CN106017472B - Global route planning method, global route planning system and unmanned plane - Google Patents
Global route planning method, global route planning system and unmanned plane Download PDFInfo
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Abstract
The invention discloses global route planning method, global route planning system and unmanned planes, global route planning method, applied in unmanned plane, include the following steps: that S1. pre-processes the digital surface model image and Digital Elevation Model image of the same area same ratio ruler, to obtain the digital surface model image and the Digital Elevation Model image of equal resolution；S2. the earth's surface object point extracted in the digital surface model image is converged；S3. the bounding box that earth's surface object is established after carrying out denoising is converged to the earth's surface object point；S4. Thiessen polygon figure is established according to the bounding box, using signal source shortest path algorithm in the Thiessen polygon figure searching route, pass through cubic spline interpolation algorithm obtain optimal path.
Description
Technical field
The present invention relates to fields of measurement, more particularly to one kind is based on DSM (digital surface model) image and DEM (number height
Journey model) image data global route planning method, global route planning system and unmanned plane.
Background technique
With the raising and the increasing market demand of science and technology, unmanned plane is because of its convenient and fast usage mode and by force
Big function becomes a multiduty sci-tech product.Unmanned plane press application field, can be divided into it is military with it is civilian.Military side
Face, unmanned plane are divided into reconnaissance plane and target drone.Unmanned plane be widely used at civilian aspect be mainly used for taking photo by plane, agricultural, plant protection, from
Bat, express transportation, disaster relief, observation wild animal, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, video display
Shooting, manufacture romance etc..Avoidance technology of the unmanned plane in flight course mainly has: the ultrasonic measuring distance technology of orientation and fly
Row time (TOF) technology.
Once installing body surface in the ultrasonic ranging system of orientation additional on unmanned plane reflects ultrasonic wave scarce capacity, it is
The barrier avoiding function of system will significantly reduce, and a unmanned plane generally will be installed multiple directions, undoubtedly will increase unmanned plane certainly
Weight and cost.
Flight time (TOF) technology, i.e. sensor issue modulated near infrared light, encounter object back reflection, sensor
By calculating light transmitting and reflection interval difference or phase difference, furthermore tied again come the distance for the target that converts with generating depth information
Traditional camera imaging is closed, the topographic map mode that the three-D profile of object can be represented in different colors to different distance shows
Come, the light pollution in urban environment and the sunlight on daytime can cause very big interference, planning path precision to obstacle avoidance system at present
It is lower.
Summary of the invention
For the above problem existing for avoidance technology of the existing unmanned plane in flight course, one kind is now provided and is intended to reality
Now reduce the self weight of unmanned plane and planning path global route planning method with high accuracy, global route planning system and nobody
Machine.
Specific technical solution is as follows:
A kind of overall situation route planning method, is applied in unmanned plane, includes the following steps:
S1. the digital surface model image and Digital Elevation Model image of the same area same ratio ruler are located in advance
Reason, to obtain the digital surface model image and the Digital Elevation Model image of equal resolution；
S2. the earth's surface object point extracted in the digital surface model image is converged；
S3. the bounding box that earth's surface object is established after carrying out denoising is converged to the earth's surface object point；
S4. Thiessen polygon figure is established according to the bounding box, it is polygon in the Tyson using signal source shortest path algorithm
Searching route in shape figure obtains optimal path by cubic spline interpolation algorithm.
Preferably, the step S1 includes the following steps:
S11. the digital surface model image and the digital elevation model figure of the same area same ratio ruler are obtained
Picture；
S12. the digital surface model image and the Digital Elevation Model image are pre-processed, so that the number
Word surface model image is identical with the resolution ratio of the Digital Elevation Model image；
S13. to by the first pixel point set and the number height in the pretreated digital surface model image
Second pixel point set of journey model image carries out registration alignment, and to obtain corresponding point to collection, the first pixel point set includes
A plurality of first pixels, the second pixel point set include a plurality of second pixels, the institute that first pixel is concentrated
It states second pixel that the first pixel and second pixel are concentrated to correspond, the point includes a plurality of to collection
Point pair, every a pair of one-to-one first pixel and second pixel form a point pair.
Preferably, the step S2 includes the following steps:
S21. the difference coordinate of each pair of point is obtained one by one to collection according to the point；
S22. judge whether the difference coordinate meets preset condition, if so, executing step S23；If it is not, then filtering out described
Point pair；
S23. by the point to being added to during the earth's surface object point converges.
Preferably, the preset condition is that the Z axis difference of difference coordinate is greater than 0.
Preferably, in the step S3, the detailed process of the denoising are as follows:
Foundation point cloud topological relation is converged to the earth's surface object point using space cell lattice method, triangle gridding is carried out and cuts open
Point, the k nearest neighbor point of each point is established, i.e., the determining neighborhood constituted with the point apart from k nearest point judges nearest k
Whether the distance of point described in distance is greater than preset threshold in point, if then rejecting；If otherwise retaining；
Wherein k is positive integer.
Preferably, converge to the earth's surface object point uses preset method by the earth's surface after carrying out the denoising
Object point, which is converged, is divided into a plurality of closed areas；
The preset method are as follows: law vector method or Curvature Estimation method.
Preferably, the bounding box of the earth's surface object is axial bounding box.
Preferably, the detailed process of the axial bounding box is established are as follows:
The minimum angle point and maximum angle point of each closed area are extracted respectively, and are calculated in each enclosed area
The heart, size and volume obtain the range of the enclosed area according to center, size and the volume of each enclosed area, according to obtaining
The range taken establishes the bounding box of the earth's surface object.
A kind of unmanned plane carries out flight path planning using above-mentioned global route planning method.
A kind of overall situation route planning system, is applied in unmanned plane, comprising:
One registration unit, to the digital surface model image and digital elevation model figure to the same area same ratio ruler
As being pre-processed, to obtain the digital surface model image and the Digital Elevation Model image of equal resolution；
One extraction unit connects the registration unit, to extract the earth's surface object in the digital surface model image
Point converges；
One processing unit connects the extraction unit, to build after converging progress denoising to the earth's surface object point
The on the spot bounding box of table object；
One planning unit connects the processing unit, to establish Thiessen polygon figure according to the bounding box, using list
Source shortest path first obtains optimal path to searching route in the Thiessen polygon figure, by cubic spline interpolation algorithm.
Preferably, the registration unit includes:
One obtain module, to obtain the same area same ratio ruler the digital surface model image and the number
Elevation Model image；
One processing module connects the acquisition module, to the digital surface model image and the digital elevation
Model image is pre-processed, so that the resolution ratio phase of the digital surface model image and the Digital Elevation Model image
Together；
One registration module connects the processing module, to by the pretreated digital surface model image
In the first pixel point set and the second pixel point set of the Digital Elevation Model image carry out registration alignment, it is corresponding to obtain
Point is to collection, and the first pixel point set includes a plurality of first pixels, and the second pixel point set includes a plurality of second pictures
Vegetarian refreshments, second pixel one that first pixel and second pixel that first pixel is concentrated are concentrated
One is corresponding, and the point includes plurality of points pair, every a pair of one-to-one first pixel and second pixel to collection
Point 1 point pair of composition.
A kind of unmanned plane, including above-mentioned global route planning system.
Above-mentioned technical proposal the utility model has the advantages that
1) global route planning method is directly acquired accurately by digital surface model image and Digital Elevation Model image
The coordinate of earth's surface object calculated using signal source shortest path algorithm optimal to calculate the bounding box of earth's surface object
The speed in avoidance path, operation is fast and precision is high；
2) global route planning system by registration unit to digital surface model image and Digital Elevation Model image into
Row is registrated so that the coordinate precision of earth's surface object is turned up, and is established the bounding box of earth's surface object through the processing unit, is utilized planning unit
Optimal avoidance path is cooked up, in the embeddable unmanned aerial vehicle control system of the system, to reduce self weight and the planning essence of unmanned plane
Degree is high, convenient to carry out.
Detailed description of the invention
Fig. 1 is a kind of method flow diagram of embodiment of global route planning method of the present invention；
Fig. 2 is a kind of module map of embodiment of global route planning system of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be further explained below with reference to the attached drawings and specific examples, but not as the limitation of the invention.
As shown in Figure 1, a kind of overall situation route planning method, is applied in unmanned plane, includes the following steps:
S1. the digital surface model image and Digital Elevation Model image of the same area same ratio ruler are located in advance
Reason, to obtain the digital surface model image and Digital Elevation Model image of equal resolution；
S2. the earth's surface object point extracted in digital surface model image is converged；
S3. the bounding box that earth's surface object is established after carrying out denoising is converged to earth's surface object point；
S4. Thiessen polygon figure is established according to bounding box, is searched in Thiessen polygon figure using signal source shortest path algorithm
Rope path obtains optimal path by cubic spline interpolation algorithm.
DEM in the present embodiment contains only the elevation information of landform, does not compare comprising other earth's surface information with DEM,
DSM contains the ground elevation model of the height such as surface buildings, bridge and trees.DSM is on the basis of DEM, further
Cover the elevation of other earth's surface information in addition to ground.
In the present embodiment, global route planning method is straight by digital surface model image and Digital Elevation Model image
The coordinate for taking accurate earth's surface object is obtained, so that the bounding box of earth's surface object is calculated, using signal source shortest path algorithm meter
Optimal avoidance path is calculated, the speed of operation is fast and precision is high.
In a preferred embodiment, step S1 includes the following steps:
S11. the digital surface model image and Digital Elevation Model image of the same area same ratio ruler are obtained；
S12. digital surface model image and Digital Elevation Model image are pre-processed, so that digital surface model figure
Picture is identical with the resolution ratio of Digital Elevation Model image；
S13. to by the first pixel point set sum number word elevation model figure in pretreated digital surface model image
Second pixel point set of picture carries out registration alignment, and to obtain corresponding point to collection, the first pixel point set includes a plurality of first pictures
Vegetarian refreshments, the second pixel point set include a plurality of second pixels, the first pixel and the second pixel that the first pixel is concentrated
The second pixel concentrated corresponds, and point includes plurality of points pair to collection, one-to-one first pixel of every a pair and the
Two pixels composition is a little right.
In the present embodiment, pretreatment is normalized in step s 12, makes digital surface by normalized
Model image is identical with the resolution ratio of Digital Elevation Model image (i.e. data precision is identical)；In step s 13 using label control
Digital surface model image is registrated by system point with Digital Elevation Model image to be aligned, and obtains putting to collection correspondingly.
In a preferred embodiment, step S2 includes the following steps:
S21. the difference coordinate of each pair of point is obtained one by one to collection according to point；
S22. judge whether difference coordinate meets preset condition, if so, executing step S23；If it is not, then filtering out a little pair；
S23. will point to being added to during earth's surface object point converges.
In the present embodiment, for the first pixel point set Q and digital elevation model figure in digital surface model image
Second pixel point set P of picture has one-to-one point to (Xw,Yw,Zw) ∈ Q and (Xe,Ye,Ze) ∈ P, ask difference to obtain it
(Δ X, Δ Y, Δ Z).The Δ X ≈ Δ Y ≈ 0 in the case where registration accuracy is met the requirements, if meeting preset condition i.e. Δ Z > 0,
It is considered that herein with the presence of object in earth's surface.In practical situations, a threshold value can be set, if Δ Z is greater than this threshold value
Then think herein with the presence of atural object.All-pair is traversed, all earth's surface objects can be obtained on digital surface model image
Coordinate converges S to get to all earth's surface object points.
In a preferred embodiment, in step S3 denoising detailed process are as follows:
Foundation point cloud topological relation is converged to earth's surface object point using space cell lattice method, triangular mesh generation is carried out, builds
The k nearest neighbor point of each point is found, that is, determines the neighborhood constituted with point apart from k nearest point, judges range points in k nearest point
Distance whether be greater than preset threshold, if then rejecting；If otherwise retaining；
Wherein k is positive integer.
In the present embodiment, the earth's surface object point acquired in step S2 is converged, is established a little using space cell lattice method
Cloud topological relation carries out triangular mesh generation, and the k nearest neighbor point of each earth's surface object point is established with this, i.e., determining and point distance is most
The neighborhood that k close point is constituted, sets a threshold value, and what it is greater than the threshold value is noise points deleting, is less than or equal to the threshold value
Then reservation.
Further, then to the earth's surface object point of reservation law vector or Curvature Estimation are carried out, to find law vector mutation
These points are linked to be boundary line by point or curvature, surround each closed area by boundary line to realize the closing to earth's surface object point
Region division.
In a preferred embodiment, the detailed process of axial bounding box is established are as follows:
The minimum angle point and maximum angle point of each closed area are extracted respectively, and calculate the center of each enclosed area, size
And volume, the range of enclosed area is obtained according to the center of each enclosed area, size and volume, and earth's surface is established according to the range of acquisition
The bounding box of object.
Further, the bounding box of earth's surface object is axial bounding box (AABB).The axial bounding box of one object is determined
Justice is comprising the object and each side is parallel to reference axis minimum hexahedron.It is pairs of that the foundation of axial bounding box need to only calculate separately group
X coordinate, y-coordinate, the minimum value of z coordinate, the maximum value coordinate on each element vertex in the primitive geometric element set of elephant,
Describing an axial bounding box, it is only necessary to 6 scalars.
In the present embodiment, the minimum angle point and maximum angle point for extracting each closed area first, then extract enclosed area
A vertex is specified on eight vertex in domain, is calculated center, size and the volume of object with this and is reset closed area
The range of object finally judges whether there is intersection between bounding box.The coordinate of bounding box is transformed into earth coordinates, it can be with
It obtains the longitude and latitude of bounding box and provides data basis for global route planning and GPS navigation.The simple packet of the technical program
It encloses box shaped and carrys out the approximate shape instead of complex geometries, the efficiency of geometric operation can be improved.And usual simple object
It is easier to check mutual overlapping.
A kind of unmanned plane carries out flight path planning using above-mentioned global route planning method.
As shown in Fig. 2, a kind of overall situation route planning system, is applied in unmanned plane, comprising:
One registration unit 1, to the digital surface model image and digital elevation model to the same area same ratio ruler
Image is pre-processed, to obtain the digital surface model image and Digital Elevation Model image of equal resolution；
One extraction unit 2, connects registration unit 1, and the earth's surface object point to extract in digital surface model image is converged；
One processing unit 3 connects extraction unit 2, to establish earth's surface after converging progress denoising to earth's surface object point
The bounding box of object；
One planning unit 4 connects processing unit 3, most short using single source to establish Thiessen polygon figure according to bounding box
Routing algorithm obtains optimal path to searching route in Thiessen polygon figure, by cubic spline interpolation algorithm.
Thiessen polygon figure (Voronoi) be formed by the perpendicular bisector of straight line between one group of two adjoint point of connection it is continuous
Polygon composition, N number of point distinguishing in the plane divide plane according to closest principle.The present embodiment mainly utilizes
The farthest characteristic of the generatrix of distance formation polygon on the side of polygon, constructs initial path network in three-dimensional space.First from
Scatterplot constructs the triangulation network automatically, i.e. building solid line polygon (Delaunay) triangulation network, then finds out adjacent with each discrete point
All triangles number, and record.Again to the triangle adjacent with each discrete point by side clockwise or counterclockwise
To sequence, to connect generation Thiessen polygon in next step.The circumscribed circle center of circle for finally seeking each triangle, connects these circles
The heart to get arrive Tyson triangle.
The signal source shortest path algorithm (Dijkstra) of use can obtain shortest path in digraph.It is mainly characterized by often
The next vertex selected when secondary iteration is vertex nearest apart from source point except mark point.
Such as: assuming that each node has label (d in road networkt, pt), dtIt is the shortest path from starting point s to point t
Length；ptIndicate the previous point of t point in the shortest path from s to t.It is solved using signal source shortest path algorithm from starting point s
To the basic process of the shortest path first of point t are as follows:
1. starting to read data, initialization, starting point setting are as follows:
dt=0, originating point s is marked, remembers k=s, other all the points are set as unmarked.
2. examining from all marked point k to the distance of other unlabelled point j being directly connected to, and it is arranged: dj=
min[dj,dk+ w (k, j)] wherein, w (k, j) indicates the path length from k to j.
3. choosing next point, the smallest point i is chosen from all unlabelled points, point i is chosen as in shortest path
A bit, and it is set as marked.
4. finding the former point of point i.The point for being directly connected to point i is found from labeled point set, and is labeled as
pi。
5. mark point i, if all points are marked, algorithm terminates；Otherwise, remember k=i, go to step 2 continuation.
According to the distribution situation of known bounding box and the beginning and end in whole avoidance path, bounding box central point is taken
The three-dimensional space improved Voronoi diagram for constructing obstacle distribution utilizes dijkstra's algorithm on the basis of Voronoi diagram
Searching route on the way constitutes rough optimal path.Then by a series of cubic spline, complicated problem is decomposed into more
Simple question finally acquires optimal solution with the method for quadratic programming.
In the present embodiment, global route planning system is high to digital surface model image and number by registration unit 1
Journey model image is registrated so that the coordinate precision of earth's surface object is turned up, through the processing unit 3 bounding box for establishing earth's surface object,
Optimal avoidance path is cooked up using planning unit 4, in the embeddable unmanned aerial vehicle control system of the system, to reduce unmanned plane
Self weight and planning precision height, it is convenient to carry out.
Since the data of digital surface model image are updated, there are some cycles, it is thus possible to there is the optimal road planned
The case where there are emerging earth's surface object (barriers) above diameter, therefore local route obstacle avoidance module can be used to correct in real time
Flight path.The route planned is inputted into obstacle avoidance module, then positions unmanned plane in real time using positioning system, and make nobody
The flight path figure of machine is modified flight path when flight path and the optimal path planned generation deviation.If flying
Occur new barrier on walking along the street line, using the manual cut-through object of obstacle avoidance module and comes back to and continue to fly in planning path
Row.
In a preferred embodiment, registration unit 1 includes:
One obtains module 11, to obtain the digital surface model image and digital elevation mould of the same area same ratio ruler
Type image；
One processing module 12, connection obtains module 11, to digital surface model image and Digital Elevation Model image
It is pre-processed, so that digital surface model image is identical with the resolution ratio of Digital Elevation Model image；
One registration module 13 connects processing module 12, to by pretreated digital surface model image
Second pixel point set of the first pixel point set sum number word Elevation Model image carries out registration alignment, to obtain corresponding point to collection,
First pixel point set includes a plurality of first pixels, and the second pixel point set includes a plurality of second pixels, the first pixel
The second pixel that the first pixel and the second pixel concentrated are concentrated corresponds, and point includes plurality of points pair to collection, often
A pair of one-to-one first pixel and the second pixel composition are a little right.
A kind of unmanned plane, including above-mentioned global route planning system.
For the principle that the present invention is furture elucidated, it is illustrated below with reference to a case:
Unmanned plane is in the path flight (for example photograph, take pictures) according to schedule of certain region overhead.Its specific implementation step is as follows:
A, the system off-line preparation stage
A1. the DEM and DSM for obtaining this regional same precision calculate surface obstructions object point cloud as basic data and sit
Mark；
A2. denoising is carried out to point cloud data, then calculates barrier bounding box；
A2. global route planning, finds optimal flight path.
B, the system on-line implement stage
B1. flight path is inputted, unmanned plane returns to changing coordinates by positioning system in real time, makes flight rail using coordinate
Mark figure；
If b2. flight path and programme path have deviation, route is corrected；If continuing to fly according to programme path without deviation
Row；
If b3. there is new barrier (such as newly-built building) on initial planning route, using obstacle avoidance module cut-through object and return
Continue to fly on to planning path.
The invention has the benefit that
1) tool of digital surface model image and Digital Elevation Model image directly calculation earth's surface object (barrier) is used
Body coordinate, rather than classify on image to atural object simply by pop, it is provided in the application field of DSM and DEM
New direction；
2) the occupied approximate spatial locations of barrier are calculated by Box technology, does not need strictly to sketch the contours of barrier
Profile, reduce computational complexity, accelerate entire module arithmetic speed, provide the foundation for route planning；
3) construction unmanned plane can fly able air route collection, showed with Voronoi diagram, searched for using dijkstra's algorithm
Obstacle distribution map can preferably obtain the optimal path of unmanned plane；
4) in the embedded system that can run on unmanned aerial vehicle platform of the invention, it also can run on and carry out communications and liaison with unmanned plane
Fixation or mobile terminal on, control mode is flexible and changeable, convenient to carry out；
5) present invention can also add navigation system, and course line is manually or automatically corrected in flight course, makes unmanned plane can
To carry out avoidance in real time.
The foregoing is merely preferred embodiments of the present invention, are not intended to limit embodiments of the present invention and protection model
It encloses, to those skilled in the art, should can appreciate that all with made by description of the invention and diagramatic content
Equivalent replacement and obviously change obtained scheme, should all be included within the scope of the present invention.
Claims (10)
1. a kind of overall situation route planning method, is applied in unmanned plane, which is characterized in that include the following steps:
S1. the digital surface model image and Digital Elevation Model image of the same area same ratio ruler are pre-processed, with
Obtain the digital surface model image and the Digital Elevation Model image of equal resolution；
S2. the earth's surface object point extracted in the digital surface model image is converged；
S3. the bounding box that earth's surface object is established after carrying out denoising is converged to the earth's surface object point；
S4. Thiessen polygon figure is established according to the bounding box, using signal source shortest path algorithm in the Thiessen polygon figure
Middle searching route obtains optimal path by cubic spline interpolation algorithm；
The step S1 includes the following steps:
S11. the digital surface model image and the Digital Elevation Model image of the same area same ratio ruler are obtained；
S12. the digital surface model image and the Digital Elevation Model image are pre-processed, so that the number table
Surface model image is identical with the resolution ratio of the Digital Elevation Model image；
S13. to by the first pixel point set and the digital elevation mould in the pretreated digital surface model image
Second pixel point set of type image carries out registration alignment, and to obtain corresponding point to collection, the first pixel point set includes plural number
A first pixel, the second pixel point set include a plurality of second pixels, first pixel concentrate described the
Second pixel that one pixel and second pixel are concentrated corresponds, and the point includes plurality of points to collection
Right, every a pair of one-to-one first pixel and second pixel form a point pair；
In the step S2, the point is traversed to all points pair of concentration, is converged with obtaining the earth's surface object point.
2. overall situation route planning method as described in claim 1, which is characterized in that the step S2 includes the following steps:
S21. the difference coordinate of each pair of point is obtained one by one to collection according to the point；
S22. judge whether the difference coordinate meets preset condition, if so, executing step S23；If it is not, then filtering out the point
It is right；
S23. by the point to being added to during the earth's surface object point converges.
3. overall situation route planning method as claimed in claim 2, which is characterized in that the preset condition is the Z of difference coordinate
Axis difference is greater than 0.
4. overall situation route planning method as described in claim 1, which is characterized in that denoising described in the step S3
Detailed process are as follows:
Foundation point cloud topological relation is converged to the earth's surface object point using space cell lattice method, triangular mesh generation is carried out, builds
Found the k nearest neighbor point of each point, i.e., the determining neighborhood with the point apart from nearest k point composition, judge in k nearest point away from
Whether it is greater than preset threshold with a distance from the point, if then rejecting；If otherwise retaining；
Wherein k is positive integer.
5. overall situation route planning method as described in claim 1, which is characterized in that converged to the earth's surface object point and carry out institute
It states to converge the earth's surface object point using preset method after denoising and is divided into a plurality of closed areas；
The preset method are as follows: law vector method or Curvature Estimation method.
6. overall situation route planning method as claimed in claim 5, which is characterized in that the bounding box of the earth's surface object is axial
Bounding box.
7. overall situation route planning method as claimed in claim 6, which is characterized in that establish the specific mistake of the axial bounding box
Journey are as follows:
Extract the minimum angle point and maximum angle point of each closed area respectively, and calculate each enclosed area center,
Size and volume obtain the range of the enclosed area according to center, size and the volume of each enclosed area, according to acquisition
Range establishes the bounding box of the earth's surface object.
8. a kind of unmanned plane, which is characterized in that using the global route planning method as described in any one of claim 1-7
Carry out flight path planning.
9. a kind of overall situation route planning system, is applied in unmanned plane characterized by comprising
One registration unit, to the same area same ratio ruler digital surface model image and Digital Elevation Model image into
Row pretreatment, to obtain the digital surface model image and the Digital Elevation Model image of equal resolution；
One extraction unit connects the registration unit, to extract the earth's surface object point cloud in the digital surface model image
Collection；
One processing unit connects the extraction unit, to establish ground after converging progress denoising to the earth's surface object point
The bounding box of table object；
One planning unit connects the processing unit, to establish Thiessen polygon figure according to the bounding box, most using single source
Short path algorithm obtains optimal path to searching route in the Thiessen polygon figure, by cubic spline interpolation algorithm；
The registration unit includes:
One obtains module, to obtain the digital surface model image and the digital elevation of the same area same ratio ruler
Model image；
One processing module connects the acquisition module, to the digital surface model image and the digital elevation model
Image is pre-processed, so that the digital surface model image is identical with the resolution ratio of the Digital Elevation Model image；
One registration module connects the processing module, to by the pretreated digital surface model image
Second pixel point set of the first pixel point set and the Digital Elevation Model image carries out registration alignment, to obtain corresponding point pair
Collection, the first pixel point set includes a plurality of first pixels, and the second pixel point set includes a plurality of second pixels,
Second pixel one that first pixel and second pixel that first pixel is concentrated are concentrated is a pair of
It answers, the point includes plurality of points pair, every a pair of one-to-one first pixel and the second pixel group to collection
At a point pair；
The extraction unit traverses the point to all points pair of concentration, is converged with obtaining the earth's surface object point.
10. a kind of unmanned plane, which is characterized in that including global route planning system as claimed in claim 9.
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