CN106295141B - A plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model - Google Patents
A plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model Download PDFInfo
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- CN106295141B CN106295141B CN201610621107.7A CN201610621107A CN106295141B CN 106295141 B CN106295141 B CN 106295141B CN 201610621107 A CN201610621107 A CN 201610621107A CN 106295141 B CN106295141 B CN 106295141B
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Abstract
The invention discloses a plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model, this method comprises the following steps: calculating another shooting point that unmanned plane can be reached from any one shooting point rectilinear flight, and the time cost between the two shooting points is calculated, until determining the flight road network of unmanned plane；According to total time constraint, the cruise duration of unmanned plane, the takeoff point of unmanned plane and unmanned plane level point constraint condition, calculate in the case where unmanned plane traverses all shooting points required unmanned plane minimum sortie；The flight time of the unmanned plane of each sortie is gradually decreased, until unmanned plane can not traverse all shooting points, thus the minimum flight time cost needed for calculating under minimum sortie.During contingency management, when the data acquisition session of three-dimensional reconstruction has clear time-constrain, the present invention can accurately calculate the Sortie of needs and the flight path of each sortie and shooting task point.
Description
[technical field]
The present invention relates to a plurality of unmanned plane determining method of path and device for reconstructing three-dimensional model.
[background technique]
Spatial information has run through the whole process of contingency management with application as important basic data, acquisition.It is existing
Spatial information expressed mostly in the form of two-dimensional map, the landform of many preciousnesses and ground object detail such as texture, height, shape information
It is difficult to present.During contingency management, three-dimensional live map is capable of providing more intuitive, more detailed spatial information, more preferably
It is that Emergency decision provides support.
In order to obtain the high-precision three-dimensional model of building, need to carry out building successively to obtain building completely around flight
Surface texture information.Existing texture image collection process relies on manual control, and unmanned plane during flying track is empirically determined
With camera shooting interval.To guarantee that the Duplication of photo meets the needs of three-dimensional reconstruction, often through the flight rail that setting is intensive
Mark and lesser shooting interval shoot the image photo of bulk redundancy, three-dimensional reconstruction software are caused to devote a tremendous amount of time
Matching and processing redundancy, reduce three-dimensional reconstruction efficiency.
[summary of the invention]
For overcome the deficiencies in the prior art, the present invention proposes a kind of a plurality of unmanned plane path for reconstructing three-dimensional model
It determines method and device, can determine optimal a plurality of flight path when shooting point set determination and clear time-constrain.
For a plurality of unmanned plane determining method of path of reconstructing three-dimensional model, include the following steps:
S1, any one shooting point concentrated for determining shooting point, calculate unmanned plane can from it is described any one
Another shooting point that shooting point rectilinear flight reaches, and the time cost between the two shooting points is calculated, until determining institute
State the flight road network of unmanned plane；Wherein, the shooting point set is the camera of unmanned plane to the collection for building the shooting point shot
It closes；
S2, according to total time constraint, the cruise duration of unmanned plane, the takeoff point of unmanned plane and unmanned plane level point pact
Beam condition calculates the minimum sortie of the required unmanned plane in the case where unmanned plane traverses all shooting points；
S3, gradually decrease each sortie unmanned plane flight time, until total time constraint, unmanned plane flight when
Between, under the constraint in the level point of the takeoff point of unmanned plane and unmanned plane, the unmanned plane can not traverse all shooting points, thus
Minimum flight time cost needed for calculating under minimum sortie.
In one embodiment,
The unmanned plane described in each shooting point have corresponding course angle, the time cost include flight time cost and
Course adjustment time cost, wherein the flight time cost is that the unmanned plane flies the required time between shooting point,
The course adjustment time cost are as follows: after the unmanned plane reaches some shooting point, by the current course angle tune of the unmanned plane
Time needed for the whole corresponding course angle for some described shooting point.
In one embodiment,
The takeoff point of the unmanned plane of each sortie is identical with level point.
In one embodiment,
The cruise duration of the unmanned plane of each sortie is identical.
The present invention also provides a plurality of unmanned plane path determining devices for reconstructing three-dimensional model, comprising:
First processing units, for any one shooting point for determining shooting point concentration, calculating unmanned plane can be with
From any one described shooting point rectilinear flight reach another shooting point, and calculate the time between the two shooting points at
This, until determining the flight road network of the unmanned plane；Wherein, the shooting point set is that the camera of unmanned plane shoots building
Shooting point set；
The second processing unit, for being constrained according to total time, the cruise duration of unmanned plane, unmanned plane takeoff point and nobody
The constraint condition in the level point of machine calculates the minimum sortie of the required unmanned plane in the case where unmanned plane traverses all shooting points；
Third processing unit, the flight time of the unmanned plane for gradually decreasing each sortie, up to being constrained in total time,
The flight time of unmanned plane, the takeoff point of unmanned plane and unmanned plane level point constraint under, the unmanned plane can not traverse institute
Some shooting points, thus the minimum flight time cost needed for calculating under minimum sortie.
In one embodiment,
The unmanned plane described in each shooting point have corresponding course angle, the time cost include flight time cost and
Course adjustment time cost, wherein the flight time cost is that the unmanned plane flies the required time between shooting point,
The course adjustment time cost are as follows: after the unmanned plane reaches some shooting point, by the current course angle tune of the unmanned plane
Time needed for the whole corresponding course angle for some described shooting point.
In one embodiment,
The takeoff point of the unmanned plane of each sortie is identical with level point.
In one embodiment,
The cruise duration of the unmanned plane of each sortie is identical.
The beneficial effects of the present invention are:
During contingency management, when the data acquisition session of three-dimensional reconstruction has clear time-constrain, the present invention can
Accurately calculate the Sortie of needs and the flight path of each sortie and shooting task point.
[Detailed description of the invention]
Fig. 1 is the process signal of a plurality of unmanned plane determining method of path of the reconstructing three-dimensional model of an embodiment of the present invention
Figure
Fig. 2 is the three-dimensional point model of the building profile of an embodiment of the present invention
Fig. 3 is the building of an embodiment of the present invention and the flight path schematic diagram of unmanned plane
Fig. 4 is that the shooting cone of the three-dimensional point model of the building profile of an embodiment of the present invention and the camera of unmanned plane is covered
Lid schematic diagram
Fig. 5 is the positional diagram between any two shooting point of an embodiment of the present invention with building
[specific embodiment]
The following further describes in detail the preferred embodiments of the invention.
Process as shown in Figure 1, a kind of a plurality of unmanned plane determining method of path of the reconstructing three-dimensional model of embodiment, including such as
Lower step:
S1, construction constitute the three-dimensional point model of the profile for the building of being shot
The facade largely built all is perpendicular to or approximately perpendicular to ground, therefore according to the orthography of building
The cross-sectional profile of building can accurately be sketched the contours of.User can be convenient from network map (such as Baidu's satellite map,
Google satellite map) on obtain the orthography of building.Set local NED coordinate system as X-axis toward the north, towards east, Z axis hangs down Y-axis
Straight Horizon is face-down, and origin is on ground level.The length built in Y-axis can also be analyzed from orthography, in X-axis
Width and all long messages.The height of building can will not influence nothing by field survey or eye estimate, several meters of error
The man-machine flight path planned according to the present invention carries out the result of three-dimensional reconstruction.
The cross-sectional profile for sketching the contours building obtains a closed curve, with a resolution ratio set by user, such as
The curve discretization so that the length between each adjacent two point is 0.5m, is thus obtained building outer profile in XY by 0.5m
Discrete point sequence in plane.With same resolution ratio by the high granular of building, the discrete point sequence of Z-direction is obtained.Root
According to two discrete point sequences, the facade three-dimensional outer surface point model of building can be constructed.
The top surface of building can be approximated to be the planar polygons plane to be fenced up by cross-sectional profile, in the x, y direction with
Same resolution ratio is discrete for grid by the polygon.In conjunction with the three-dimensional point model of facade and top surface, outer surface of building (wheel is obtained
It is wide) three-dimensional point model.Fig. 2 illustrates the outer surface three-dimensional point model of a real building, each net in the form of a grid
Lattice node all obtains in aforementioned manners.Certainly this model is very rough, can only embody the profile of building, Bu Nengti
Now build the details on surface.
S2, the initial value for determining flight path key parameter
As introduced in background technique, building surface texture is obtained completely, being needed to building successively around flight, flight
Path schematic diagram arrives as shown in figure 3, can be divided into facade around flight path, top surface snake scan flight path and facade
The transition flight path three parts of top surface.
For facade flight path, if determined facade shooting point at a distance from elevation of building, same layer it is two neighboring
Distance, the spacing of upper layer and lower layer shooting point (the distance between i.e. neighbouring flight path section), each shooting of shooting point
The height of the attitude angle (pitch angle, roll angle, yaw angle) of point, the height of minimum shooting layer and highest shooting layer, can count
The position and posture of unmanned plane and camera in each shooting point of facade are calculated, to construct the flight path of facade.Because building
The facade built is not plane, and in order to ensure the photo of shooting meets the requirement of three-dimensional reconstruction Duplication, these parameter values will pass through
It iterates and calculates to determine.The calculation method of initial value is as follows:
S21, the initial value D1 for calculating flight path and the horizontal distance D1 of building when facade surround flightInitial。
For building, unmanned plane mass center may be considered overlapping, therefore shooting point with the position of camera focus
With the horizontal distance D1 in the horizontal distance of building i.e. unmanned plane during flying path and building.
It assume that facade is plane, according to the flying speed of unmanned plane, take pictures interval and the three-dimensional reconstruction pair of camera
The requirement of endlap rate calculates D1Initial:
Wherein Speed_UAV is the flying speed of unmanned plane, and Intervel_Photo is the interval of taking pictures of camera；FOV_H
1/2, the Overlap_Heading for being the horizontal view angle of camera is that endlap rate threshold value (want by three-dimensional reconstruction endlap rate
It asks).
D1InitialDetermination can be divided into two kinds of situations.
Situation 1: being limited by site environment, than if any trees, the influence of other atural objects, unmanned plane cannot at a distance from building
It is too close, can only outside some range value, first to determine D1 in this caseInitial, then nothing is adjusted further according to relational expression
The interval of taking pictures of man-machine flying speed or camera.
Situation 2: being limited by unmanned plane parameter and camera parameter, and unmanned plane during flying speed takes pictures interval with camera cannot
Arbitrarily adjustment, will first determine the flying speed of unmanned plane in this case and camera is taken pictures interval, further according to relational expression calculating
D1Initial。
Since the horizontal view angle of camera and endlap rate threshold value are all determining, and the interval of taking pictures of camera is also not
It is continuously adjustable, therefore these three general parameters can first be decided, unmanned plane is then adjusted at a distance from building and unmanned plane
Flying speed so that unmanned plane meets environmental requirement at a distance from building, while the flying speed of unmanned plane is also closed at one
It manages in range.
The course spacing of S22, the distance for determining the two neighboring shooting point of initial same layer namely facade flight path.
It has been determined that the flying speed of unmanned plane and camera are taken pictures behind interval, the course interval of facade track flies equal to unmanned plane
Scanning frequency degree is taken pictures interval multiplied by camera.
The initial side of S23, the spacing for determining upper layer and lower layer shooting point namely facade flight path are to spacing H3Initial。
Assuming that facade is plane, it is determined that after the horizontal distance of flight path and building, calculate H3Initial:
H3Initial=2 × D1Initial×tan(FOV_V)×(1-Overlap_Side)
Wherein, FOV_V is the Duplication that 1/2, Overlap_Side of the vertical angle of view of camera is the vertical direction built
Threshold value (requirement of three-dimensional reconstruction sidelapping rate).
S24, the height H2 for determining initial facade highest shooting layer.
The maximum height of facade flight path will ensure to take elevation of building and top surface simultaneously, take building height
Height_Building adds the sum of unmanned plane and the horizontal distance D1 of building, when using 45 degree of overturning angle shootings, theoretically
The 50% of photo takes elevation of building, and 50% takes construction ceiling.
S25, the elemental height H1 for determining the minimum shooting layer of facadeInitial
The minimum altitude of facade flight path will ensure that construction bottom can be completely covered in the photo shot
S26, the attitude angle for determining each shooting point in facade flight path.
The attitude angle of each shooting point is determined by two parts: the attitude angle of unmanned plane and the attitude angle of camera.
Ideally, unmanned plane yaw angle should be directed toward the building two dimension mass center of sustained height.The pitch angle of unmanned plane and
Roll angle is influenced by flight course, is 0 in the pitch angle and roll angle of each shooting point ideally.
Camera is loaded on holder, it is only necessary to downward pitch angle of the adjustment relative to unmanned plane plane, when facade track height
When degree is lower than building, using horizontal photograph, pitch angle is 0 degree, when facade trajectory height, which is higher than, to be built, using oblique photograph,
Pitch angle is generally 42-45 degree.
Top surface flight path is conplane scanning track as shown in Fig. 3 right part of flg, similar, as long as top has been determined
Face shooting point is at a distance from two neighboring shooting point on the vertical range of construction ceiling, heading, the spacing of two column shooting points
(namely the distance between route segment adjacent in the flight path of top surface), each shooting point attitude angle (pitch angle, roll angle,
Yaw angle), the position and posture of unmanned plane and camera in each shooting point in top surface can be calculated, to construct flying for top surface
Walking along the street diameter.Because the top surface of building has been approximately plane, is ensured that by theoretical calculation when construction builds three-dimensional point model
The photo of shooting meets the requirement of three-dimensional reconstruction Duplication, and calculation method is as follows:
S27, determine top surface scan flight when, the vertical range H4 of flight path and construction ceiling.
Similar, the vertical range of top surface track and construction ceiling is according between the flying speed of unmanned plane, the taking pictures of camera
Every and the requirement of endlap rate threshold value calculate, with unlike facade distance D1, the course in top surface path is corresponded to
The vertical angle of view of camera, relational expression are as follows:
S28, the distance of adjacent shooting point namely the boat of top surface flight path on the heading of top surface flight path are determined
To interval.
Similar, it is determined that the flying speed and camera of unmanned plane are taken pictures behind interval, the course interval of top surface flight path
It takes pictures interval equal to unmanned plane during flying speed multiplied by camera.
The side of S29, the spacing for determining two column shooting point of top surface flight path namely top surface flight path are to interval D 2.
It is similar, it is determined that after the vertical range of top surface flight path and construction ceiling, the side of top surface is to having corresponded to camera
The requirement to sidelapping rate of horizontal view angle and three-dimensional reconstruction, calculation formula are as follows:
D2=2 × H4 × tan (FOV_H) × (1-Overlap_Side)
S210, the attitude angle for determining each shooting point in the flight path of top surface.
The attitude angle of each shooting point is determined by two parts in the flight path of top surface: first is that the attitude angle of unmanned plane, second is that
The attitude angle of camera.
Unmanned plane yaw angle should always point to heading.The pitch angle and roll angle of unmanned plane are influenced by flight course,
It ideally, is 0 in the pitch angle of each shooting point and roll angle.
Camera is loaded on holder, it is only necessary to downward pitch angle of the adjustment relative to unmanned plane plane, top surface flight path
In, pitch angle is always 90 degree, shoots the orthography of top surface.
S211, transition flight path is determined.
In general, the photo shot in transition flight path is not involved in three-dimensional reconstruction, thus will not influence three
Dimension is rebuild, therefore the parameter of adjustment unmanned plane and camera is not needed in transition flight path.
S3, minimum shooting point set is calculated.
According to the key parameter initial value determined in step S2, flight path is constructed, necessary camera site point set is calculated,
Judge whether the photo shot in these camera site points is all satisfied course and the requirement of sidelapping rate of three-dimensional reconstruction.
S31, the Duplication for calculating the point set that the shooting of camera described in shooting point adjacent in facade flight path covers.
The shooting area of camera can be considered as a pyramidal cone, and the vertex of cone can be approximated to be unmanned plane matter
The subtended angle of the heart, cone is determined by the horizontal view angle and vertical angle of view of camera, is readily available the cone in the body coordinate system
Analytical expression recycles the rotation between body coordinate system and local NED coordinate system and translation relation, can obtain in local
The shooting area expression formula of camera under NED coordinate system.Using the relativeness of the cone and the three-dimensional point model of building, can calculate
It builds in three-dimensional point model, has which point that can be photographed by camera.
The building surface point of a certain shooting point N shooting is labeled as 1, the surface point not photographed is labeled as 0, then we can obtain
To the building point set of the position taken, it is denoted as IN, IN+1Indicate the building that next shooting point N+1 of shooting point N takes
Point set calculates overlapping between the building surface point that the shooting point photographed and the building surface point that adjacent next shooting point photographed
Rate.For some shooting point, need to calculate the overlapping between the building point of shooting point covering adjacent on the direction of course
Rate, it is also necessary to calculate the Duplication between the building point of shooting point covering adjacent on vertical direction.
The algorithm of Duplication is as follows:
If the area of the building that can be taken using camera calculates Duplication, as shown in Fig. 2, vertical due to building
Face is usually irregular curved surface, and the areal calculation for the building that camera can take is extremely difficult, and therefore, the present embodiment uses
Point set using camera shooting covering is simpler come the scheme for calculating Duplication.
In some cases, the point in the three-dimensional point model of camera shooting covering may be to be blocked by actual building,
That is these points are can not to appear in camera to shoot in the photo come, and therefore, it is necessary to these progress that are blocked
It excludes.
As shown in figure 4, contain the building surface of gridding by the three-dimensional point model that step S1 is constructed, grid it is each
Known to a node coordinate.It can be appreciated that elevation of building is considered as being made of N number of small rectangular strip perpendicular to XoY plane, each
The height of rectangular strip is equal to building height, and the width of each rectangular strip is equal to the width of a grid.Using O point as four of origin
It is the shooting cone of camera in radiation range.
S311, traversal building point set, judge whether to fall in shooting cone.There are many algorithms for this, for example can pass through
Between the line OE vector of point (being assumed to be E point) and O point and the normal vector of plane OAB, OBC, OCD, OAD in judgement building
Angled relationships, to judge E point whether in cone.
S312, intracorporal point set is bored for falling in, judges hiding relation, exclusion is blocked a little.Since building surface can be with
Regard by N number of small rectangular strip perpendicular to XoY plane and be parallel to the top surface of XoY plane as, what total N+1 face was constituted, it is not difficult
Understand, if some point is blocked, the line of the point and O point passes through some face in N+1 face.
S3121, first judgement, which are fallen in, bores whether the point (hereinafter referred to as F point) that intracorporal point is concentrated is blocked by construction ceiling, by
In top surface be the polygon for being parallel to XoY, it is known that the boundary point of the polygon, so only needing to judge between F point and O point
Whether line and rooftop polygons have intersection point.If any intersection point, illustrates that F point is blocked by top surface, cannot be photographed by camera, by this
F point excludes；Such as without intersection point, illustrate not blocked by top surface.
S3122, continue whether judgement is blocked by the point that step S3121 handles remaining point concentration by facade.It is not difficult to manage
Solution only falls with the intracorporal facade part of shooting cone and is possible to shelter from F point.
Similar, the intracorporal facade part of cone will be fallen into and regard multiple rectangular areas perpendicular to XoY plane as, because knowing
The coordinate of each node in Fig. 4, it is easy to which the equation for listing these rectangular areas is made a F point to the line between O point, sentenced
Break the relationship of this straight line and these rectangles, if intersection, then it represents that F point is blocked, and otherwise F point is not blocked then.
In some embodiments, the points needed to be traversed for can be reduced by the following method: when discovery O point is higher than building
When, then the point for being located at the intracorporal construction ceiling region of shooting cone does not need to judge again.
S32, continuous adjusting parameter, until the shooting point on facade flight path meets Duplication requirement.
For top surface flight path, what it is due to shooting is orthography, just can be expired by orthography theoretical calculation
The shooting point position that sufficient Duplication requires.
For facade track, if in step S31, if the Duplication of the point set of certain two adjacent shooting point coverings is not
Meet three-dimensional reconstruction requirement, then need to increase the horizontal distance of flight path and building, or changes the flight speed of unmanned plane
The interval of taking pictures of degree or camera.It is taken pictures due to change of flight speed or camera and is spaced the parameter that will affect top surface flight path,
Therefore the preferential horizontal distance D1 for increasing flight path and building, and calculate other key parameters relevant to D1.
Flight path is reconstructed, new shooting point set is obtained, repeats step S3, until the weight of the point set of all shooting points covering
Folded rate is all satisfied three-dimensional reconstruction requirement.
By step S1 to S3, the shooting point set that is determined.If to the data acquisition having time of unmanned plane
Constraint, also needs to judge whether single rack unmanned plane during flying can satisfy time-constrain.If single rack unmanned plane during flying can satisfy
Between constrain, then press facade flight path -- transition flight path -- top surface flight path sequential configuration flight path, traverse institute
There is shooting point.If not being able to satisfy time-constrain since single rack unmanned plane during flying time-consuming is too long, then need using multimachine mode,
Shooting point set is assigned to multi rack time in-flight to go.Since each shooting point is the task point of unmanned plane, multiple UAVs association
With under operation, path planning seek to using multi rack time unmanned plane at the appointed time in, appointed with the smallest time cost traversal
Business point, and posture is adjusted in each task point, shoot photo.
S4, construction flight road network.
For any one shooting point that shooting point is concentrated, determine what unmanned plane can be reached from the shooting point rectilinear flight
Another shooting point (namely the surface of the line and building between the two shooting points is non-intersecting, unmanned plane is in the two shootings
Fly and will not be blocked by building between point), and the time cost between the two shooting points is calculated, in this way, concentrated in shooting point,
A flight road network can be formed, which show the flight paths that unmanned plane can choose.
Existing unmanned plane usually supports Headless mode to fly, and unmanned plane course angle in flight course can not change, by
It is on the holder for being fixed on unmanned plane in camera, the pitch angle of camera can adjust in flight course, and unmanned plane reaches
Course angle could be adjusted after shooting point, therefore time cost mainly includes flight time cost and course adjustment time cost,
In, the flight time cost be the unmanned plane fly between shooting point the required time, the course adjustment time at
This are as follows: after the unmanned plane reaches some shooting point, it is corresponding that the current course angle of unmanned plane is adjusted to some described shooting point
Course angle needed for the time.
Ensure that the disjoint method in surface of the line and building between two shooting points has very much.For example, being referred to
The calculation method of step S311 to step S312, it is ensured that the surface of line and building between two shooting points is non-intersecting.
In another embodiment, it can ensure the surface of the line between two shooting points and building by the following method
Disjoint method.
As shown in figure 5, elevation of building can be imagined as according to the three-dimensional point model of building by a series of rectangle structures
At can sentence by judging whether the sight between two shooting points is blocked by certain rectangles of construction ceiling or facade
Whether the air route between this two shooting point of breaking is unimpeded.P1, P2 are two shooting points to be judged, cross P1, P2 point, do one vertically
In the rectangle of XoY plane, it is denoted as the face ABCD.Construct a cuboid, vertex E, F, G, H and K, L, M, N, four facades are equal
Perpendicular to XoY plane, bottom surface is XoY plane, upper top surface in parallel with XoY plane, the highly height for building height and P1, P2
Middle maximum value.Wherein A, B, C, D point are the midpoint of line segment EH, FG, ML, NK respectively, and the face EFGH and the face KLMN are each perpendicular to ABCD
Face, taking EH length is 2-3 times for building grid.If P1P2 sight is blocked by elevation of building point P3, where P3
Rectangle be certain to fall in EFGHKLMN cuboid, that is to say, that in certain flight path of planning, unmanned plane cannot
P2 is directly flown to from P1.
Not all shooting point requires to judge two-by-two, certain P Passable between adjacent shooting point, is higher than building
All shooting points between can pass through, the quantity of shooting point for needing to judge can be reduced in this way, can be improved path rule
The speed drawn.
The minimum sortie of unmanned plane needed for S5, calculating.
According to flight road network, total time constraint, the landing in the cruise duration of unmanned plane, the takeoff point of unmanned plane and unmanned plane
Point calculates the minimum sortie of the required unmanned plane in the case where unmanned plane traverses all shooting points.
For example, when the minimum sortie that can set unmanned plane first as 2 framves, sets the flight time of unmanned plane as continuation of the journey
Between, and takeoff point and the level point of unmanned plane are set, it is constrained by the computational algorithm of multiple traveling salesmen problem, calculating in total time
In the case of whether can traverse all shooting points, if not all right, increase the sortie (such as increasing by 1 sortie) of unmanned plane, such as
All shooting points cannot be traversed and then continue growing sortie, until all shooting points can be traversed, needed for can obtaining in this way
The minimum sortie of unmanned plane.Under normal conditions, the cruise duration of each unmanned plane, takeoff point and level point are identical, certainly
It can also be different.Multiple traveling salesmen problem is a classical mathematical problem, has had many algorithms optimal to calculate at present
Path.
S6, under the minimum sortie, calculate the smallest flight time cost.
It is practical to fly due to assuming that the unmanned plane of every sortie is all the completion aerial mission under cruise duration in step s 5
In row in the case where traversing all shooting points, the actual flying time of some possible unmanned planes is less than cruise duration.Therefore,
Whether the flight time that each unmanned plane sortie can be gradually reduced can traverse all shooting points according to step S5 calculating,
If can if continue to reduce flight time of each sortie unmanned plane, until once reducing the flight of each sortie unmanned plane at certain
After time, all shooting points can not be traversed according to the calculating unmanned plane of step S5, in this way, flying before certain above-mentioned primary reduction
The row time is the minimum flight time cost under minimum sortie.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, exist
Under the premise of not departing from present inventive concept, a number of simple deductions or replacements can also be made, all shall be regarded as belonging to the present invention by
The scope of patent protection that the claims submitted determine.
Claims (8)
1. being used for a plurality of unmanned plane determining method of path of reconstructing three-dimensional model, characterized in that include the following steps:
S1, any one shooting point concentrated for determining shooting point, calculating unmanned plane can be from any one described shooting
Another shooting point that point rectilinear flight reaches, and the time cost between the two shooting points is calculated, until determining the nothing
Man-machine flight road network；Wherein, the set for the shooting point that the shooting point set shoots building for the camera of unmanned plane, and
And the photo of the shooting point shooting in the shooting point set meets course and the requirement of sidelapping rate of three-dimensional reconstruction；
S2, according to total time constraint, the cruise duration of unmanned plane, the takeoff point of unmanned plane and unmanned plane level point constraint item
Part calculates the minimum sortie of the required unmanned plane in the case where unmanned plane traverses all shooting points；
S3, gradually decrease each sortie unmanned plane flight time, until total time constraint, unmanned plane flight time,
Under the constraint in the level point of the takeoff point and unmanned plane of unmanned plane, the unmanned plane can not traverse all shooting points, to count
Minimum flight time cost needed for calculating under minimum sortie.
2. being used for a plurality of unmanned plane determining method of path of reconstructing three-dimensional model as described in claim 1, characterized in that every
Unmanned plane described in a shooting point has corresponding course angle, and the time cost includes flight time cost and course adjustment time
Cost, wherein the flight time cost is that the unmanned plane flies the required time between shooting point, the course adjustment
Time cost are as follows: after the unmanned plane reaches some shooting point, by the current course angle of the unmanned plane be adjusted to it is described some
Time needed for the corresponding course angle of shooting point.
3. being used for a plurality of unmanned plane determining method of path of reconstructing three-dimensional model as described in claim 1, characterized in that each
The takeoff point of the unmanned plane of sortie is identical with level point.
4. being used for a plurality of unmanned plane determining method of path of reconstructing three-dimensional model as described in claim 1, characterized in that each
The cruise duration of the unmanned plane of sortie is identical.
5. being used for a plurality of unmanned plane path determining device of reconstructing three-dimensional model, characterized in that include:
First processing units, for any one shooting point for determining shooting point concentration, calculating unmanned plane can be from institute
Another shooting point of any one shooting point rectilinear flight arrival is stated, and calculates the time cost between the two shooting points,
Until determining the flight road network of the unmanned plane；Wherein, the shooting point set is that the camera of unmanned plane shoots building
The set of shooting point, and the photo of the shooting point shooting in the shooting point set meets course and the sidelapping of three-dimensional reconstruction
Rate requirement；
The second processing unit, for being constrained according to total time, the cruise duration of unmanned plane, the takeoff point of unmanned plane and unmanned plane
The constraint condition in level point calculates the minimum sortie of the required unmanned plane in the case where unmanned plane traverses all shooting points；
Third processing unit, the flight time of the unmanned plane for gradually decreasing each sortie, until total time constraint, nobody
The flight time of machine, the takeoff point of unmanned plane and unmanned plane level point constraint under, the unmanned plane can not traverse all
Shooting point, thus the minimum flight time cost needed for calculating under minimum sortie.
6. being used for a plurality of unmanned plane path determining device of reconstructing three-dimensional model as claimed in claim 5, characterized in that
The unmanned plane described in each shooting point has corresponding course angle, and the time cost includes flight time cost and course
Adjustment time cost, wherein the flight time cost is that the unmanned plane flies the required time between shooting point, described
Course adjustment time cost are as follows: after the unmanned plane reaches some shooting point, the current course angle of the unmanned plane is adjusted to
Time needed for the corresponding course angle of described some shooting point.
7. being used for a plurality of unmanned plane path determining device of reconstructing three-dimensional model as claimed in claim 5, characterized in that
The takeoff point of the unmanned plane of each sortie is identical with level point.
8. being used for a plurality of unmanned plane path determining device of reconstructing three-dimensional model as claimed in claim 5, characterized in that
The cruise duration of the unmanned plane of each sortie is identical.
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