CN107144264A - A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane - Google Patents
A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane Download PDFInfo
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- CN107144264A CN107144264A CN201710462104.8A CN201710462104A CN107144264A CN 107144264 A CN107144264 A CN 107144264A CN 201710462104 A CN201710462104 A CN 201710462104A CN 107144264 A CN107144264 A CN 107144264A
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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
A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention, is related to a kind of aeroplane photography method for gathering high definition pavement image, belongs to aeroplane photography field.The present invention comprises the following steps：Shoot control and compensation；Image transverse field length is calculated, field of view length threshold value is set according to road model, single course line boat is performed if length meets field of view length threshold value and takes the photograph task, multiple course boat is otherwise performed and takes the photograph task；Unmanned plane during flying route information is planned, default boat takes the photograph task course line；The setting of capture apparatus；Fixed-wing unmanned plane is according to default track flight, and autopilot controls cloud platform rotation to provide relatively stable shooting condition for capture apparatus；Autopilot takes the photograph controller to boat and sends shooting commencing signal, and boat takes the photograph controller control capture apparatus and is continuously shot to gather pavement image information.The present invention provides a kind of aeroplane photography method for gathering high definition pavement image, has the advantages that to be easy to implement, efficiency high, cost are low, image quality is high.
Description
Technical field
The present invention relates to a kind of aeroplane photography method for gathering high definition pavement image, more particularly to it is a kind of be used for fixed-wing without
The aeroplane photography method of man-machine collection high definition pavement image, belongs to aeroplane photography field.
Background technology
With flourishing for China's highway cause, road operation mileage is skyrocketed through, and people are for obtaining road
The demand of information increasingly increases.Space base information of road surface acquisition system by platform of fixed-wing unmanned plane compares traditional vehicle-mounted road surface
Information acquisition system cost is low, sample range is big, efficiency high, easy to use and do not influence traffic, so as to have before preferably application
Scape.In recent years, fixed-wing unmanned plane aerial photography has had been applied in many including ground mapping, power-line patrolling and calamity emergency
Individual field.The basic mode of fixed-wing unmanned plane aerial photography is that digital camera is mounted on unmanned plane, allows unmanned plane along default
Flight path is flown automatically, and the shooting task of camera is managed by control system.However, the characteristics of being directed to unmanned aerial vehicle platform, collection
The problems such as mission planning is difficult, camera calibration method is complicated, image quality is not high is still suffered from the implementation process of pavement image, from
And make space base boat take the photograph specific implementation get up that difficulty is more, time-consuming, cost height.
The content of the invention
A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention, be solved
Technical problem be to provide a kind of aeroplane photography method for gathering high definition pavement image, with being easy to implement, efficiency high, cost
The high advantage of low, image quality.
The purpose of the present invention is achieved through the following technical solutions.
A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention, including such as
Lower step：
Step 1：Shoot control and compensation.
Shooting control and compensation are realized based on safeguards system is shot, described shooting safeguards system includes capture apparatus, navigated
Take the photograph controller, head and autopilot.
Described step 1 concrete methods of realizing is：
Step 1.1：Controller is taken the photograph by boat provide capture apparatus and shoot signal, control capture apparatus is started shooting, continuous shooting and stopped
Clap, and the implementation status and photographic information of records photographing equipment.It is PWM ripples that boat, which takes the photograph controller and sends form by cable release,
Shutter release control signal controls capture apparatus to be continuously shot, and control signal " beginning/stopping " by autopilot control.
Step 1.2：Relatively stable shooting condition is provided for capture apparatus by head, compensation exists because of fixed-wing unmanned plane
Posture is produced and disturbed caused by change in flight course.Suitable steering wheel head is assembled for capture apparatus, autopilot is according to certainly
The attitude information control steering wheel of body is rotated, and attitudes vibration is to eliminate for capture apparatus during compensation fixed-wing unmanned plane during flying
The interference of shooting angle.
Step 2：Image transverse field length is calculated, field of view length threshold value is set according to road model, is regarded if length is met
Field length threshold value then performs single course line boat and takes the photograph task, otherwise performs multiple course boat and takes the photograph task.
Described road model is dn+10, and d is wall scroll lane width, and n is the number of track-lines of target road.
Step 2 concrete methods of realizing is as follows：
Step 2.1：Calculate image transverse field length；
According to image lateral resolution m, picture element density ρ (point/cm) and image transverse and longitudinal ratio k, image transverse field is calculated long
A (m) and image longitudinal direction field of view length b (m) is spent, calculation formula is as follows：
Step 2.2：Field of view length threshold value is set according to road model, Dan Hang is performed if length meets field of view length threshold value
Line boat takes the photograph task, otherwise performs multiple course boat and takes the photograph task.
Step 2.2 concrete methods of realizing is：
Step 2.2.1：If a >=dn+10, d are wall scroll lane width, n is the number of track-lines of target road.Then gather single course line
Alternative track points, i.e., gather location point as the alternative track points in wall scroll course line along target road middle lane.
Step 2.2.2：If a<Dn+10, then gather the alternative track points of multiple course.Choose appropriate number of track-lines s, make a >=
3.75s+10 set up, using every s bars track as wall scroll course line target road.Along the middle lane of every course line target road
Location point is gathered as the alternative track points in every course line.
Step 3：Unmanned plane during flying route information is planned, default boat takes the photograph task course line.
Step 3.1：The location point of target road is gathered, after location point is screened, fixed-wing unmanned plane during flying is used as
Track points.
The preferred GPS of location point or the Big Dipper of described collection target road are realized.
Step 3.2：Calculate fixed-wing unmanned plane flying height, and by the flying height of the fixed-wing unmanned plane of calculating with
Predetermined threshold value is compared judgement, adjusts lens focus if beyond preset threshold range and recalculates.
The flying height circular that fixed-wing unmanned plane is calculated in step 3.2 is as follows：
According to image transverse field length a (m), capture apparatus shooting angle θ1(deg), head precision θ2And unmanned plane (deg)
Flying height error e (m) calculates the flying height h of fixed-wing unmanned plane, and calculation formula is as follows:
Step 3.3：Calculate fixed-wing unmanned plane flying speed, and by the flying speed of the fixed-wing unmanned plane of calculating with
Predetermined threshold value is compared judgement, changes the filming frequency of capture apparatus if beyond preset threshold range and recalculates.
The flying speed specific formula for calculation that fixed-wing unmanned plane is calculated in step 3.3 is as follows：
Wherein, α is picture registration degree (%)；A, b are respectively that image is horizontal, indulge field of view length (m)；H is that unmanned plane during flying is high
Spend (m)；E is unmanned plane during flying height error (m)；θ1For capture apparatus shooting angle (deg)；θ2For capture apparatus head precision
(deg)；C is unmanned plane cross track distance (m)；v2For capture apparatus continuous shooting frequency (Hz), the maximum for taking capture apparatus is calculated first
Continuous shooting frequency.
Step 3.4：Track points are to autopilot and set corresponding flying height and flying speed for upload, generation task boat
Mark.If there is a plurality of flight path, in addition it is also necessary to connect adjacent two flight paths, the turning of " transition flight path " for its addition some " transition flight paths "
Radius is not less than default unmanned plane min. turning radius, and smoothly connects with two flight paths.
Step 4：The setting of capture apparatus, including digital camera and supporting camera lens are set.
Step 4.1：Digital camera is set.Digital camera is flexibly set according to mission requirements, the inner setting of camera is adjusted
The whole state to be adapted to aeroplane photography.Set content is preserved, being loaded into again before every subtask can avoid rechecking.
Step 4.2：Supporting camera lens is set.For security consideration, aeroplane photography fixed-wing unmanned plane height is unsuitable too low, and
And the flying height of fixed-wing unmanned plane can also have fluctuation, therefore by ordinary digital camera lens focusing at " infinity " place.
Step 5：Fixed-wing unmanned plane according to default track flight, autopilot control cloud platform rotation for capture apparatus provide compared with
For stable shooting condition；Autopilot takes the photograph controller to boat and sends shooting commencing signal, and then boat is taken the photograph controller control shooting and set
It is standby to be continuously shot to gather pavement image information.
Beneficial effect：
A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention, it is only necessary to
From mission requirements, filming apparatus, flying platform in terms of, with reference to road model, image transverse field length calculation method,
Flying height computational methods and flying speed computational methods, can cook up and obtain the flight that high-quality boat takes the photograph high definition pavement image
Course line, along with the boat in flight course takes the photograph control, provides the aviation for gathering high definition pavement image for fixed-wing unmanned plane and takes the photograph
Image method.Therefore, easily operated, efficiency high of the invention, fully meets and now obtains high definition pavement image with fixed-wing unmanned plane
Demand, be easy to road pavement situation to be analyzed, efficiently managed and overhauled with this.
Brief description of the drawings
Fig. 1 is shooting safeguards system schematic diagram；
Fig. 2 is a kind of aeroplane photography method stream that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention
Cheng Tu；
Fig. 3 is transition flight path schematic diagram；
Fig. 4 is that taking lens focuses method schematic diagram；
Fig. 5 is resolution ratio target definition comparison diagram；Wherein：When Fig. 5 (a) is lens focusing substantial deviation " infinity " place
Captured resolution ratio target, Fig. 5 (b) is that lens focusing is slightly away from resolution ratio target captured during " infinity " place, Fig. 5
(c) it is the lens focusing resolution ratio target captured at " infinity " place.
Fig. 6 is the high definition instance graph shot using this method.
Embodiment
To verify a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane disclosed by the invention
Feasibility and beneficial effect, technical scheme will be clearly and completely described in embodiments of the present invention below.
Embodiment 1：
As shown in Fig. 2 a kind of aviation for gathering high definition pavement image for fixed-wing unmanned plane is taken the photograph disclosed in the present embodiment
Image method, comprises the following steps：
Step 1：Shooting control and compensation are realized based on safeguards system is shot.
Described shooting safeguards system provides head and control device for capture apparatus, including capture apparatus, boat take the photograph control
Device, head and autopilot, as shown in Figure 1.
Step 1.1：Controller is taken the photograph as boat from microcomputer development plate, it is the fast of PWM ripples to send form by cable release
Door release signal controls the shooting of capture apparatus.The frequency of capture apparatus continuous shooting can be changed, and boat is taken the photograph controller signals and " opened
Beginning/stopping " is by autopilot control.Boat takes the photograph controller while shooting instruction is continuously transmitted to capture apparatus, records shooting
Time, attitude information etc., and feed back whether capture apparatus shoots success by capture apparatus hot shoe.
Step 1.2：Suitable steering wheel head is assembled for capture apparatus, autopilot can be according to the attitude information control flaps of itself
Machine is rotated, and attitudes vibration is for capture apparatus shooting angle during head compensation fixed-wing unmanned plane during flying is controlled with this
Interference.
Step 1.3：The posture of capture apparatus is measured with angular instrument, cloud platform rotation angle and hair are controlled by changing autopilot
The relation gone out between pwm signal, improves the degree of accuracy of the head to capture apparatus pose compensation.
Step 2：Image transverse field length is calculated, field of view length threshold value is set according to road model, is regarded if length is met
Field length threshold value then performs single course line boat and takes the photograph task, otherwise performs multiple course boat and takes the photograph task.
Described road model is dn+10, and d=3.75, n=2 are chosen according to task.
Step 2 concrete methods of realizing is as follows：
Step 2.1：Calculate image transverse field length；
According to image lateral resolution m=7360, picture element density ρ=2.9 and image transverse and longitudinal ratio k=1.5 calculate image horizontal
To field of view length a and the longitudinal field of view length b of image, calculation formula is as follows：
According to result of calculation, a=25.4, b=10.5 are chosen.
Step 2.2：Field of view length threshold value is set as 17.5m according to road model, if length meets field of view length threshold value
Perform single course line boat and take the photograph task, otherwise perform multiple course boat and take the photograph task.In the present embodiment, a meets step 2.2.1 conditionals,
Therefore from the scheme of the single alternative track points in course line of collection.
Step 2.2 concrete methods of realizing is：
Step 2.2.1：If a >=17.5.The alternative track points in single course line are then gathered, i.e., are gathered along target road middle lane
Location point as wall scroll course line alternative track points.
Step 2.2.2：If a<17.5, then gather the alternative track points of multiple course.Choose appropriate number of track-lines s, make a >=
3.75s+10 set up.Using every s bars track as wall scroll course line target road, along the middle lane of every course line target road
Location point is gathered as the alternative track points in every course line.
Step 3：Unmanned plane during flying route information is planned, default boat takes the photograph task course line.
Step 3.1：The location point of target road is gathered, track points are filtered out from the alternative track points in course line as fixation
The track points of wing unmanned plane during flying, make to keep appropriate distance between two track points, and ensure that radius of turn is not less than unmanned plane
Min. turning radius.
The position of described collection target road clicks GPS realizations.
Step 3.2：Calculate fixed-wing unmanned plane flying height, and by the flying height of the fixed-wing unmanned plane of calculating with
Predetermined threshold value is compared judgement, adjusts lens focus if beyond preset threshold range and recalculates.
The flying height circular that fixed-wing unmanned plane is calculated in step 3.2 is as follows：
According to image transverse field length a, capture apparatus shooting angle θ1=28.5, head precision θ2=5 and unmanned plane during flying
Height error e=10, calculates the flying height h of fixed-wing unmanned plane, and calculation formula is as follows：
According to result of calculation, h=50 is chosen, the flying height condition of unmanned plane in the present embodiment is met.
Step 3.2.1：If due to a variety of causes, unmanned plane during flying is highly unable to reach h, then can increase capture apparatus shooting
Angle, that is, reduce focal length.
Step 3.2.2：If making unmanned plane not fly because h is too low, capture apparatus shooting angle can be reduced, that is, increased
Focal length.
Step 3.3：Calculate fixed-wing unmanned plane flying speed, and by the flying speed of the fixed-wing unmanned plane of calculating with
Predetermined threshold value is compared judgement, changes the filming frequency of capture apparatus if beyond preset threshold range and recalculates.
The flying speed circular that fixed-wing unmanned plane is calculated in step 3.3 is as follows：
According to picture registration degree α=40；Horizontal, vertical field of view length a, the b of image；Unmanned plane during flying height h；Unmanned plane during flying is high
Spend error e；Capture apparatus images angle θ1；Capture apparatus head precision θ2；Unmanned plane cross track distance c=5；Capture apparatus continuous shooting frequency
Rate v2=3, calculate the flying speed v of fixed-wing unmanned plane1, calculation formula is as follows：
According to result of calculation, v is chosen1=27.7, meet the flying speed condition of unmanned plane in the present embodiment.
Step 3.3.1：If unmanned plane during flying speed is unable to reach v1, then filming frequency and the return of capture apparatus can be reduced
Step 3.3.
Step 3.3.2：If due to v1It is too low and unmanned plane is not flown, then it can increase the filming frequency of capture apparatus simultaneously
Return to step 3.3.If filming frequency reaches the capture apparatus limit, consider to change capture apparatus.
Step 3.4：Track points are to autopilot and set corresponding flying height and flying speed for upload, generation task boat
Mark.If there is a plurality of flight path, in addition it is also necessary to connect adjacent two flight paths, the turning of " transition flight path " for its addition some " transition flight paths "
Radius is not less than 1.6 times of unmanned plane min. turning radius, and smoothly connects with two flight paths, as shown in Figure 3.
Step 4：The setting of capture apparatus, including digital camera and supporting camera lens are set.
Step 4.1：Digital camera is set.To make camera to be applied on fixed-wing unmanned plane aerial photography, it is necessary to enter to camera
Row is special to be set.Main set content includes image viewing, storage folder, home slot selection, image quality, imagery zone
With file designation etc..In addition, setting display screen to keep OFF state to save electricity in the course of the work；Whole spaces are set to use
In storage；Numbering is set to be easy to processing；Single image size and form is set to ensure picture quality etc..Other related shootings are set
Putting will rationally be set according to mission requirements and actual conditions.Set content is preserved, being loaded into again before every subtask to avoid
Rechecking.
Step 4.2：Supporting camera lens is set.Camera lens are directed at the resolution ratio target in parallel light tube, adjustment shoots mirror
Head is until target content is clear in shooting image.Fig. 4 is that capture apparatus focuses method schematic diagram, and light source is radiated at resolution ratio target
On, light is imaged through target by parallel light tube formation directional light in camera, and regulation camera focusing ring makes the phase shot
Target content clearly fixes focusing ring afterwards in piece, and Fig. 5 is resolution ratio target definition comparison diagram.
Step 5：Fixed-wing unmanned plane performs acquisition tasks.
Step 5.1：Fixed-wing unmanned plane takes off, adjustment course and flying height, to be prepared into course line.Self-driving instrument control
Cloud platform rotation processed provides relatively stable shooting condition for capture apparatus.
Step 5.2：Unmanned plane enters behind task course line along course line by preset height and speed flight, and autopilot is taken the photograph to boat
Controller sends " beginning " signal, and boat is taken the photograph controller control capture apparatus and is continuously shot, and gathers pavement image.
Step 5.3：Fixed-wing unmanned plane makes a return voyage after completing task course line, and autopilot sends " stopping " letter to controller is shot
Number.
Step 5.4：Unmanned plane lands, and takes out capture apparatus and shoots the storage card of controller, you can from storage card
To high definition pavement image and its related data.Fig. 6 is the high definition road surface example actually obtained by the present embodiment methods described.
Above-described to specifically describe, purpose, technical scheme and beneficial effect to invention have been carried out further specifically
It is bright, it should be understood that the specific embodiment that the foregoing is only the present invention, the protection model being not intended to limit the present invention
Enclose, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc. should be included in the present invention
Protection domain within.
Claims (7)
1. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane, it is characterised in that：Including as follows
Step,
Step 1：Shoot control and compensation；
Shooting control and compensation are realized based on safeguards system is shot, described shooting safeguards system includes capture apparatus, navigates and take the photograph control
Device processed, head and autopilot；
Step 2：Image transverse field length is calculated, field of view length threshold value is set according to road model, if to meet visual field long for length
Degree threshold value then performs single course line boat and takes the photograph task, otherwise performs multiple course boat and takes the photograph task；
Described road model is dn+10, and d is wall scroll lane width, and n is the number of track-lines of target road；
Step 3：Unmanned plane during flying route information is planned, default boat takes the photograph task course line；
Step 4：The setting of capture apparatus, including digital camera and supporting camera lens are set；
Step 5：Fixed-wing unmanned plane is according to default track flight, and autopilot controls cloud platform rotation to provide more steady for capture apparatus
Fixed shooting condition；Autopilot takes the photograph controller to boat and sends shooting commencing signal, and then boat is taken the photograph controller control capture apparatus and connected
It is continuous to shoot to gather pavement image information.
2. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane as claimed in claim 1, its
It is characterised by：Step 2 concrete methods of realizing is as follows,
Step 2.1：Calculate image transverse field length；
According to image lateral resolution m, picture element density ρ (point/cm) and image transverse and longitudinal ratio k, image transverse field length a is calculated
(m) with image longitudinal direction field of view length b (m), calculation formula is as follows：
<mrow>
<mi>a</mi>
<mo>=</mo>
<mfrac>
<mi>m</mi>
<mrow>
<mn>100</mn>
<mi>&rho;</mi>
</mrow>
</mfrac>
</mrow>
<mrow>
<mi>b</mi>
<mo>=</mo>
<mfrac>
<mi>a</mi>
<mi>k</mi>
</mfrac>
</mrow>
Step 2.2：Field of view length threshold value is set according to road model, single course line boat is performed if length meets field of view length threshold value
Task is taken the photograph, multiple course boat is otherwise performed and takes the photograph task.
3. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane as claimed in claim 2, its
It is characterised by：Step 2.2 concrete methods of realizing is：
Step 2.2.1：If a >=dn+10, d are wall scroll lane width, n is the number of track-lines of target road；Then gather single course line alternative
Track points, i.e., gather location point as the alternative track points in wall scroll course line along target road middle lane；
Step 2.2.2：If a<Dn+10, then gather the alternative track points of multiple course；Appropriate number of track-lines s is chosen, makes a >=3.75s+
10 set up, using every s bars track as wall scroll course line target road；Position is gathered along the middle lane of every course line target road
Put the alternative track points a little as every course line.
4. a kind of as claimed in claim 2 or claim 3 be used for the aeroplane photography method that fixed-wing unmanned plane gathers high definition pavement image,
It is characterized in that：The concrete methods of realizing of step 3 is,
Step 3.1：The location point of target road is gathered, after location point is screened, the boat of fixed-wing unmanned plane during flying is used as
Mark point；
Step 3.2：The flying height of fixed-wing unmanned plane is calculated, and by the flying height of the fixed-wing unmanned plane of calculating with presetting
Threshold value is compared judgement, adjusts lens focus if beyond preset threshold range and recalculates；
The flying height circular that fixed-wing unmanned plane is calculated in step 3.2 is as follows：
According to image transverse field length a (m), capture apparatus shooting angle θ1(deg), head precision θ2And unmanned plane during flying (deg)
Height error e (m) calculates the flying height h of fixed-wing unmanned plane, and calculation formula is as follows:
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<mi>h</mi>
<mo>=</mo>
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<mi>a</mi>
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<mi>&theta;</mi>
<mn>1</mn>
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<mo>/</mo>
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<msub>
<mi>&theta;</mi>
<mn>2</mn>
</msub>
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<mi>tan</mi>
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<mi>&theta;</mi>
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</mrow>
</mrow>
</mfrac>
<mo>-</mo>
<mi>e</mi>
</mrow>
Step 3.3：The flying speed of fixed-wing unmanned plane is calculated, and by the flying speed of the fixed-wing unmanned plane of calculating with presetting
Threshold value is compared judgement, changes the filming frequency of capture apparatus if beyond preset threshold range and recalculates；
The flying speed specific formula for calculation that fixed-wing unmanned plane is calculated in step 3.3 is as follows：
<mrow>
<msub>
<mi>v</mi>
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<mo>=</mo>
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</mrow>
Wherein, α is picture registration degree (%)；A, b are respectively that image is horizontal, indulge field of view length (m)；H is unmanned plane during flying height
(m)；E is unmanned plane during flying height error (m)；θ1For capture apparatus shooting angle (deg)；θ2For capture apparatus head precision
(deg)；C is unmanned plane cross track distance (m)；v2For capture apparatus continuous shooting frequency (Hz), the maximum for taking capture apparatus is calculated first
Continuous shooting frequency；
Step 3.4：Track points are to autopilot and set corresponding flying height and flying speed for upload, generate task flight path；If
There is a plurality of flight path, in addition it is also necessary to connect adjacent two flight paths, the radius of turn of " transition flight path " for its addition some " transition flight paths "
Not less than default unmanned plane min. turning radius, and smoothly connect with two flight paths.
5. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane as claimed in claim 4, its
It is characterised by：Described step 1 concrete methods of realizing is,
Step 1.1：By boat take the photograph controller provide capture apparatus shoot signal, control capture apparatus start shooting, continuous shooting and stop clap, and
The implementation status and photographic information of records photographing equipment；Boat takes the photograph controller and sends the shutter that form is PWM ripples by cable release
Release control signal controls capture apparatus to be continuously shot, and control signal " beginning/stopping " by autopilot control；
Step 1.2：Relatively stable shooting condition is provided for capture apparatus by head, compensation is because fixed-wing unmanned plane is in flight
During posture produce change caused by disturb；Assemble suitable steering wheel head for capture apparatus, autopilot according to itself
Attitude information control steering wheel is rotated, and attitudes vibration is shot with eliminating for capture apparatus during compensation fixed-wing unmanned plane during flying
The interference of angle.
6. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane as claimed in claim 4, its
It is characterised by：The concrete methods of realizing of step 4 is,
Step 4.1：Digital camera is set；
Digital camera is flexibly set according to mission requirements, the inner setting of camera is adjusted to be adapted to the state of aeroplane photography；Will
Set content is preserved, and being loaded into again before every subtask can avoid rechecking；
Step 4.2：Supporting camera lens is set；
For security consideration, aeroplane photography fixed-wing unmanned plane height is unsuitable too low, and the flying height of fixed-wing unmanned plane
Also there can be fluctuation, therefore by ordinary digital camera lens focusing at " infinity " place.
7. a kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane as claimed in claim 4, its
It is characterised by：The position of described collection target road clicks GPS or the Big Dipper is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710462104.8A CN107144264A (en) | 2017-06-19 | 2017-06-19 | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane |
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| CN201710462104.8A CN107144264A (en) | 2017-06-19 | 2017-06-19 | A kind of aeroplane photography method that high definition pavement image is gathered for fixed-wing unmanned plane |
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| CN109238240A (en) * | 2018-10-22 | 2019-01-18 | 武汉大势智慧科技有限公司 | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain |
| CN110426043A (en) * | 2019-08-06 | 2019-11-08 | 中国人民解放军陆军工程大学 | Unmanned plane towards line target scouts path planning method |
| CN111536947A (en) * | 2020-04-30 | 2020-08-14 | 南昌伦宇科技有限公司 | Method and system for automatically detecting oblique photography missing and quickly performing rephotography |
| CN112419363A (en) * | 2020-11-06 | 2021-02-26 | 南京邮电大学 | Unmanned aerial vehicle target following method and system |
| CN112799430A (en) * | 2021-01-13 | 2021-05-14 | 东南大学 | Programmable unmanned aerial vehicle-based road surface image intelligent acquisition method |
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