CN106123862A - Flight unmanned plane understory species observation procedure in one elite stand - Google Patents
Flight unmanned plane understory species observation procedure in one elite stand Download PDFInfo
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- CN106123862A CN106123862A CN201610387452.9A CN201610387452A CN106123862A CN 106123862 A CN106123862 A CN 106123862A CN 201610387452 A CN201610387452 A CN 201610387452A CN 106123862 A CN106123862 A CN 106123862A
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- flight
- solve
- image
- unmanned plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
Flight unmanned plane understory species observation procedure in one elite stand: flying in more than 2 meters forest lands pruned of trees spacing with Mini unmanned plane, single flight can reach about 1 kilometer round trip；But owing to during woodland flight, GPS/IMU error is the biggest, it is thus desirable to arrange ground control point in flight range, the mode using normal case photography carries out photographic observation to understory species, the method using resection solves the elements of exterior orientation of image, then uses the method for forward intersection to solve trees position coordinate.
Description
One, technical field
This technology is the coordinate using photogrammetry principles to resolve understory species.
Two, technical background
In recent years, unmanned aerial vehicle remote sensing is gradually applied in forest survey, but owing to forest zone inner case is complicated, is typically only capable to
Determining large-scale Forest Growth situation, and the information retrieval for individual plant trees is relatively difficult, conventional method is to utilize POS
Data resolve unmanned plane photographic image, extract the information of impact point thing.In woods, the unmanned plane of flight is due to by the external world
Interference, it is impossible to be accurately obtained POS data, it is therefore desirable to ground control point is set and understory species is carried out by manual manipulation unmanned plane
Observation.
Three, summary of the invention
This disclosure of the invention unmanned plane method of flight observation vegetation in woods.With Mini unmanned plane in trees spacing 2
Rice flies in the above forest land pruned, and single flight can reach about 1 kilometer round trip；But due to GPS/IMU during woodland flight
Error is the biggest, it is therefore desirable to arrange ground control point in flight range, uses the mode of normal case photography to carry out understory species
Photographic observation, uses the method for resection to solve the elements of exterior orientation of image, then uses the method for forward intersection to solve trees
Position coordinate.
Selection of land face chooses 4 points as control point, solve 6 exterior orientations of every width image with least square adjustment
Element, determines the relation of subject and aerial stereo images；The elements of interior orientation of normal case photography gained horizontal image is (x0, y0, f),
According to collinearity condition equationBy picpointed coordinate (x0, y0) and ground control point (X, Y, Z) regard given value as, and
According to the linear form of Taylor series expansion, solve elements of exterior orientation Xs undetermined, Ys, Zs,The value of ω, κ.
Be kept upright the mode photographed, it is thus achieved that two horizontal images, builds stereogram；On the basis of left image, i.e. take
Photogrammetric coordinate system S1-x1y1z1On the basis of coordinate system, the most left image S1Elements of exterior orientation be Xs1, Ys1, Zs1,
ω1=0, κ1=0, right image S2Elements of exterior orientation be Xs1+ B, Ys1, Zs1,ω1, κ1；The a length of B of known base line, if target
Point A (A is tree positions) object coordinates in D-XYZ is (X, Y, Z), then obtain solving impact point A object space coordinate
Computing formulaWherein p is picture point horizontal parallax (p=x1-x2)；By the absolute orientation of stereogram, by thing side
Space coordinates (X, Y, Z) is converted to ground survey coordinate (X ', Y ', Z '), the position coordinate of available trees A.
Four, accompanying drawing explanation:
Nothing
Five, detailed description of the invention:
1, on selection of land face, choose 4 points as control point, and pruned for more than 2 meters in trees spacing with Mini unmanned plane
Forest land in fly, filmed image；
2, according to resection principle, solve every width image elements of exterior orientation Xs, Ys, Zs,The value of ω, κ.
3, according to stereogram forward intersection principle, the geographical coordinates (X ', Y ', Z ') of trees is solved.
Claims (3)
1. flight unmanned plane understory species observation procedure in an elite stand, is characterized in that: with Mini unmanned plane trees spacing 2 meters with
On fly in the forest land pruned, single flight can reach about 1 kilometer round trip；But due to GPS/IMU error during woodland flight
The biggest, it is therefore desirable to ground control point is set in flight range, use the mode of normal case photography that understory species is photographed
Observation, uses the method for resection to solve the elements of exterior orientation of image, then uses the method for forward intersection to solve trees point position
Coordinate.
2., according to claim 1, solve element outside image foreign side by resection method: choose 4 ground control point coordinates, use
A young waiter in a wineshop or an inn takes advantage of adjustment method to solve 6 elements of exterior orientation of every width image, determines the relation of subject and aerial stereo images；Normal case photography
The elements of interior orientation of gained horizontal image is (x0, y0, f), according to collinearity condition equationBy picpointed coordinate (x0,
y0) and ground control point (X, Y, Z) regard given value as, and according to the linear form of Taylor series expansion, solve exterior orientation undetermined
Element Xs, Ys, Zs,The value of ω, κ.
3., according to claim 1 and claim 2, solve trees position coordinate with forward intersection: be kept upright the side photographed
Formula, it is thus achieved that two horizontal images, builds stereogram；On the basis of left image, i.e. take photogrammetric coordinate system S1-x1y1z1For
The frame of reference, the most left image S1Elements of exterior orientation be Xs1, Ys1, Zs1,ω1=0, κ1=0, the foreign side of right image S2
Bit element is Xs1+ B, Ys1, Zs1,ω1, κ1；The a length of B of known base line, if impact point A (A is tree positions) is in D-XYZ
Object coordinates is (X, Y, Z), then obtain solving the computing formula of impact point A object space coordinateWherein p is picture
Point horizontal parallax (p=x1-x2)；By the absolute orientation of stereogram, object space coordinate (X, Y, Z) is converted to ground and surveys
Amount coordinate (X ', Y ', Z '), the position coordinate of available trees A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610387452.9A CN106123862A (en) | 2016-06-03 | 2016-06-03 | Flight unmanned plane understory species observation procedure in one elite stand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610387452.9A CN106123862A (en) | 2016-06-03 | 2016-06-03 | Flight unmanned plane understory species observation procedure in one elite stand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106123862A true CN106123862A (en) | 2016-11-16 |
Family
ID=57270630
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610387452.9A Pending CN106123862A (en) | 2016-06-03 | 2016-06-03 | Flight unmanned plane understory species observation procedure in one elite stand |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427438A (en) * | 2018-04-11 | 2018-08-21 | 北京木业邦科技有限公司 | Flight environment of vehicle detection method, device, electronic equipment and storage medium |
| CN109032180A (en) * | 2018-08-14 | 2018-12-18 | 深圳市烽焌信息科技有限公司 | A kind of pruning method based on unmanned plane |
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| CN104732577A (en) * | 2015-03-10 | 2015-06-24 | 山东科技大学 | Building texture extraction method based on UAV low-altitude aerial survey system |
| CN104915988A (en) * | 2015-06-29 | 2015-09-16 | 北京建筑大学 | Photogrammetric dense point cloud generation method |
-
2016
- 2016-06-03 CN CN201610387452.9A patent/CN106123862A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011080845A (en) * | 2009-10-06 | 2011-04-21 | Topcon Corp | Method and apparatus for creating three-dimensional data |
| CN102937443A (en) * | 2012-01-13 | 2013-02-20 | 唐粮 | Target rapid positioning system and target rapid positioning method based on unmanned aerial vehicle |
| CN104732577A (en) * | 2015-03-10 | 2015-06-24 | 山东科技大学 | Building texture extraction method based on UAV low-altitude aerial survey system |
| CN104915988A (en) * | 2015-06-29 | 2015-09-16 | 北京建筑大学 | Photogrammetric dense point cloud generation method |
Non-Patent Citations (3)
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|---|
| 周新力: "《建筑施工测量20讲》", 31 January 2014 * |
| 林卉: "《摄影测量学基础》", 30 November 2013 * |
| 段延松: "《数字摄影测量4D生产综合实习教程》", 31 August 2014 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427438A (en) * | 2018-04-11 | 2018-08-21 | 北京木业邦科技有限公司 | Flight environment of vehicle detection method, device, electronic equipment and storage medium |
| CN109032180A (en) * | 2018-08-14 | 2018-12-18 | 深圳市烽焌信息科技有限公司 | A kind of pruning method based on unmanned plane |
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Application publication date: 20161116 |
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