CN106043723A - Swinging oblique photography system and method of fixed-wing unmanned aerial vehicle - Google Patents
Swinging oblique photography system and method of fixed-wing unmanned aerial vehicle Download PDFInfo
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- CN106043723A CN106043723A CN201610589208.0A CN201610589208A CN106043723A CN 106043723 A CN106043723 A CN 106043723A CN 201610589208 A CN201610589208 A CN 201610589208A CN 106043723 A CN106043723 A CN 106043723A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The invention relates to a swinging oblique photography system and method of a fixed-wing unmanned aerial vehicle. The system includes a fixed-wing unmanned aerial vehicle and a swinging oblique photography apparatus which is carried on the fixed-wing unmanned aerial vehicle. The swinging oblique photography apparatus includes an optical imaging unit which acquires multi-angle image data of ground objects, a swinging holder which drives the optical imaging unit to swing, a GPS positioner which positions exposure instances of the optical imaging unit, and a system controller which controls the exposure actions of the optical imaging unit and the swinging actions of the swinging holder, and controls and stores the positioning information of the GPS positioner. The optical imaging unit is an independent optical camera or a combination of two optical cameras. According to the invention, the system overcomes the limitation of traditional aerial photography that photography can only be carried out at a vertical angle, can more truthfully reflect actual conditions of the ground objects, and makes up deficiency of orthoimage.
Description
Technical field
The present invention relates to a kind of unmanned plane camera chain and method, be specifically related to that a kind of fixed-wing unmanned plane is swing inclines
Tiltedly camera chain and method.
Background technology
Three-dimensional digital city model is the important foundation data of smart city, various in management, planning, fire-fighting, public security etc.
The application that city is relevant has important value.But the building-up work cost of three-dimensional city mathematical model is high, speed is slow, consumption
Take a large amount of man power and material.In recent years, international area of geographic information is by tradition air photo technique and numeral ground acquisition technology
Combine, developed a kind of new and high technology being referred to as the photography of airborne multi-angle oblique, be called for short oblique photograph technology, progressively become
One of important technical of three-dimensional city.Oblique photograph technology is by carrying multiple stage or multiple sensing on same flying platform
Device, simultaneously from multiple angle acquisition ground image, thus overcomes tradition air photo technique and can only clap from vertical angle
The limitation taken the photograph, it is possible to reflect the practical situation of atural object more truly, compensate for the deficiency of orthography, by integrating POS,
The data such as DSM and vector, it is achieved dimensional Modeling Technology based on image dense Stereo Matching.At present, multiple many camera lenses are had to incline both at home and abroad
To camera product, include ADS40, ADS80 three line scanner digital camera of Lai Ka company, Pictometry company of U.S. multi-angle
Camera, the aviation oblique photograph system of 3 cameras compositions of Tr imbl e company and the SWDC-5 of domestic Liu elder generation woods academician
Camera, upper Hainan Airlines distant company AMC580 camera, the TOPDC-5 inclined camera of Zhong Cexintu company.Above camera major part uses 5
Individual digital camera is through being arranged in a combination, and owing to camera quantity is many, load is big, can be only installed at manned big aircraft
On, when carrying out actual three-dimensional modeling and producing, needing to apply for spatial domain, the time cycle of data acquisition is long, and data acquisition cost is very
High.
In recent years, the oblique photograph system of UAV flight, substantially use for 5 cameras on small-sized many rotor wing unmanned aerial vehicles
The camera assembly model of oblique photograph system, this oblique photograph is measured system and is fixed together by 5 cameras and constitutes, carries
On many rotor wing unmanned aerial vehicles, camera uses small-sized low-resolution cameras to combine；Small-sized rotor wing unmanned aerial vehicle carries camera
Quantity had a strong impact on the loading capacity of small-sized rotor wing unmanned aerial vehicle more so that small-sized rotor wing unmanned aerial vehicle is short for cruising time, makees
Industry inefficiency, the problem being not suitable for big region job.
Summary of the invention
The technical problem to be solved is to provide a kind of only need to carry 1 or 2 cameras just can realize polygonal
The fixed-wing unmanned plane swing oblique photograph system and method for degree oblique photograph.
The technical scheme is that a kind of fixed-wing unmanned plane swing oblique photograph system
System, including fixed-wing unmanned plane, and the swing oblique photograph device being mounted on described fixed-wing unmanned plane, described in wave
Formula oblique photograph device includes obtaining the optical image unit of the multi-angle image data of atural object, driving described optical image unit
Swing waves The Cloud Terrace, optical image unit exposes the GPS locator that moment positions, and controls described light and study
As unit exposure actions, control described in wave the rocking action of The Cloud Terrace and control and store the location information of GPS locator
System controller, described in wave The Cloud Terrace and be fixed on described fixed-wing unmanned plane, described optical image unit be arranged on described in shake
On pendulum The Cloud Terrace, described GPS locator is arranged on the optional position of described fixed-wing unmanned plane and electric with described system controller
Connecting, described system controller also waves The Cloud Terrace, optical image unit and the flight control system of fixed-wing unmanned plane with described
Electrical connection, described optical image unit is a freestanding optical camera or knockdown two optical cameras.
The invention has the beneficial effects as follows: one fixed-wing unmanned plane of the present invention swing oblique photograph system is by waving cloud
Platform carries 1 or 2 cameras realize multi-angle oblique photography, the number of times that waved by system controller arbitary convention camera, angle
Degree and the action of camera exposure, it is possible to obtain the multi-angle image data of atural object simultaneously, and obtain the geography information exposing moment,
Thus overcome tradition air photo technique and can only carry out, from vertical angle, the limitation that shoots, it is possible to reflect ground more truly
The practical situation of thing, compensate for the deficiency of orthography；The image data shot by native system and the geography information of acquisition, then
Integrate POS, the data such as DSM and vector, set up dimensional Modeling Technology based on image dense Stereo Matching, mapped by automatically texture,
Rapidly and efficiently set up digital city model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling job costs；By this
The outdoor scene threedimensional model that the multi-angle image data of system photographs is set up can be widely applied to urban planning, construction landscape designs,
Resource management, military battlefield manoeuvre, Governace, three-dimensional navigation and city tour manage system, anti-terrorism stability maintenance, security police
National defence and the development of the national economy every field such as ring, rescue and relief work；Additionally, the fixed-wing unmanned plane of the present invention is taken the photograph by aviation
Shadow, field is arranged photo control point and photogrammetric interior industry, is only needed the time can complete topographic map drawing, alleviate field survey
Personnel labor intensity, improves work efficiency.
On the basis of technique scheme, the present invention can also do following improvement.
Further, waving the rocking action of The Cloud Terrace described in is to carry out pendulum-type action along the direction of fixed-wing unmanned plane during flying.
Further, described optical image unit is a freestanding optical camera, and a freestanding optical camera hangs down
Depending on be fixed on described in wave on The Cloud Terrace, a freestanding optical camera includes CCD imaging device and tight shot.
Further, described optical image unit is knockdown two optical cameras, knockdown two optical camera edges
The symmetrical tilt distribution in direction of fixed-wing unmanned plane during flying is waved on The Cloud Terrace described in being arranged on, and described system controller
The exposure actions of knockdown two optical cameras of Synchronization Control, knockdown two optical cameras all include CCD imaging device
And tight shot.
Using providing the benefit that further of technique scheme: the present invention uses non-metric camera, volume is light, by phase
Machine examination school still may be used for aerophotogrammetry, and low cost, by being mounted in fixed-wing unmanned plane, it is not necessary to place, hands especially
Throw or the mode of catapult-assisted take-off, parachuting or downhill race, pass through dense Stereo Matching, it is possible to quickly create large scale digital city three-dimensional mould
Type and make 4D measure product, in large-scale aeroplane photography operation, its quick-reaction capability and with tradition aeroplane photography and
Small-sized many rotor wing unmanned aerial vehicles are compared the aspects such as the economic benefit of generation and are had obvious advantage.
Further, described system controller includes trigger, memorizer and power module, the triggering input of described trigger
End electrically connect with the flight control system of described fixed-wing unmanned plane, the trigger output end of described trigger respectively with described optics
Image-generating unit, wave the input electrical connection of The Cloud Terrace and GPS locator, the outfan of described memorizer and described GPS locator
Electrical connection, described power module is respectively described optical image unit and waves The Cloud Terrace and power.
Further, described power module includes DC power converter and charger, described DC power converter defeated
Entering end and connect external power source, outfan is connected with the input of described charger, the outfan of described charger and described optics
Image-generating unit electrically connects with waving The Cloud Terrace.
Further, wave The Cloud Terrace described in and include optical image unit installing rack, pendulum parts and servomotor, described servo
Motor by drive pendulum parts drive optical image unit installing rack swing, described servomotor respectively with described trigger
Trigger output end and charger outfan electrical connection, described optical image unit be arranged on described optical image unit install
On frame.
Based on above-mentioned a kind of fixed-wing unmanned plane swing oblique photograph system, it is unmanned that the present invention also provides for a kind of fixed-wing
Machine swing oblique photograph method.
A kind of fixed-wing unmanned plane swing oblique photograph method, utilizes a kind of fixed-wing unmanned plane described above to wave
Formula oblique photograph system is photographed, and comprises the following steps,
S1, the flight control system of fixed-wing unmanned plane send control instruction and trigger the system of swing oblique photograph device
Controller；
S2, the system controller of swing oblique photograph device controls to wave The Cloud Terrace according to described control instruction and drives optics
Image-generating unit carries out pendulum-type action along fixed-wing unmanned plane during flying direction, and control optical image unit is exposed taking the photograph simultaneously
Shadow, wherein optical image unit is a freestanding optical camera or knockdown two optical cameras；
S3, after optical image unit exposure photography completes, system controller controls to wave The Cloud Terrace and drives optical image unit
Swing to initial position.
The invention has the beneficial effects as follows: one fixed-wing unmanned plane of the present invention swing oblique photograph method is by waving cloud
Platform carries 1 or 2 cameras realize multi-angle oblique photography, the number of times that waved by system controller arbitary convention camera, angle
Degree and the action of camera exposure, it is possible to obtain the multi-angle image data of atural object simultaneously, and obtain the geography information exposing moment,
Thus overcome tradition air photo technique and can only carry out, from vertical angle, the limitation that shoots, it is possible to reflect ground more truly
The practical situation of thing, compensate for the deficiency of orthography；The image data shot by this method and the geography information of acquisition, then
Integrate POS, the data such as DSM and vector, set up dimensional Modeling Technology based on image dense Stereo Matching, mapped by automatically texture,
Rapidly and efficiently set up digital city model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling job costs；By this
The outdoor scene threedimensional model that the multi-angle image data of system photographs is set up can be widely applied to urban planning, construction landscape designs,
Resource management, military battlefield manoeuvre, Governace, three-dimensional navigation and city tour manage system, anti-terrorism stability maintenance, security police
National defence and the development of the national economy every field such as ring, rescue and relief work；Additionally, the fixed-wing unmanned plane of the present invention is taken the photograph by aviation
Shadow, field is arranged photo control point and photogrammetric interior industry, is only needed the time can complete topographic map drawing, alleviate field survey
Personnel labor intensity, improves work efficiency.
On the basis of technique scheme, the present invention can also do following improvement.
Further, while optical image unit exposes, system controller controls GPS locator by optical image unit
The position of exposure moment positions, it is thus achieved that optical image unit exposure instantaneous position information data, and by described optical imagery
Unit exposure instantaneous position information data is transferred in described system controller and stores.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention a kind of fixed-wing unmanned plane swing oblique photograph system；
Fig. 2 is the one swing oblique photograph device of the present invention a kind of fixed-wing unmanned plane swing oblique photograph system
Structural representation；
Fig. 3 is the another kind swing oblique photograph dress of the present invention a kind of fixed-wing unmanned plane swing oblique photograph system
The structural representation put；
Fig. 4 is that the control signal of the present invention a kind of fixed-wing unmanned plane swing oblique photograph system moves towards figure；
Fig. 5 is the flow chart of the present invention a kind of fixed-wing unmanned plane swing oblique photograph method.
In accompanying drawing, the list of parts representated by each label is as follows:
1, fixed-wing unmanned plane, 2, swing oblique photograph device, 3, optical image unit, 4, wave The Cloud Terrace, 5, GPS fixed
Position device, 6, system controller.
Detailed description of the invention
Being described principle and the feature of the present invention below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
Non-for limiting the scope of the present invention.
As shown in Figure 1, Figure 2 and Figure 3, a kind of fixed-wing unmanned plane swing oblique photograph system, unmanned including fixed-wing
Machine 1, and the swing oblique photograph device 2 being mounted on described fixed-wing unmanned plane 1.
Described fixed-wing unmanned plane 1 is mainly controlled by traditional unmanned plane during flying plateform system, GPS navigation system, flight
System, ground control system and signal transmission system composition；
Described unmanned plane during flying plateform system, is provided power by motor or electromotor, is turned by regulation motor or electromotor
Speed controls pulling force size, is rotated by rudder face and controls attitude of flight vehicle and position；
Described GPS navigation system, utilizes GPS/INS integrated navigation, determines unmanned plane center position coordinate, and cooperation flies
Row control system, allows unmanned according to planning to fly in course line, thus realizes unmanned plane and automatically control；
Described UAV Flight Control System, be used for the inner-outer loop flight tracking control of unmanned plane, the navigation of unmanned plane,
Guidance, aerial mission management, task loading management and control, realize full control of authority and management to unmanned plane；
Described ground control system, is connect by automatic direction finding equipment, guidance computer, radio signal sender and remote control
Receipts machine, flight-control computer, automatic pilot, steering gear system, launched signal by unmanned plane and use as radiation source, earth station
Radio direction finding equipment records UAV Attitude, uses radio response mode, records unmanned plane distance, utilize height sensor
Unmanned plane height is recorded, from the attitude of unmanned plane, distance with highly determine unmanned plane during flying parameter with telemeter channel；
Described signal transmission system, for realizing leading between described ground control system and UAV Flight Control System
News.
Described swing oblique photograph device 2 includes obtaining the optical image unit 3 of the multi-angle image data of atural object, band
The GPS location that what dynamic described optical image unit 3 swung wave The Cloud Terrace 4, exposure moment to optical image unit 2 position
Device 5, and control wave the rocking action of The Cloud Terrace 3 and control described in the exposure actions of described optical image unit 2, control and deposit
The system controller 6 of the location information of storage GPS locator 5；
The described The Cloud Terrace 4 that waves is fixed on described fixed-wing unmanned plane 1, described in wave the rocking action of The Cloud Terrace 4 for along solid
The direction determining wing unmanned plane 1 flight carries out pendulum-type action；
Described optical image unit 3 waves on The Cloud Terrace 4 described in being arranged on, and described optical image unit 3 is freestanding one
Platform optical camera or knockdown two optical cameras；When described optical image unit 3 is a freestanding optical camera,
The most freestanding optical camera hang down depending on be fixed on described in wave on The Cloud Terrace 4；When described optical image unit 3 is combination type
Two optical cameras time, the most knockdown two optical cameras are symmetrical along the direction of fixed-wing unmanned plane during flying 1 to incline
Tiltedly distributing installation waves on The Cloud Terrace 4 described；
Described GPS locator 5 be arranged on the optional position of described fixed-wing unmanned plane 1 and with described system controller 6
Electrical connection；
Described system controller 6 also with the flight control system of described fixed-wing unmanned plane 1, wave The Cloud Terrace 4 and light studies
As unit 3 electrically connects.
Described system controller 6 includes trigger, memorizer and power module, the triggering input of described trigger and institute
State fixed-wing unmanned plane 1 flight control system electrical connection, the trigger output end of described trigger respectively with described optical imagery
Unit 3, wave the input electrical connection of The Cloud Terrace 4 and GPS locator 5, the outfan of described memorizer and described GPS locator 5
Electrical connection, described power module is respectively described optical image unit 3 and waves The Cloud Terrace 4 and power.Described power module includes directly
Stream power supply changeover device and charger, the input of described DC power converter connects external power source, outfan and described power supply
The input of device connects, the outfan of described charger and described optical image unit 3 and wave The Cloud Terrace 4 and electrically connect.Described shake
Pendulum The Cloud Terrace 4 includes optical image unit installing rack, pendulum parts and servomotor, and described servomotor is by driving pendulum parts
Drive the swing of optical image unit installing rack, described servomotor respectively with trigger output end and the charger of described trigger
Outfan electrical connection, described optical image unit 3 is arranged on described optical image unit installing rack.
In one fixed-wing unmanned plane of the present invention swing oblique photograph system:
A freestanding optical camera or knockdown two optical cameras of described optical image unit 3 all include little
Type CCD imaging device and high picture element tight shot.
Described GPS locator 5 measures the optical image unit location information data in exposure moment.
Described system controller 6 is connected with described The Cloud Terrace 4, optical image unit 3 and the GPS locator 5 of waving respectively, is used for
Control to wave The Cloud Terrace more than 4 time to swing, control optical image unit 3 and expose, for optical image unit 3 with wave The Cloud Terrace 4 and power, deposit
The optical image unit 3 that storage GPS locator 5 records is in the real-time geographic information data of exposure moment.System controller 6 includes touching
Sending out device, memorizer and power module, trigger therein is mainly used in the flight control system by receiving fixed-wing unmanned plane 1
Triggering signal synchronize triggering wave The Cloud Terrace 4 swing and optical image unit 3 expose, and to external equipment feedback trigger signal；
The optical image unit 3 that memory module therein records for intercepting and capturing, store GPS locator 5 is in the geography information of exposure moment
Data；Supply module therein is made up of DC power converter and charger, by DC power converter by external impressed current
Powered to optical image unit 3 and the servomotor waving The Cloud Terrace 4 by charger after being filtered voltage stabilizing conversion.
Fig. 4 is that the control signal of the present invention a kind of fixed-wing unmanned plane swing oblique photograph system moves towards figure: fixed-wing
Pwm signal is passed to the system controller of swing oblique photograph device, system controller by the flight control system of unmanned plane
Wig-wag signal is sent repeatedly to waving The Cloud Terrace, multiexposure, multiple exposure signal to optical imaging system according to pwm signal, and capture signal
To GPS alignment system, wave The Cloud Terrace and wave driving optical image unit rotation, the optical image unit that GPS locator will capture
Geographical location information in exposure moment is stored in system controller.
In the specific embodiment 1 in invention, as in figure 2 it is shown, optical image unit is a freestanding optical camera,
A freestanding optical camera hang down depending on be fixed on described in wave on The Cloud Terrace.Fixed-wing unmanned plane is planned by earth station and is appointed
Business, independently takes off behind entrance operating area, starts to perform shooting task；As a example by waving cloud platform rotation three times, when reaching exposure
During point A, the flight control system of fixed-wing unmanned plane sends the control instruction system controller to swing oblique photograph device,
System controller control to wave The Cloud Terrace forward, downwards, rotate backward and control the exposure of freestanding optical camera, stand alone type
An optical camera exposed rear system controller and control to wave The Cloud Terrace and return to initial position.In whole exposure process,
A vertical freestanding optical camera depending on carry obtains three images at an exposure point, and wherein 2 is inclination image, separately
Outer 1 is orthography；Hang down and regard the freestanding optical camera execution autotask of carry, it is desirable to meet final three-dimensional
Rebuild effect, need to again carry out operation by earth station by after same operating area course line 90-degree rotation or 270 degree.Stand alone type
The multi-angle image data of optical camera shooting process for the later stage of earth station, can be spliced into for conventional radiography
The wide cut image measured, and set up true threedimensional model.
In the specific embodiment 2 of the present invention, as it is shown on figure 3, described optical image unit is knockdown two optics
Camera, knockdown two optical cameras along the symmetrical tilt distribution in direction of unmanned plane during flying be arranged on described in wave cloud
On platform.Fixed-wing unmanned plane has planned task by earth station, behind entrance operating area of independently taking off, starts to perform shooting and appoints
Business；As a example by waving cloud platform rotation three times, when reaching exposure point A, the flight control system of fixed-wing unmanned plane sends control
Instruct to the system controller of swing oblique photograph device, system controller control to wave The Cloud Terrace forward, downwards, rotate backward
And two optical cameras of control combination formula synchronize exposure, knockdown two optics synchronised have exposed rear system controller
Control to wave The Cloud Terrace and return to initial position.In whole exposure process, tilt knockdown two optical cameras of carry one
Individual exposure point obtains six images, and wherein 6 are inclination image.The multi-angle image that knockdown two optics shoot mutually
Data processed for the later stage of earth station, can be spliced into the wide cut image measured for conventional radiography, and set up very three-dimensional mould
Type.
One fixed-wing unmanned plane of the present invention swing oblique photograph system carries 1 or 2 cameras by waving The Cloud Terrace
Realize multi-angle oblique photography, by the action of number of times, angle and camera exposure that system controller arbitary convention camera waves,
The multi-angle image data of atural object can be obtained simultaneously, and obtain the geography information exposing moment, thus overcome tradition aviation
Camera work can only carry out, from vertical angle, the limitation that shoots, it is possible to reflects the practical situation of atural object more truly, makes up
The deficiency of orthography；The image data shot by native system and the geography information of acquisition, then integrate POS, DSM and vector
Etc. data, set up dimensional Modeling Technology based on image dense Stereo Matching, mapped by automatically texture, foundation numeral rapidly and efficiently
City model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling job costs；The multi-angle shadow shot by native system
The outdoor scene threedimensional model set up as data can be widely applied to urban planning, construction landscape design, resource management, military battlefield are drilled
Habit, Governace, three-dimensional navigation and city tour manage national defence and the states such as system, anti-terrorism stability maintenance, security warning, rescue and relief work
People's economic construction every field.Additionally, the fixed-wing unmanned plane of the present invention arranges photo control point and photography by aeroplane photography, field
Industry in measuring, only needs the time can complete topographic map drawing, alleviates field survey personnel labor intensity, improve work
Efficiency.
The present invention uses non-metric camera, and volume is light, still be may be used for aerophotogrammetry, cost by camera calibration
Low, by being mounted in fixed-wing unmanned plane, it is not necessary to place especially, hands is thrown or the mode of catapult-assisted take-off, parachuting or downhill race, is passed through
Dense Stereo Matching, it is possible to quickly create large scale digital city threedimensional model and make 4D measurement product, taking the photograph in large-scale aviation
In shadow operation, its quick-reaction capability and the economic benefit etc. of generation compared with tradition aeroplane photography and small-sized many rotor wing unmanned aerial vehicles
Aspect has obvious advantage.
Based on above-mentioned a kind of fixed-wing unmanned plane swing oblique photograph system, it is unmanned that the present invention also provides for a kind of fixed-wing
Machine swing oblique photograph method.
As it is shown in figure 5, a kind of fixed-wing unmanned plane swing oblique photograph method, utilize a kind of fixed-wing described above
Unmanned plane swing oblique photograph system is photographed, and comprises the following steps,
S1, the flight control system of fixed-wing unmanned plane send control instruction and trigger the system of swing oblique photograph device
Controller；
S2, the system controller of swing oblique photograph device controls to wave The Cloud Terrace according to described control instruction and drives optics
Image-generating unit carries out pendulum-type action along fixed-wing unmanned plane during flying direction, and control optical image unit is exposed taking the photograph simultaneously
Shadow, wherein optical image unit is a freestanding optical camera or knockdown two optical cameras；
S3, after optical image unit exposure photography completes, system controller controls to wave The Cloud Terrace and drives optical image unit
Swing to initial position.
While optical image unit exposes, system controller controls GPS locator and optical image unit is exposed wink
Between position position, it is thus achieved that optical image unit exposure instantaneous position information data, and described optical image unit is exposed
Light instantaneous position information data is transferred in described system controller and stores.
One fixed-wing unmanned plane of the present invention swing oblique photograph method carries 1 or 2 cameras by waving The Cloud Terrace
Realize multi-angle oblique photography, by the action of number of times, angle and camera exposure that system controller arbitary convention camera waves,
The multi-angle image data of atural object can be obtained simultaneously, and obtain the geography information exposing moment, thus overcome tradition aviation
Camera work can only carry out, from vertical angle, the limitation that shoots, it is possible to reflects the practical situation of atural object more truly, makes up
The deficiency of orthography；The image data shot by native system and the geography information of acquisition, then integrate POS, DSM and vector
Etc. data, set up dimensional Modeling Technology based on image dense Stereo Matching, mapped by automatically texture, foundation numeral rapidly and efficiently
City model, strong sense of reality, speed is fast, greatly reduces three-dimensional modeling job costs；The multi-angle shadow shot by native system
The outdoor scene threedimensional model set up as data can be widely applied to urban planning, construction landscape design, resource management, military battlefield are drilled
Habit, Governace, three-dimensional navigation and city tour manage national defence and the states such as system, anti-terrorism stability maintenance, security warning, rescue and relief work
People's economic construction every field.Additionally, the fixed-wing unmanned plane of the present invention arranges photo control point and photography by aeroplane photography, field
Industry in measuring, only needs the time can complete topographic map drawing, alleviates field survey personnel labor intensity, improve work
Efficiency.
The present invention uses non-metric camera, and volume is light, still be may be used for aerophotogrammetry, cost by camera calibration
Low, by being mounted in fixed-wing unmanned plane, it is not necessary to place especially, hands is thrown or the mode of catapult-assisted take-off, parachuting or downhill race, is passed through
Dense Stereo Matching, it is possible to quickly create large scale digital city threedimensional model and make 4D measurement product, taking the photograph in large-scale aviation
In shadow operation, its quick-reaction capability and the economic benefit etc. of generation compared with tradition aeroplane photography and small-sized many rotor wing unmanned aerial vehicles
Aspect has obvious advantage.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.
Claims (9)
1. a fixed-wing unmanned plane swing oblique photograph system, it is characterised in that: include fixed-wing unmanned plane, and carry
Swing oblique photograph device on described fixed-wing unmanned plane, described swing oblique photograph device includes obtaining atural object
The optical image unit of multi-angle image data, drive what described optical image unit swung to wave The Cloud Terrace, to optical imagery list
The exposure moment of unit carries out the GPS locator positioned, and controls to shake described in the exposure actions of described optical image unit, control
The pendulum rocking action of The Cloud Terrace and control also store the system controller of location information of GPS locator, described in wave The Cloud Terrace and fix
On described fixed-wing unmanned plane, described optical image unit be arranged on described in wave on The Cloud Terrace, described GPS locator is arranged on
Electrically connecting on the optional position of described fixed-wing unmanned plane and with described system controller, described system controller also shakes with described
The flight control system electrical connection of pendulum The Cloud Terrace, optical image unit and fixed-wing unmanned plane, described optical image unit is independent
One optical camera of formula or knockdown two optical cameras.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 1, it is characterised in that shake described in:
The rocking action of pendulum The Cloud Terrace is to carry out pendulum-type action along the direction of fixed-wing unmanned plane during flying.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 1 and 2, it is characterised in that: institute
Stating optical image unit is a freestanding optical camera, a freestanding optical camera hang down depending on be fixed on described in wave
On The Cloud Terrace, a freestanding optical camera includes CCD imaging device and tight shot.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 1 and 2, it is characterised in that: institute
Stating optical image unit is knockdown two optical cameras, and knockdown two optical cameras are along fixed-wing unmanned plane during flying
The symmetrical tilt distribution in direction is waved on The Cloud Terrace described in being arranged on, and described system controller Synchronization Control knockdown two
The exposure actions of platform optical camera, knockdown two optical cameras all include CCD imaging device and tight shot.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 1 and 2, it is characterised in that: institute
State system controller and include trigger, memorizer and power module, the triggering input of described trigger and described fixed-wing without
Man-machine flight control system electrical connection, the trigger output end of described trigger respectively with described optical image unit, wave cloud
The input electrical connection of platform and GPS locator, described memorizer electrically connects with the outfan of described GPS locator, described power supply
Module is respectively described optical image unit and waves The Cloud Terrace and power.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 5, it is characterised in that: described electricity
Source module includes DC power converter and charger, and the input of described DC power converter connects external power source, output
End is connected with the input of described charger, the outfan of described charger and described optical image unit and wave The Cloud Terrace and be electrically connected
Connect.
A kind of fixed-wing unmanned plane swing oblique photograph system the most according to claim 6, it is characterised in that shake described in:
Pendulum The Cloud Terrace includes optical image unit installing rack, pendulum parts and servomotor, and described servomotor is furnished standby by driving clock
Parts drive the swing of optical image unit installing rack, described servomotor respectively with trigger output end and the confession of described trigger
The outfan electrical connection of electrical equipment, described optical image unit is arranged on described optical image unit installing rack.
8. a fixed-wing unmanned plane swing oblique photograph method, it is characterised in that: utilize the claims 1 to 7 arbitrary
A kind of fixed-wing unmanned plane swing oblique photograph system described in Xiang is photographed, and comprises the following steps,
S1, the flight control system of fixed-wing unmanned plane send control instruction and trigger the system control of swing oblique photograph device
Device；
S2, the system controller of swing oblique photograph device controls to wave The Cloud Terrace according to described control instruction and drives optical imagery
Unit carries out pendulum-type action along fixed-wing unmanned plane during flying direction, and control optical image unit is exposed photography simultaneously, its
Middle optical image unit is a freestanding optical camera or knockdown two optical cameras；
S3, after optical image unit exposure photography completes, system controller controls to wave The Cloud Terrace and drives optical image unit to swing
To initial position.
A kind of fixed-wing unmanned plane swing oblique photograph method the most according to claim 8, it is characterised in that: at optics
While image-generating unit exposure, optical image unit is exposed the position of moment and carries out determining by system controller control GPS locator
Position, it is thus achieved that optical image unit exposure instantaneous position information data, and described optical image unit is exposed instantaneous position information
Data are transferred in described system controller and store.
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| CN201610589208.0A CN106043723A (en) | 2016-07-25 | 2016-07-25 | Swinging oblique photography system and method of fixed-wing unmanned aerial vehicle |
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| CN201610589208.0A CN106043723A (en) | 2016-07-25 | 2016-07-25 | Swinging oblique photography system and method of fixed-wing unmanned aerial vehicle |
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| CN201610589208.0A Pending CN106043723A (en) | 2016-07-25 | 2016-07-25 | Swinging oblique photography system and method of fixed-wing unmanned aerial vehicle |
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| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN107205124A (en) * | 2017-06-28 | 2017-09-26 | 高感（北京）科技有限公司 | A kind of many camera lens oblique photograph device and method |
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| WO2018082166A1 (en) * | 2016-11-04 | 2018-05-11 | XDynamics Limited | System for electrically connecting electronic components |
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
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| CN111629129A (en) * | 2020-03-11 | 2020-09-04 | 甘肃省科学院 | Multi-bit concurrent ultra-large plane shooting system for tracking average light brightness |
| CN111457897A (en) * | 2020-04-23 | 2020-07-28 | 中国科学院上海技术物理研究所 | Swinging-scanning type multi-view-angle aerial oblique photography camera and imaging method |
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| CN111457897B (en) * | 2020-04-23 | 2024-02-23 | 中国科学院上海技术物理研究所 | Swing-scanning type multi-view aviation oblique photography camera and imaging method |
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