CN105910639B - A kind of course line dividing method and system based on flex point - Google Patents
A kind of course line dividing method and system based on flex point Download PDFInfo
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- CN105910639B CN105910639B CN201610202055.XA CN201610202055A CN105910639B CN 105910639 B CN105910639 B CN 105910639B CN 201610202055 A CN201610202055 A CN 201610202055A CN 105910639 B CN105910639 B CN 105910639B
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Abstract
The present invention discloses a kind of course line dividing method and system based on flex point.Obtain course line tracing point；Sampled according to course line track according to predetermined interval N, obtain course line sampled point；Calculate sampled point and before the course angle difference between sampled point；Judge whether difference is more than threshold value, obtain the first judged result；The distance of adjacent bigness scale course line flex point is calculated, determines flex point average distance threshold value；Judge whether the distance between adjacent two flex point is more than flex point average distance threshold value, obtain the second judged result；According to long leg and short leg, it is determined that carefully surveying course line flex point.It by the course line dividing method based on flex point in the application, can realize that course in aerial survey changes the flex point at place, and data can be divided into the segment data of even length, be easy to preserve and handle, while ensure that the integrality of data to greatest extent.
Description
Technical field
The present invention relates to aerial survey field, more particularly to a kind of course line dividing method and system based on flex point.
Background technology
Aerial survey is to obtain the important means of ground elevation model, map making, the monitoring of geographical national conditions etc., and an aerial survey is made
Industry, it will usually complete the data acquisition operation of more than ten air strips, due to being continuous operation, therefore all data types are identical
, data volume is very huge, and difficulty is brought to data processing operation.
Complete course line is shown in visual software in the prior art, according to artificial judgment flex point, course line is divided into
Different course line sections.This method efficiency is low, error-prone, and splitting scheme varies with each individual, it is impossible to ensures the integrality of data.
The content of the invention
The purpose of the present invention is to formulate the flex point judgment rule for meeting actual requirement, course line is automated, standardize segmentation
For different course line sections, on the premise of same air strips data integrity is ensured, data are subjected to piecemeal processing, protected to greatest extent
The integrality of same air strips data has been demonstrate,proved, has been easy to subsequent processing operations, to achieve the above object, the present invention provides one kind and is based on turning
The course line dividing method and system of point.
To achieve the above object, the invention provides following scheme：A kind of course line dividing method based on flex point, including with
Lower step：
Obtain course line tracing point；
Sampled according to course line track according to predetermined interval N, obtain course line sampled point；
For each sampled point, the course angular difference between sampled point and the previous sampled point of the sampled point is calculated
Value；
Judge whether difference is more than predetermined threshold value, obtain the first judged result；
When the first judged result represents that it is bigness scale course line flex point to determine sampled point when being；
The distance between adjacent bigness scale course line flex point is calculated, determines flex point average distance threshold value；
For every group of adjacent bigness scale course line flex point, the distance between adjacent bigness scale course line flex point is more than flex point average departure
Long leg is divided into from the leg between the adjacent bigness scale course line flex point of threshold value；
Turn in the adjacent bigness scale course line that distance between adjacent bigness scale course line flex point is less than to the flex point average distance threshold value
Leg between point is divided into short leg；
According to long leg and the short leg, it is determined that carefully surveying course line flex point.
Optionally, according to long leg and short leg, it is determined that carefully surveying course line flex point, specifically include：
Judge whether short leg has adjacent short leg, obtain the second judged result；
When the second judged result represents to be,
It is determined that comprising continuous multiple short legs including short leg,
Retain the flex point among multiple short legs；
Judge whether short leg is between long leg, obtain the 3rd judged result；
When the 3rd judged result represents to be, retain the left end point flex point of the short leg, remove right endpoint flex point；
Judge whether long leg has adjacent long leg, obtain the 4th judged result；
When the 4th judged result represents to be, retain all flex points of long leg.
Optionally, when second judged result represents to be, it is determined that including continuous multiple short boats including short leg
Section, retain the flex point among the multiple short leg, specifically include：
Calculate the flex point number of short leg；
When flex point number is odd number, retain theIndividual flex point, wherein N are the flex point number of the short leg；
When flex point number is even number, retain theIt is individual orIndividual flex point, wherein N are individual for the flex point of short leg
Number.
Optionally, predetermined threshold value is 50 °.
Optionally, predetermined interval N span is 700-900, that is, is spaced 700-900 tracing point and is once adopted
Sample.
The application also includes a kind of course line segmenting system based on flex point, including：
Acquiring unit, for obtaining course line tracing point；
Sampling unit, for being sampled according to course line track according to predetermined interval N, obtain course line sampled point；
First computing unit, for calculating the course angular difference between each sampled point and the previous sampled point of sampled point
Value；
First judging unit, judges whether difference is more than predetermined threshold value, obtains the first judged result；
Second computing unit, for calculating the distance of adjacent bigness scale course line flex point, determine flex point average distance threshold value；
First determining unit, for the distance between adjacent bigness scale course line flex point to be more than to the phase of flex point average distance threshold value
Leg between the flex point of adjacent bigness scale course line is divided into long leg；
Second determining unit, for the distance between adjacent bigness scale course line flex point to be less than to the phase of flex point average distance threshold value
Leg between the flex point of adjacent bigness scale course line is divided into short leg；
3rd determining unit, for according to long leg and short leg, it is determined that carefully surveying course line flex point.
Optionally, the 3rd determining unit specifically includes：
First judgment sub-unit, for judging whether the short leg has adjacent short leg, obtain the second judgement knot
Fruit；
First determination subelement, for when second judged result represent be when, it is determined that including comprising the short leg
Continuous multiple short legs；
First retains subelement, for retaining the flex point among the multiple short leg；
Second judgment sub-unit, between judging whether the short leg is in long leg, obtain the 3rd judged result；
Second retains subelement, for when the 3rd judged result represents to be, retaining the left end point of the short leg
Flex point, remove right endpoint flex point；
3rd judgment sub-unit, for judging whether the long leg has adjacent long leg, obtain the 4th judgement knot
Fruit；
3rd retains subelement, for when the 4th judged result represents to be, retaining described all of long leg and turning
Point.
Optionally, the first judgment sub-unit specifically includes：
First calculates first order subelement, for calculating the flex point number of the short leg；
First retains first order subelement, for when the flex point number be odd number, reservation theIndividual flex point, its
Middle N is the flex point number of the short leg；
Second retains first order subelement, for when the flex point number be even number, reservation theIt is individual or
Individual flex point, wherein N are the flex point number of the short leg.
By the course line dividing method based on flex point in the application, turning for the course place of changing in aerial survey can be realized
Point, and data can be divided into the segment data of even length, it is easy to preserve and handles, while ensure that number to greatest extent
According to integrality.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the flow chart of course line dividing method of the embodiment of the present invention based on flex point.
Fig. 2 is the structure chart of course line segmenting system of the embodiment of the present invention based on flex point.
Fig. 3 is bigness scale course line flex point schematic diagram in course line dividing method of the embodiment of the present invention based on flex point.
Fig. 4 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result first.
Fig. 5 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result second.
Fig. 6 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result the 3rd.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
It is an object of the invention to provide a kind of course line dividing method based on flex point, as shown in figure 1, mainly including following step
Suddenly：
Step 101, course line tracing point is obtained；
Step 102, sampled according to course line track according to predetermined interval N, obtain course line sampled point；
Step 103, for each sampled point, calculate between sampled point and the previous sampled point of the sampled point
Course angle difference；
Step 104, judge whether difference is more than predetermined threshold value, obtain the first judged result；
When the first judged result represents that it is bigness scale course line flex point to determine sampled point when being；
Step 105, the distance between adjacent bigness scale course line flex point is calculated, determines flex point average distance threshold value；
Step 106, for every group of adjacent bigness scale course line flex point, the distance between adjacent bigness scale course line flex point is more than and turned
Leg between the adjacent bigness scale course line flex point of point average distance threshold value is divided into long leg；
Step 107, the distance between adjacent bigness scale course line flex point is less than the adjacent thick of the flex point average distance threshold value
The leg surveyed between the flex point of course line is divided into short leg；
Step 108, according to long leg and the short leg, it is determined that carefully surveying course line flex point.
Optionally, according to long leg and short leg, it is determined that carefully surveying course line flex point, specifically include：
Judge whether short leg has adjacent short leg, obtain the second judged result；
When the second judged result represents to be,
It is determined that comprising continuous multiple short legs including short leg,
Retain the flex point among multiple short legs.
Judge whether short leg is between long leg, obtain the 3rd judged result；
When the 3rd judged result represents to be, retain the left end point flex point of the short leg, remove right endpoint flex point.
Judge whether long leg has adjacent long leg, obtain the 4th judged result；
When the 4th judged result represents to be, retain all flex points of long leg.
Optionally, when second judged result represents to be, it is determined that including continuous multiple short boats including short leg
Section, retain the flex point among the multiple short leg, specifically include：
Calculate the flex point number of short leg；
When flex point number is odd number, retain theIndividual flex point, wherein N are the flex point number of the short leg；
When flex point number is even number, retain theIt is individual orIndividual flex point, wherein N are individual for the flex point of short leg
Number.
Optionally, predetermined threshold value is 50 °.
Optionally, predetermined interval N span is 700-900, that is, is spaced 700-900 tracing point and is once adopted
Sample.
By the course line dividing method based on flex point in the application, turning for the course place of changing in aerial survey can be realized
Point, and data can be divided into the segment data of even length, it is easy to preserve and handles, while ensure that number to greatest extent
According to integrality.
The application also includes, and a kind of course line segmenting system based on flex point, includes as shown in Figure 2：
Acquiring unit 1, for obtaining course line tracing point；
Sampling unit 2, for being sampled according to course line track according to predetermined interval N, obtain course line sampled point；
First computing unit 3, for calculating the course angle between each sampled point and the previous sampled point of sampled point
Difference；
First judging unit 4, judges whether difference is more than predetermined threshold value, obtains the first judged result；
Second computing unit 5, for calculating the distance of adjacent bigness scale course line flex point, determine flex point average distance threshold value；
First determining unit 6, for the distance between adjacent bigness scale course line flex point to be more than into flex point average distance threshold value
Leg between the flex point of adjacent bigness scale course line is divided into long leg；
Second determining unit 7, for the distance between adjacent bigness scale course line flex point to be less than into flex point average distance threshold value
Leg between the flex point of adjacent bigness scale course line is divided into short leg；
3rd determining unit 8, for according to long leg and short leg, it is determined that carefully surveying course line flex point.
Optionally, the 3rd determining unit 8 specifically includes：
First judgment sub-unit, for judging whether the short leg has adjacent short leg, obtain the second judgement knot
Fruit；
First determination subelement, for when second judged result represent be when, it is determined that including comprising the short leg
Continuous multiple short legs；
First retains subelement, for retaining the flex point among the multiple short leg；
Second judgment sub-unit, between judging whether the short leg is in long leg, obtain the 3rd judged result；
Second retains subelement, for when the 3rd judged result represents to be, retaining the left end point of the short leg
Flex point, remove right endpoint flex point；
3rd judgment sub-unit, for judging whether the long leg has adjacent long leg, obtain the 4th judgement knot
Fruit；
3rd retains subelement, for when the 4th judged result represents to be, retaining described all of long leg and turning
Point.
Optionally, the first judgment sub-unit specifically includes：
First calculates first order subelement, for calculating the flex point number of the short leg；
First retains first order subelement, for when the flex point number be odd number, reservation theIndividual flex point, its
Middle N is the flex point number of the short leg；
Second retains first order subelement, for when the flex point number be even number, reservation theIt is individual or
Individual flex point, wherein N are the flex point number of the short leg.
In order to facilitate the understanding of the purposes, features and advantages of the present invention, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is further detailed explanation.
The schematic diagram of the embodiment of the present application bigness scale flex point is illustrated in figure 3, by obtaining the tracing point in course line, according to course line
Track is sampled according to predetermined interval N, obtains course line sampled point；For each sampled point, calculate sampled point with it is described
Course angle difference between the previous sampled point of sampled point；Judge whether difference is more than predetermined threshold value, obtain the first judgement knot
Fruit；When the first judged result represents that it is bigness scale course line flex point to determine sampled point when being.
The distance between adjacent bigness scale course line flex point is calculated, determines flex point average distance threshold value；It is adjacent for every group
Bigness scale course line flex point, the adjacent bigness scale course line that the distance between adjacent bigness scale course line flex point is more than to flex point average distance threshold value are turned
Leg between point is divided into long leg；Distance between adjacent bigness scale course line flex point is less than the flex point average distance threshold value
Adjacent bigness scale course line flex point between leg be divided into short leg；
Fig. 4 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result first,
Judge whether short leg has adjacent short leg, obtain the second judged result；When the second judged result represents to be, it is determined that bag
Containing continuous multiple short legs including short leg, retain the flex point among multiple short legs；As shown in figure 4, judging to include
Behind multiple short legs including short leg, only retain the flex point of centre.
Fig. 5 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result second,
Judge whether short leg is between long leg, obtain the 3rd judged result；When the 3rd judged result represents to be, described in reservation
The left end point flex point of short leg, remove right endpoint flex point；As shown in figure 5, the short leg among judging is between two long legs,
Only retain the left end flex point of short leg, delete right-hand member flex point.
Fig. 6 is that course line dividing method Intermediate Course of the embodiment of the present invention based on flex point splits the schematic diagram of intermediate result the 3rd,
Judge whether long leg has adjacent long leg, obtain the 4th judged result；When the 4th judged result represents to be, retain length
All flex points of leg；As shown in fig. 6, when multiple adjacent long legs be present, retain the flex point of all legs.
When second judged result represents to be, it is determined that comprising continuous multiple short legs including short leg, retain
Flex point among the multiple short leg, is specifically included：
Calculate the flex point number of short leg；When flex point number is odd number, retain theIndividual flex point, wherein N are described
The flex point number of short leg；When flex point number is even number, retain theIt is individual orIndividual flex point, wherein N are short leg
Flex point number.As shown in figure 4, the number of the flex point is 4, retain the 2nd flex point.
Specific case used herein is set forth to the principle and embodiment of the present invention, and above example is said
It is bright to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, foundation
The thought of the present invention, in specific embodiments and applications there will be changes.In summary, this specification content is not
It is interpreted as limitation of the present invention.
Claims (8)
- A kind of 1. course line dividing method based on flex point, it is characterised in thatObtain course line track；Sampled according to the course line track according to predetermined interval N, obtain course line sampled point；For each sampled point, the course angular difference between the sampled point and the previous sampled point of the sampled point is calculated Value；Judge whether the difference is more than predetermined threshold value, obtain the first judged result；When the first judged result represents that it is bigness scale course line flex point to determine the sampled point when being；The distance between adjacent bigness scale course line flex point is calculated, determines flex point average distance threshold value；For every group of adjacent bigness scale course line flex point, the distance between adjacent bigness scale course line flex point is more than described turn Leg between the adjacent bigness scale course line flex point of point average distance threshold value is divided into long leg；Turn in the adjacent bigness scale course line that distance between adjacent bigness scale course line flex point is less than to the flex point average distance threshold value Leg between point is divided into short leg；According to the long leg and the short leg, it is determined that carefully surveying course line flex point.
- 2. the course line dividing method according to claim 1 based on flex point, it is characterised in that according to the long leg and short Leg, it is determined that carefully surveying course line flex point, specifically include：Judge whether the short leg has adjacent short leg, obtain the second judged result；When second judged result represents to be,It is determined that comprising continuous multiple short legs including the short leg,Retain the flex point among the multiple short leg；Judge whether the short leg is between long leg, obtain the 3rd judged result；When the 3rd judged result represents to be, retain the left end point flex point of the short leg, remove right endpoint flex point；Judge whether the long leg has adjacent long leg, obtain the 4th judged result；When the 4th judged result represents to be, retain all flex points of the long leg.
- 3. the course line dividing method according to claim 2 based on flex point, it is characterised in that when second judged result When expression is, it is determined that comprising continuous multiple short legs including the short leg, retain turning among the multiple short leg Point, is specifically included：Calculate the flex point number of the short leg；When the flex point number is odd number, retain theIndividual flex point, wherein N are the flex point number of the short leg；When the flex point number is even number, retain theIt is individual orIndividual flex point, wherein N are the flex point of the short leg Number.
- 4. the course line dividing method according to claim 1 based on flex point, it is characterised in that the predetermined threshold value is 50 °.
- 5. the course line dividing method according to claim 1 based on flex point, it is characterised in that the predetermined interval N's takes Value scope is 700-900.
- A kind of 6. course line segmenting system based on flex point, it is characterised in that including：Acquiring unit, for obtaining course line track；Sampling unit, for being sampled according to the course line track according to predetermined interval N, obtain course line sampled point；First computing unit, for calculating the course angular difference between each sampled point and the previous sampled point of the sampled point Value；First judging unit, judges whether the difference is more than predetermined threshold value, obtains the first judged result；When the first judged result When expression is, it is bigness scale course line flex point to determine sampled point；Second computing unit, for calculating the distance of adjacent bigness scale course line flex point, determine flex point average distance threshold value；First determining unit, for the distance between adjacent bigness scale course line flex point to be more than into the flex point average distance threshold value Adjacent bigness scale course line flex point between leg be divided into long leg；Second determining unit, for the distance between adjacent bigness scale course line flex point to be less than into the flex point average distance threshold value Adjacent bigness scale course line flex point between leg be divided into short leg；3rd determining unit, for according to the long leg and short leg, it is determined that carefully surveying course line flex point.
- 7. the course line segmenting system according to claim 6 based on flex point, it is characterised in that the 3rd determining unit tool Body includes：First judgment sub-unit, for judging whether the short leg has adjacent short leg, obtain the second judged result；First determination subelement, for when second judged result represent be when, it is determined that including the company including the short leg Continuous multiple short legs；First retains subelement, for retaining the flex point among the multiple short leg；Second judgment sub-unit, between judging whether the short leg is in long leg, obtain the 3rd judged result；Second retains subelement, for when the 3rd judged result represents to be, retaining the left end point flex point of the short leg, Remove right endpoint flex point；3rd judgment sub-unit, for judging whether the long leg has adjacent long leg, obtain the 4th judged result；3rd retains subelement, for when the 4th judged result represents to be, retaining all flex points of the long leg.
- 8. the course line segmenting system according to claim 7 based on flex point, it is characterised in that first judgment sub-unit Specifically include：First calculates first order subelement, for calculating the flex point number of the short leg；First retains first order subelement, for when the flex point number be odd number, reservation theIndividual flex point, wherein N are The flex point number of the short leg；Second retains first order subelement, for when the flex point number be even number, reservation theIt is individual orIt is individual to turn Point, wherein N are the flex point number of the short leg.
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| CN111033419B (en) * | 2018-12-03 | 2024-04-16 | 深圳市大疆创新科技有限公司 | Route planning method for aircraft, console, aircraft system and storage medium |
| CN110411458B (en) * | 2019-08-30 | 2021-11-09 | 深圳市道通智能航空技术股份有限公司 | Air route planning method and unmanned aerial vehicle |
| CN111739348B (en) * | 2020-07-20 | 2021-07-27 | 成都民航空管科技发展有限公司 | ATC system-based airway resolution method and system |
| CN113781603B (en) * | 2021-09-15 | 2023-08-22 | 北京有竹居网络技术有限公司 | Track point generating method, device, computer equipment and computer storage medium |
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Effective date of registration: 20171017 Address after: In Beijing economic and Technological Development Zone Street 100176 2 Beijing City Hospital No. 1 building three room 321 Applicant after: Three dimensional (Beijing) laser technology Co., Ltd. Address before: 210000 General Road No. 37, Jiangning economic and Technological Development Zone, Nanjing, Jiangsu Applicant before: Nanjing Taisi Space Information Technology Co., Ltd. |
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