CN107270910A - Single-lens oblique photograph boat flies line design method, system and method for imaging of taking photo by plane - Google Patents
Single-lens oblique photograph boat flies line design method, system and method for imaging of taking photo by plane Download PDFInfo
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- CN107270910A CN107270910A CN201710442463.7A CN201710442463A CN107270910A CN 107270910 A CN107270910 A CN 107270910A CN 201710442463 A CN201710442463 A CN 201710442463A CN 107270910 A CN107270910 A CN 107270910A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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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
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Abstract
Fly line design method, system and method for imaging of taking photo by plane the invention discloses a kind of single-lens oblique photograph boat, obtain take photo by plane scope and technical requirements；Single-lens camera is installed and parameter of taking photo by plane is calculated, and boat fly line road is carried out according to parameter of taking photo by plane and is designed.The present invention can be used for popularization unmanned plane oblique photograph, reduce oblique photograph threshold, improve the efficiency of unmanned plane oblique photograph.
Description
Technical field
The present invention relates to a kind of field of aerial photography measurement, particularly a kind of single-lens oblique photograph boat fly line road design side
Method, system and method for imaging of taking photo by plane.
Background technology
Oblique photograph technology is the new and high technology that international survey field grew up in recent years, and it had been overturned in the past just
The limitation that projection picture can only be shot from vertical angle, by carrying many sensors on same flying platform, while from one
Vertically, four inclination etc. five different angle acquisition images.
In recent years, unmanned plane industry development is swift and violent, particularly small-sized unmanned plane, is widely used in taking photo by plane, surveys and draws, agricultural
The fields such as plant protection, electric inspection process, the disaster relief, news report.Current oblique photograph main flow be using have man-machine, large-scale fixed-wing nobody
Machine, multi-rotor unmanned aerial vehicle carry 5 spelling cameras.Someone's engine efficiency is high, application spatial domain is difficult.Large-scale fixed-wing unmanned plane is oil mostly
Machine is not high in metropolitan district operational security.Multi-rotor unmanned aerial vehicle security is higher, but less efficient, typically carries five QX1 mirrors
Head camera, image quality is poor.
The content of the invention
The present invention is intended to provide a kind of single-lens oblique photograph boat flies line design method, system and method for imaging of taking photo by plane,
While unmanned plane during flying security is ensured, flight efficiency is improved and image quality of taking photo by plane.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of single-lens oblique photograph boat fly line
Road design method, comprises the following steps：
1) obtain boat and fly scope, the scope is a rectangular area, and four summits of rectangular area are respectively A, B, C, D；Its
Middle A, D are on the same diagonal of rectangular area, and B, C are on another diagonal；
2) the number of, lines N that boat flies east-west direction in scope is calculatedThing fliesWith the number of, lines N of North and South directionNorth and south flies；
3) on the basis of A, B, C, D, camera site is extended to terrain clearance H distance, then summit A, which northwards extends, is clapped
Point F1 is taken the photograph, summit A, which westwards extends, obtains shooting point E1, summit B, which northwards extends, obtains shooting point F3, and summit B, which extends eastward, to be obtained
Extension obtains shooting point F3 southwards by shooting point E2, summit C, and summit C, which westwards extends, obtains shooting point E3, and summit D extends southwards
To shooting point F4, summit D, which extends eastward, obtains shooting point E4；
4) in east-west direction, unmanned plane is completed after taking photo by plane by course line E1 → E2 → E4 → E3, according still further to E3 → E4 → E2
→ E1 circuits return to completion and taken photo by plane, then unmanned plane comes and goes 2*N altogetherThing fliesBar course line, on every course line, L meters of interval is taken pictures once；
In North and South direction, unmanned plane is completed after taking photo by plane by course line F1 → F2 → F4 → F3, returned according still further to F3 → F4 → F2 → F1 circuits
Return completion to take photo by plane, then unmanned plane comes and goes 2*N altogetherNorth and south fliesBar course line, on every course line, L meters of interval is taken pictures once；Fly in unmanned plane
During row, camera lens are all the time towards unmanned plane direction of advance, and the relatively current line of flight angle of inclination of camera lens is
35 ° to 45 °.
In the present invention, NThing flies=LSubregion height÷LBetween；Wherein, LBetween=VImage× (1-D) × M, VImageFor image height；LSubregion heightFor
Take photo by plane photography rectangular area height.NNorth and south flies=LZoned width÷LBetween；LZoned widthFor flight block width of taking photo by plane.
Correspondingly, line design system is flown present invention also offers a kind of single-lens oblique photograph boat, including：
Boat flies scope design module：Fly scope for obtaining boat, the scope is a rectangular area, four tops of rectangular area
Point is respectively A, B, C, D；Wherein A, D is on the same diagonal of rectangular area, and B, C are on another diagonal；
Number of, lines computing module：Fly the number of, lines N of east-west direction in scope for calculating boatThing fliesWith North and South direction
Number of, lines NNorth and south flies；
Shooting point computing module：For determining shooting point according to procedure below：On the basis of A, B, C, D, by camera site
Extend terrain clearance H distance, then summit A, which northwards extends, obtains shooting point F1, and summit A, which westwards extends, obtains shooting point E1, top
Point B, which northwards extends, obtains shooting point F3, and summit B, which extends eastward, obtains shooting point E2, and extension obtains shooting point F3 to summit C southwards,
Summit C, which westwards extends, obtains shooting point E3, and extension obtains shooting point F4 to summit D southwards, and summit D, which extends eastward, obtains shooting point
E4；
Take photo by plane module：For determining boat fly line road according to procedure below：In east-west direction, unmanned plane by course line E1 → E2 →
E4 → E3 is completed after taking photo by plane, and returning to completion according still further to E3 → E4 → E2 → E1 circuits takes photo by plane, then unmanned plane comes and goes 2*N altogetherThing flies
Bar course line, on every course line, L meters of interval is taken pictures once；In North and South direction, unmanned plane is completed by course line F1 → F2 → F4 → F3
After taking photo by plane, return to completion according still further to F3 → F4 → F2 → F1 circuits and take photo by plane, then unmanned plane comes and goes 2*N altogetherNorth and south fliesBar course line, every
On bar course line, L meters of interval is taken pictures once；During unmanned plane during flying, camera lens all the time towards unmanned plane direction of advance, and
The relatively current line of flight angle of inclination of camera lens is 35 ° to 45 °.
As a general idea, present invention also offers a kind of method for photography of being taken photo by plane using said system progress：
The shooting photo number of east-west direction flight is calculated using below equation：
SThing flies photo number=(LZoned width+2*H)÷LBase×NThing flies×2；
The shooting photo number of North and South direction flight is calculated using below equation：
SNorth and south flies photo number=(LSubregion height+2*H)÷LBase×NNorth and south flies×2；
Total shooting photo number is calculated using below equation：：
STotal photo number=SThing flies photo number+SNorth and south flies photo number；
Wherein, LSubregion heightFor rectangular area height；LBaseFor photographic base length, LBetweenFor the interval between course line, NThing fliesFor east
West to boat number of lines, NNorth and south fliesFor North and South direction boat number of lines, LZoned widthFor rectangular zone width.
Compared with prior art, the advantageous effect of present invention is that：The present invention can be used for popularization unmanned plane inclination to take the photograph
Shadow, reduces oblique photograph threshold, lifts the efficiency of unmanned plane oblique photograph；4 direction images can be obtained in the same period, and solved
Certainly light and shade inconsistence problems, are conducive to later stage image data to handle；The circuit of taking photo by plane of " well " font of the inventive method
Aerial photographic gap can be avoided；On the premise of unmanned plane during flying security is ensured, flight efficiency is improved and image quality of taking photo by plane.
Brief description of the drawings
Fig. 1 is that the embodiment of the present invention extends the schematic diagram after shooting point；
Fig. 2 is that east-west direction of the embodiment of the present invention shoots schematic diagram；
Fig. 3 is that North and South direction of the embodiment of the present invention shoots schematic diagram；
Fig. 4 is that the embodiment of the present invention shoots completion schematic diagram.
Embodiment
It is long 1.4km, wide 1.0km rectangular area that present invention boat, which flies scope,.
Technical requirements：Ground resolution 0.05m, ship's control 70%, sidelapping degree 50%.
Camera lens of the present invention are installed should be towards plane nose direction；Camera setting angle is 45 °.
If terrain clearance is H, focal length is f, and Pixel size is P, and ground resolution is G, and photographic scale is 1/M, and W is number
The width of code-phase machine CCD sizes, V is the height of digital camera CCD sizes, SWFor corresponding number of pixels, S on WVFor correspondence on V
Number of pixels, WImageFor image width, VImageFor image height, A is ship's control, and D is sidelapping degree, LBaseFor photography base
Line length, LBetweenFor track spacing, N is outline route bar number, LZoned widthZoned width, L are taken the photograph for boatSubregion heightSubregion height is taken the photograph for boat,
Then have
LBase=WImage×(1-A)×M (3)
LBetween=VImage×(1-D)×M (4)
N=LZoned width÷LBetween (5)
The present embodiment uses Sony's RX1RII cameras, 35mm tight shots, and CCD sizes are 35.9 × 24mm, film size size
For 7952 × 5304 (unit is pixel), zoned width is 1400m, and subregion is highly 1000m, can be calculated according to above-mentioned formula
Obtain：
LBase=WImage× (1-A) × M=0.024* (1-70%) * 11000=79.2m
LBetween=VImage× (1-D) × M=0.0359* (1-50%) * 11000=197.5m
NThing flies=LSubregion height÷LBetween=1000 ÷ 197.5=6 bars (rounding)
NNorth and south flies=LZoned width÷LBetween=1400 ÷ 197.5=8 bars (rounding)
SThing flies photo number=(LZoned width+2*H)÷LBase×NThing flies× 2=336 (rounding)
SNorth and south flies photo number=(LSubregion height+2*H)÷LBase×NNorth and south flies× 2=368 (rounding)
STotal photo number=SThing flies photo number+SNorth and south flies photo number=704
It is specific as follows according to the parameter specific design boat fly line road calculated,
(1) shooting point is extended into E1, E2, E3, E4, F1, F2, F3, F4, distance is 389 meters, equal to terrain clearance, such as
Shown in Fig. 1.
(2) east-west direction, unmanned plane is completed after taking photo by plane by course line E1 → E2 → E4 → E3, and E3 → E4 → E2 → E1 is pressed again
Circuit returns to completion and taken photo by plane.East-west direction totally 6 course lines, come and go totally 12 course lines, and every course line is taken pictures at intervals of 79.2m, often
Bar length for heading is 2178m, and the photo number in every course line is 28, then photo number is 336, as shown in Figure 2.North and South direction,
Unmanned plane is completed after taking photo by plane by course line F1 → F2 → F4 → F3, and is taken photo by plane by F3 → F4 → F2 → F1 circuits return completion.South
The north comes and goes totally 16 course lines to totally 8 course lines, and every course line is taken pictures at intervals of 79.2m, and every length for heading is 1778m, often
The photo number in bar course line is 23, then photo number is 368, as shown in Figure 3.
(3) total photo number is 704, and the point in figure is exactly to take pictures a little, as shown in Figure 4.Camera lens are all the time towards before aircraft
Enter direction, angle is 45 °, the task of taking photo by plane of 4 circuit " well " fonts of a sortie complete design.
Claims (5)
1. a kind of single-lens oblique photograph boat flies line design method, it is characterised in that comprise the following steps：
1) obtain boat and fly scope, the scope is a rectangular area, and four summits of rectangular area are respectively A, B, C, D；Wherein A, D
On the same diagonal of rectangular area, B, C are on another diagonal；
2) the number of, lines N that boat flies east-west direction in scope is calculatedThing fliesWith the number of, lines N of North and South directionNorth and south flies；
3) on the basis of A, B, C, D, camera site is extended to terrain clearance H distance, then summit A, which northwards extends, obtains shooting point
F1, summit A, which westwards extend, obtains shooting point E1, and summit B, which northwards extends, obtains shooting point F3, and summit B, which extends eastward, to be shot
Extension obtains shooting point F3 southwards by point E2, summit C, and summit C, which westwards extends, obtains shooting point E3, and summit D southwards clapped by extension
Point F4 is taken the photograph, summit D, which extends eastward, obtains shooting point E4；
4) in east-west direction, unmanned plane is completed after taking photo by plane by course line E1 → E2 → E4 → E3, according still further to E3 → E4 → E2 → E1
Circuit returns to completion and taken photo by plane, then unmanned plane comes and goes 2*N altogetherThing fliesBar course line, on every course line, L meters of interval is taken pictures once；In south
The north is to unmanned plane is completed after taking photo by plane by course line F1 → F2 → F4 → F3, has been returned according still further to F3 → F4 → F2 → F1 circuits
Into taking photo by plane, then unmanned plane comes and goes 2*N altogetherNorth and south fliesBar course line, on every course line, L meters of interval is taken pictures once；In unmanned plane during flying mistake
Cheng Zhong, camera lens all the time towards unmanned plane direction of advance, and the relatively current line of flight angle of inclination of camera lens be 35 ° extremely
45°。
2. single-lens oblique photograph boat according to claim 1 flies line design method, it is characterised in that NThing flies=
LSubregion height÷LBetween；Wherein, LBetween=VImage× (1-D) × M, VImageFor image height；LSubregion heightFor the height for photography rectangular area of taking photo by plane.
3. single-lens oblique photograph boat according to claim 2 flies line design method, it is characterised in that NNorth and south flies=
LZoned width÷LBetween；LZoned widthFor flight block width of taking photo by plane.
4. a kind of single-lens oblique photograph boat flies line design system, it is characterised in that including：
Boat flies scope design module：Fly scope for obtaining boat, the scope is a rectangular area, four summits point of rectangular area
Wei not A, B, C, D；Wherein A, D is on the same diagonal of rectangular area, and B, C are on another diagonal；
Number of, lines computing module：Fly the number of, lines N of east-west direction in scope for calculating boatThing fliesWith the circuit of North and South direction
Quantity NNorth and south flies；
Shooting point computing module：For determining shooting point according to procedure below：On the basis of A, B, C, D, camera site is extended
Terrain clearance H distance, then summit A, which northwards extends, obtains shooting point F1, and summit A, which westwards extends, obtains shooting point E1, summit B to
North extension obtains shooting point F3, and summit B, which extends eastward, obtains shooting point E2, and extension obtains shooting point F3, summit C to summit C southwards
Extension westwards obtains shooting point E3, and extension obtains shooting point F4 to summit D southwards, and summit D, which extends eastward, obtains shooting point E4；
Take photo by plane module：For determining boat fly line road according to procedure below：In east-west direction, unmanned plane by course line E1 → E2 → E4 →
E3 is completed after taking photo by plane, and returning to completion according still further to E3 → E4 → E2 → E1 circuits takes photo by plane, then unmanned plane comes and goes 2*N altogetherThing fliesBar navigates
Line, on every course line, L meters of interval is taken pictures once；In North and South direction, unmanned plane is completed to take photo by plane by course line F1 → F2 → F4 → F3
Afterwards, return to completion according still further to F3 → F4 → F2 → F1 circuits to take photo by plane, then unmanned plane comes and goes 2*N altogetherNorth and south fliesBar course line, in every boat
On line, L meters of interval is taken pictures once；During unmanned plane during flying, camera lens are all the time towards unmanned plane direction of advance, and camera
The relatively current line of flight angle of inclination of camera lens is 35 ° to 45 °.
5. a kind of method for photography of being taken photo by plane using system progress described in claim 4, it is characterised in that：
The shooting photo number of east-west direction flight is calculated using below equation：
SThing flies photo number=(LZoned width+2*H)÷LBase×NThing flies×2；
The shooting photo number of North and South direction flight is calculated using below equation：
SNorth and south flies photo number=(LSubregion height+2*H)÷LBase×NNorth and south flies×2；
Total shooting photo number is calculated using below equation：：
STotal photo number=SThing flies photo number+SNorth and south flies photo number；
Wherein, LSubregion heightFor rectangular area height；LBaseFor photographic base length, LBetweenFor the interval between course line,Zoned widthFor rectangle region
Field width degree.
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| CN109211199A (en) * | 2018-08-21 | 2019-01-15 | 浙江量度智能科技有限公司 | Unmanned plane one along the line of the other one so as to plough deeper course line method and system |
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| CN109655065A (en) * | 2018-12-29 | 2019-04-19 | 湖北无垠智探科技发展有限公司 | A kind of five flight course planning method and device of unmanned plane |
| CN110244765A (en) * | 2019-06-27 | 2019-09-17 | 深圳市道通智能航空技术有限公司 | A kind of aircraft route track generation method, device, unmanned plane and storage medium |
| WO2020102927A1 (en) * | 2018-11-19 | 2020-05-28 | 深圳市大疆创新科技有限公司 | Photographing method and unmanned aerial vehicle |
| WO2020103021A1 (en) * | 2018-11-21 | 2020-05-28 | 广州极飞科技有限公司 | Planning method and apparatus for surveying and mapping sampling points, control terminal and storage medium |
| CN111522360A (en) * | 2020-05-14 | 2020-08-11 | 清远电力规划设计院有限公司 | Banded oblique photography automatic route planning method based on electric power iron tower |
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| CN112212835A (en) * | 2020-09-15 | 2021-01-12 | 广州全成多维信息技术有限公司 | Oblique photography and control method based on single-lens unmanned aerial vehicle |
| CN112268546A (en) * | 2020-09-04 | 2021-01-26 | 广州飞图信息科技有限公司 | Method and device for generating flight band for single-lens unmanned aerial vehicle oblique photography |
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| CN110244765B (en) * | 2019-06-27 | 2023-02-28 | 深圳市道通智能航空技术股份有限公司 | Aircraft route track generation method and device, unmanned aerial vehicle and storage medium |
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| CN111928825A (en) * | 2020-08-17 | 2020-11-13 | 成都市玄上科技有限公司 | Unmanned aerial vehicle continuous circle surrounding oblique photography aerial photography method |
| CN112268546A (en) * | 2020-09-04 | 2021-01-26 | 广州飞图信息科技有限公司 | Method and device for generating flight band for single-lens unmanned aerial vehicle oblique photography |
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