information gathering to described flight equipment, control double-frequency GPS device power-up and carry out static observation data acquisition. In the process, by comparing with the energy threshold arranged, send out code to rotor wing unmanned aerial vehicle, close double-frequency GPS equipment. And send, to flight equipment, instruction of making a return voyage, command rotor wing unmanned aerial vehicle automatic takeoff, make a return voyage.
Wherein, when implementing photo control point information gathering, the electric power required for saving continuation of the journey, needs flight control system to control double-frequency GPS equipment in flight course and does not record data, be in standby condition, after rotor wing unmanned aerial vehicle flying platform lands on the photo control point determined and comes to a complete stop, for ensureing that platform is steady, reducing engine vibration impact, and also to saves energy, all engine cutoffs, and control double-frequency GPS device power-up, recording-related information. After photo control point information gathering terminates, control electromotor start is taken off and is maked a return voyage.
The photo control point information that step 6, derivation gather, carries out data resolving, utilizes photo control point position coordinate information, in conjunction with the original scale chi remote sensing image of 511 × 511 pixels centered by institute's reconnaissance position transferred, Auto-writing photo control point description of station.
In the photo control point information collecting method based on unmanned plane and system of embodiment of the present invention offer, the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station; After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback; And after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane. Being controlled, by ground monitoring station, the photo control point information acquisition system start that unmanned plane is integrated, automatically gather and store the information of photo control point, collection sends, to described unmanned plane, instruction of making a return voyage after terminating makes described unmanned plane make a return voyage. Whole process can complete the automatic collection of photo control point information without manually going deep into scene.
Embodiment 3
Shown in Figure 3, for the structure chart of system of the photo control point information gathering based on unmanned plane that the embodiment of the present invention provides, including: ground monitoring station and unmanned plane.
Referring to Fig. 4, for the structure chart at described ground monitoring station, specifically include:
Flight course planning module 41, for the course line according to the remote sensing image and digital elevation model dem data planning unmanned plane that comprise photo control point pickup area;
Data link transmission module 42, for being sent to described unmanned plane by described course line;
Monitoring module 43, is used for monitoring whether described unmanned plane arrives described photo control point pickup area;
Module 44 is determined in photo control point position, for, after described monitoring modular 43 monitors the described unmanned plane described photo control point pickup area of arrival, determining the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;
Described data link transmission module 42, the data being additionally operable to the accurate location by described photo control point are sent to described unmanned plane;
Described monitoring module 43, is additionally operable to monitor whether described unmanned plane drops to the accurate location of described photo control point;
Described data link transmission module 42, is additionally operable to after described monitoring module 43 monitors the accurate location that described unmanned plane drops to described photo control point, sends the instruction of photo control point information gathering to described unmanned plane;
Described monitoring module 43, is additionally operable to monitor whether described unmanned plane completes the instruction of described photo control point information gathering;
Described number passes link transmission module 42, is additionally operable to after described monitoring module monitors the instruction that described unmanned plane completes described photo control point information gathering, sends, to described unmanned plane, instruction of making a return voyage;
Shown in Figure 5, for the structure chart of described unmanned plane, including:
Flight module 51, for receiving the course line that described ground monitoring station sends, according to described airline operation;
Video image acquisition module 52, for when receiving the video image acquisition instruction that described ground monitoring station sends, gathering video image;
Transmission of video images module 53, for the transmission of video images extremely described ground monitoring station described video image acquisition module collected;
Described flight module 51, is additionally operable to, after receiving the data of accurate location of the photo control point that described ground monitoring station sends, drop to the accurate location of described photo control point;
Photo control point information acquisition module 54, for receiving the photo control point information gathering instruction that described ground monitoring station sends, gathering the information of described photo control point;
Described flight module 51, is additionally operable to after receiving the instruction of making a return voyage that described ground monitoring station sends, and goes up to the air from the position of described photo control point and makes a return voyage.
Wherein, module 44 is determined in described photo control point position, including:
Choose unit, for choosing the base map in described photo control point region from the described remote sensing image comprising photo control point pickup area;
Determining unit, the video image of the photo control point pickup area for returning according to described base map and described unmanned plane chooses the accurate location of photo control point, and determines the data of the accurate location of described photo control point.
Wherein, described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system, close the instruction of photo control point information acquisition system;
Described data link transmission module 42, also includes:
Open command transmitting element, for sending the instruction opening photo control point information acquisition system to described unmanned plane, so that described unmanned plane opens photo control point information acquisition system, gathers and stores the information of the described photo control point observed;
Described photo control point information acquisition module 54, including:
Collecting unit, for when receiving the instruction opening photo control point information acquisition system that described ground monitoring station sends, opening described information acquisition system, gather and store the information of photo control point;
Described data link transmission module 42, also includes: out code transmitting element, for sending the instruction closing photo control point information acquisition system to described unmanned plane, so that described unmanned plane closes described photo control point information acquisition system.
Described photo control point information acquisition module 53, also includes: closing unit, for when receiving the instruction closing photo control point information acquisition system that described ground monitoring station sends, then closing described photo control point information acquisition system.
Wherein, described monitoring module 43, it is additionally operable to monitoring station and monitors the dump energy of described unmanned plane;
Described out code transmitting element, the dump energy being additionally operable to work as described unmanned plane reaches energy threshold, then close the instruction of photo control point information acquisition system to described unmanned plane.
In the photo control point information collecting method based on unmanned plane and system of embodiment of the present invention offer, the course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station; After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback; And after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane. Being controlled, by ground monitoring station, the photo control point information acquisition system start that unmanned plane is integrated, automatically gather and store the information of photo control point, collection sends, to described unmanned plane, instruction of making a return voyage after terminating makes described unmanned plane make a return voyage. Whole process can complete the automatic collection of photo control point information without manually going deep into scene.
Ground monitoring station, unmanned plane and the system that the embodiment of the present invention provides can be the specific hardware on equipment or be installed on the software on equipment or firmware etc. Those skilled in the art is it can be understood that arrive, for convenience and simplicity of description, the specific works process of device described above, module and unit, all it is referred to the corresponding process in said method embodiment.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is possible to realize by another way. Device embodiment described above is merely schematic, such as, the division of described unit, it is only a kind of logic function to divide, actual can have other dividing mode when realizing, again such as, multiple unit or assembly can in conjunction with or be desirably integrated into another system, or some features can ignore, or do not perform. Another point, shown or discussed coupling each other or direct-coupling or communication connection can be through INDIRECT COUPLING or the communication connection of some communication interfaces, device or unit, it is possible to be electrical, machinery or other form.
The described unit illustrated as separating component can be or may not be physically separate, and the parts shown as unit can be or may not be physical location, namely may be located at a place, or can also be distributed on multiple NE. Some or all of unit therein can be selected according to the actual needs to realize the purpose of the present embodiment scheme.
It addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it is also possible to be that unit is individually physically present, it is also possible to two or more unit are integrated in a unit.
If described function is using the form realization of SFU software functional unit and as independent production marketing or use, it is possible to be stored in a computer read/write memory medium. Based on such understanding, part or the part of this technical scheme that prior art is contributed by technical scheme substantially in other words can embody with the form of software product, this computer software product is stored in a storage medium, including some instructions with so that a computer equipment (can be personal computer, server, or the network equipment etc.) perform all or part of step of method described in each embodiment of the present invention.And aforesaid storage medium includes: USB flash disk, portable hard drive, read only memory (ROM, Read-OnlyMemory), the various media that can store program code such as random access memory (RAM, RandomAccessMemory), magnetic disc or CD.
The above; being only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any those familiar with the art is in the technical scope that the invention discloses; change can be readily occurred in or replace, all should be encompassed within protection scope of the present invention. Therefore, protection scope of the present invention should described be as the criterion with scope of the claims.
Claims (10)
1. the photo control point information collecting method based on unmanned plane, it is characterised in that described method includes:
The course line of unmanned plane is determined according to the remote sensing image comprising photo control point pickup area and digital elevation model dem data in ground monitoring station, and described course line is sent to described unmanned plane;
After described ground monitoring station monitors the described unmanned plane described photo control point pickup area of arrival, determine the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;
The data of the accurate location of described photo control point are sent to described unmanned plane by described ground monitoring station, and after monitoring described unmanned plane and drop to the accurate location of described photo control point, send the instruction of photo control point information gathering to described unmanned plane;
After the instruction that described unmanned plane completes described photo control point information gathering is monitored at described ground monitoring station, send, to described unmanned plane, instruction of making a return voyage.
2. the method for claim 1, it is characterised in that described ground monitoring station according to described in comprise photo control point pickup area remote sensing image and the video image of photo control point pickup area of described unmanned plane passback determine the accurate location of photo control point, including:
The base map in described photo control point region is chosen at described ground monitoring station from the described remote sensing image comprising photo control point pickup area;
The video image of the photo control point pickup area that described ground monitoring station returns according to described base map and described unmanned plane chooses the accurate location of photo control point, and determines the data of the accurate location of described photo control point.
3. the method for claim 1, it is characterised in that
Described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system and closes the instruction of photo control point information acquisition system;
The described instruction sending photo control point information gathering to described unmanned plane, including:
Described ground monitoring station sends the instruction opening photo control point information acquisition system to described unmanned plane, so that described unmanned plane opens photo control point information acquisition system, gathers and store the information of the described photo control point observed;
Described ground monitoring station sends the instruction closing photo control point information acquisition system to described unmanned plane, so that described unmanned plane closes described photo control point information acquisition system.
4. method as claimed in claim 3, it is characterised in that described ground monitoring station sends the instruction closing photo control point information acquisition system to described unmanned plane, also includes:
The dump energy of described unmanned plane is monitored at described ground monitoring station;
When the dump energy of described unmanned plane reaches energy threshold, then to the instruction of described unmanned plane closing information acquisition system.
5. the photo control point information collecting method based on unmanned plane, it is characterised in that described method includes:
Unmanned plane receives the course line that ground monitoring station sends, and navigates by water according to described course line;
When described unmanned plane receives the video image acquisition instruction that described ground monitoring station sends, gather video image and transmit to described ground monitoring station;
After described unmanned plane receives the data of the accurate location of the photo control point that described ground monitoring station sends, drop to the accurate location of described photo control point;
When described unmanned plane receives the photo control point information gathering instruction that described ground monitoring station sends, gather the information of described photo control point;
When described unmanned plane receives the instruction of making a return voyage that described ground monitoring station sends, go up to the air from the accurate location of described photo control point and make a return voyage.
6. method as claimed in claim 4, it is characterised in that
Described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system and closes the instruction of photo control point information acquisition system;
The described photo control point information gathering instruction receiving the transmission of described ground monitoring station when described unmanned plane, gathers the information of described photo control point, including:
When described unmanned plane receives the instruction opening photo control point information acquisition system that described ground monitoring station sends, then open photo control point information acquisition system, gather and store the information of the described photo control point observed;
When described unmanned plane receives the instruction closing photo control point information acquisition system that described ground monitoring station sends, then close photo control point information acquisition system.
7. the photo control point information acquisition system based on unmanned plane, it is characterised in that described system includes: ground monitoring station and unmanned plane, wherein,
Described ground monitoring station includes:
Flight course planning module, for the course line according to the remote sensing image and digital elevation model dem data planning unmanned plane that comprise photo control point pickup area;
Number passes link transmission module, for described course line is sent to described unmanned plane;
Monitoring module, is used for monitoring whether described unmanned plane arrives described photo control point pickup area;
Module is determined in photo control point position, for, after described monitoring module monitors to described unmanned plane arrives described photo control point pickup area, determining the accurate location of photo control point according to the video image of the described remote sensing image comprising photo control point pickup area and the photo control point pickup area of described unmanned plane passback;
Described data link transmission module, the data being additionally operable to the accurate location by described photo control point are sent to described unmanned plane;
Described monitoring module, is additionally operable to monitor whether described unmanned plane drops to the accurate location of described photo control point;
Described number passes link transmission module, is additionally operable to after described monitoring module monitors the accurate location that described unmanned plane drops to described photo control point, sends the instruction of photo control point information gathering to described unmanned plane;
Described monitoring module, is additionally operable to monitor whether described unmanned plane completes the instruction of described photo control point information gathering;
Described number passes link transmission module, is additionally operable to after described monitoring module monitors the instruction that described unmanned plane completes described photo control point information gathering, sends, to described unmanned plane, instruction of making a return voyage;
Described unmanned plane, including:
Flight module, for receiving the course line that described ground monitoring station sends, according to described airline operation;
Video image acquisition module, for when receiving the video image acquisition instruction that described ground monitoring station sends, gathering video image;
Transmission of video images module, for the transmission of video images extremely described ground monitoring station described video image acquisition module collected;
Described flight module, is additionally operable to, after receiving the data of accurate location of the photo control point that described ground monitoring station sends, drop to the accurate location of described photo control point;
Photo control point information acquisition module, for when receiving the photo control point information gathering instruction that described ground monitoring station sends, gathering the information of described photo control point;
Described flight module, is additionally operable to after receiving the instruction of making a return voyage that described ground monitoring station sends, and goes up to the air from the position of described photo control point and makes a return voyage.
8. system as claimed in claim 7, it is characterised in that module is determined in described photo control point position, including:
Choose unit, for choosing the base map in described photo control point region from the described remote sensing image comprising photo control point pickup area;
Determining unit, the video image of the photo control point pickup area for returning according to described base map and described unmanned plane chooses the accurate location of photo control point, and determines the data of the accurate location of described photo control point.
9. system as claimed in claim 7, it is characterised in that
Described photo control point information gathering instruction includes: opens the instruction of photo control point information acquisition system, close the instruction of photo control point information acquisition system;
Described number passes link transmission module, also includes:
Open command transmitting element, for sending the instruction opening photo control point information acquisition system to described unmanned plane, so that described unmanned plane opens photo control point information acquisition system, gathers and stores the information of the photo control point observed;
Described photo control point information acquisition module, including:
Collecting unit, for when receiving the instruction opening photo control point information acquisition system that described ground monitoring station sends, opening described photo control point information acquisition system, gathers and stores the information of the described photo control point observed;
Described number passes link transmission module, also includes: out code transmitting element, for sending the instruction closing photo control point information acquisition system to described unmanned plane, so that described unmanned plane closes described photo control point information acquisition system;
Described photo control point information acquisition module, also includes: closing unit, for when receiving the instruction closing photo control point information acquisition system that described ground monitoring station sends, then closing described photo control point information acquisition system.
10. system as claimed in claim 9, it is characterised in that
Described monitoring module, is additionally operable to monitoring station and monitors the dump energy of described unmanned plane;
Described out code transmitting element, the dump energy being additionally operable to work as described unmanned plane reaches energy threshold, then close the instruction of photo control point information acquisition system to described unmanned plane.
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