CN108050994A - Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction - Google Patents
Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction Download PDFInfo
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- CN108050994A CN108050994A CN201711217372.XA CN201711217372A CN108050994A CN 108050994 A CN108050994 A CN 108050994A CN 201711217372 A CN201711217372 A CN 201711217372A CN 108050994 A CN108050994 A CN 108050994A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses the Inversion of Tidal Flat seabed evolution methods based on oblique photograph three-dimensional reconstruction, and the course line of unmanned plane has been planned in tidal flat target measurement region, and guide pile is stamped in the region with being evenly distributed, and fix flying disc as control point in stake；The static data that control point is carried out using GPS positioning system is gathered；The region aerial photograph is gathered using unmanned plane；The photo that unmanned plane is shot is generated to the point cloud and orthography in the region using 3 d modeling software；Ponding region is identified from orthography, and ponding region is rejected from cloud data；The static data collected is coupling in processed cloud data, and establishes the threedimensional model in the region, you can obtain the tidal flat elevation information in the region；Model error is verified using Rod SET systems；Modeling is periodically monitored to the same area, you can monitor the Erosion and progradation in the region.The beneficial effects of the invention are as follows topographic height accuracies to reach Centimeter Level.
Description
Technical field
The invention belongs to geological survey technical field, with being related to the Inversion of Tidal Flat based on oblique photograph three-dimensional reconstruction
Shape develops method.
Background technology
The beach in China is widely distributed, and large-scale land reserved resources can be formed by enclosing and cultivating exploitation.From in the 80's
One of the phase, subtidal deposit progress of research is the research of the field inspection to subtidal deposit process, geomorphic evolution.Inversion of Tidal Flat is wide
It is wealthy, flat, the depth of water is small, the nonlinear interaction of trend, wave etc. is strong on beach face；The substrates such as mud, flour sand, sand are horizontal in tidal flat
Upper sorting is apparent, and rule of sediment movement changes greatly in tidal flat transverse direction.Therefore, it is necessary to reliable site contour measuring methods to go
Beach landform is obtained, there is important reality to grasping seashore beach development law, coastal zone resources exploitation, utilization and protection etc.
Directive significance.But important foundation data more difficult acquisition of the beach elevation as scientific research.
The measuring method of Inversion of Tidal Flat landform has traditional artificial race beach, the measurement of boat-carrying tester, airborne laser thunder at present
It reaches and satellite remote sensing, these methods is all poorly suitable for the elevation survey of Inversion of Tidal Flat since environmental condition, cost limit
Amount.Photogrammetric by unmanned plane can realize Geomorphic Evolution process monitoring quick, that spatial resolution is moderate.Base
It has been applied to the seashore of the types such as chiltern, basement rock in the oblique photograph measuring method measurement ground elevation of unmanned plane, but has become silted up
Measurement technology on mudflat is not also overripened.This is because the muddy easily sunken, tidal creek of Inversion of Tidal Flat is in length and breadth, not only measurement is imitated
Rate is low, and has the security risk of the person and equipment, it is difficult to go to lay necessary number in the dew beach time of short duration during ebb tide
Ground control point simultaneously measures its elevation.And directly ground control point is positioned on muddy Inversion of Tidal Flat, control point holds
Easily cause the variation of tidal flat elevation, damage study landform.Therefore, the existing method based on unmanned plane oblique photograph measurement elevation
It is not enough to develop into operable Inversion of Tidal Flat seabed evolution monitoring method system.
The content of the invention
It is an object of the invention to provide the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction,
The control point measurement of higher degree can not be unfolded due to Inversion of Tidal Flat reveals beach time restriction during solving the problems, such as ebb tide.
The technical solution adopted in the present invention is to follow the steps below：
Step 1, the monitoring scope of Inversion of Tidal Flat landform and monitoring time scope are determined；
Step 2, guide pile is uniformly stamped in monitoring Inversion of Tidal Flat terrestrial range, stake is measured using GPS positioning system
Top control point height, and repetition measurement over time, it is ensured that it is not settled in short term；
Step 3, the control point that flying disc is used as unmanned plane is fixed in fixed point stake；
Step 4, plan unmanned plane during flying course line in monitoring region, tilted respectively from four different directions, camera lens
Respectively once, heading is mutually perpendicular to two-by-two for flight at 45 degree of angles；
Step 5, in monitoring region the region aerial photograph is gathered using unmanned plane；
Step 6, the photo that unmanned plane is shot is generated to the point cloud and orthography in the region using 3 d modeling software, from
Ponding region is identified in orthography, and ponding region is rejected from cloud data；
Step 7, using the processed good cloud data of stake top control point elevation information coupling gathered in region is monitored, make
The threedimensional model and digital elevation model in the region are established with 3 d modeling software, obtains the tidal flat elevation information in the region；
Step 8, model error is verified using Rod-SET systems；
Step 9, modeling is periodically monitored to the same area, obtains the Inversion of Tidal Flat landform altitude letter of different times
Breath, you can monitor the Erosion and progradation in the region.
Further, 3.2 meters far from ground of guide pile stake bottom in step 2, the sedimentation of vertical direction are less than 5cm；Guide pile meets
Stability requirement, can keep out trend, the active force of wave, and ground part exposed above has stronger corrosion resistance, seawater
Non-corrosive after immersion.
Further, the control point that flying disc is used as unmanned plane is fixed in the stake of step 3 fixed point, using electric drill by water cover cap on PVC
Corresponding hole is drilled out with flying disc, and is fixed with nylon cable tie, water cover cap on PVC and PVC pipes one end are closely entangled firm, by pvc pipe
The other end is sleeved on guide pile top.
Further, during step 4 unmanned plane during flying, 45 degree of angles of camera lens inclination are opposite with the orientation of the sun, to avoid sun
Light is radiated at the influence of the solar flare of tidal flat surface generation.
Further, the photo generation that step 6 is shot unmanned plane using 3 d modeling software Agisoft PhotoScan should
The point cloud and orthography in region, since ponding region can influence the digital elevation model of tidal flat threedimensional model, so from just penetrating
It identifies ponding region in image, and is rejected from cloud data ponding region with Cloud compare softwares.
Further, verification of the step 8Rod-SET systems to Inversion of Tidal Flat dimensional topography, wherein：
Measure the elevation of five different distances respectively in four different directions of same guide pile using Rod-SET instruments
Information；
It is average respectively by border circular areas maximum radius to 20 elevation informations of same guide pile, and average value is assigned
On border circular areas；
Acquired Inversion of Tidal Flat elevation information in the height value of border circular areas and step 7 is done into root-mean-square error, is come
Verify the error of the Inversion of Tidal Flat elevation information.
The beneficial effects of the invention are as follows topographic height accuracies to reach Centimeter Level.
Description of the drawings
Fig. 1 shows the method flow schematic diagram of the present invention；
Fig. 2 shows that the present invention is applied to the front view at the stake top control point of Inversion of Tidal Flat unmanned plane field observation；
Fig. 3 shows that the present invention is applied to the bottom view at the stake top control point of Inversion of Tidal Flat unmanned plane field observation；
Fig. 4 shows that the present invention is applied to the whole signal of the Rod-SET systems of Inversion of Tidal Flat unmanned plane field observation
Figure；
Fig. 5 shows that the present invention is applied to the Rod-SET system bodies part of Inversion of Tidal Flat unmanned plane field observation
Front view；
Fig. 6 shows that the present invention is applied to the Rod-SET system bodies part of Inversion of Tidal Flat unmanned plane field observation
Top view；
Fig. 7 shows the specific implementation flow chart by taking the Inversion of Tidal Flat of jiangsu coast bucket Longgang District domain as an example；
Fig. 8 shows that the guide pile that jiangsu coast bucket Long Gang researchs area is beaten in April, 2017 is surveyed when in July, 2017
The settling height of amount；
Fig. 9 shows the flight course planning figure of jiangsu coast bucket Long Gang research area's unmanned planes；
Figure 10 shows the threedimensional model that jiangsu coast bucket dragon port survey region is established；
Figure 11 shows that jiangsu coast bucket dragon port survey region establishes the digital elevation model (DEM) of threedimensional model.
Specific embodiment
The present invention is described in detail With reference to embodiment.
The present invention is as shown in Figure 1, comprise the following steps：
Step 1, the monitoring scope of Inversion of Tidal Flat landform and monitoring time scope are determined；
Step 2, stamp guide pile with being evenly distributed in the region, use Z-Max type double-frequency GPS-RTK alignment systems
Measure stake top control point height, and repetition measurement over time, it is ensured that it is not settled in short term；
Step 3, the control point that flying disc is used as unmanned plane is fixed in fixed point stake；
Step 4, plan unmanned plane during flying course line in monitoring region, tilted respectively from four different directions, camera lens
Respectively once, heading is mutually perpendicular to two-by-two for flight at 45 degree of angles；
Step 5, in monitoring region the region aerial photograph is gathered using unmanned plane；
Step 6, the photo that unmanned plane is shot is generated to the point cloud and orthography in the region using 3 d modeling software, from
Ponding region is identified in orthography, and ponding region is rejected from cloud data；
Step 7, using the processed good cloud data of stake top control point elevation information coupling gathered in region is monitored, make
The threedimensional model and digital elevation model in the region are established with 3 d modeling software, you can obtain the tidal flat elevation letter in the region
Breath；
Step 8, model error is verified using Rod-SET systems；
Step 9, modeling is periodically monitored to the same area, you can obtain the Inversion of Tidal Flat landform altitude of different times
Information, you can monitor the Erosion and progradation in the region.
As shown in Figure 2,3, the present invention is applied to the front view at the stake top control point of tidal flat unmanned plane field observation and bottom regards
Figure.The stake top control point of tidal flat unmanned plane field observation includes guide pile 7, and wherein ground 6 is about 3.2 meters long with lower part, ground
6 above section of face is about 0.5 meter；7 top of guide pile closely entangles connection firm by water cover cap 3 on PVC pipes 4 and PVC；The upper water covers of PVC
Cap 3 and colored flying disc 2 stamp corresponding hole, and are fixed by nylon cable tie 1.
As shown in figure 4, the present invention is applied to the overall schematic of the Rod-SET systems of tidal flat unmanned plane field observation.Tide
The installation steps of the Rod-SET systems of beach unmanned plane field observation are as follows：
First SET main parts (as shown in Figure 5,6) are mounted on by connector in level stake, are chosen in eight directions
Some direction fixes, and adjustment adjusting screw to cantilever is horizontal；In the range of from level stake 1-1.5m, 5 surveys are inserted into
Pin to needle point just contacts beach face, and stylus is fixed with iron clamp, cantilever top stylus length is measured successively, according to instrument each several part
Length and height of pile top converse Tidal flat；It is observed in that same order in other directions, this method selects
Orthogonal four direction is observed.
The Rod-SET systems of tidal flat unmanned plane field observation are as follows to the verification step of Inversion of Tidal Flat dimensional topography：
Measure the elevation of five different distances respectively in four different directions of same guide pile using Rod-SET instruments
Information；It is average respectively by border circular areas maximum radius to 20 elevation informations of same guide pile, and average value is assigned and is justified
On shape region；Acquired Inversion of Tidal Flat elevation information in the height value of border circular areas and step 6 is done into root-mean-square error, is come
Verify the error of the Inversion of Tidal Flat elevation information.
As shown in Figure 5,6, the present invention is applied to the main view of the Rod-SET system bodies part of tidal flat unmanned plane field observation
Figure and top view.The Rod-SET system bodies part of tidal flat unmanned plane field observation need to be by adjusting cylinder 1 and adjusting nut
4 are fixedly mounted in level stake；By locked disk 3 come the horizontality of cantilever mounted；Wherein, connection is all screw thread 2
's.
As shown in fig. 7, by taking the Inversion of Tidal Flat of jiangsu coast bucket Longgang District domain as an example, technical scheme is done into one
The detailed description of step：
1st, the scope for determining monitoring Inversion of Tidal Flat is jiangsu coast bucket Longgang District domain Inversion of Tidal Flat, and monitoring time is
On July 10th, 2017；
2nd, spartina leading edge section equably stamps 6 guide piles in the region, and southern section equably stamps 13 positioning
Stake measures height of pile top using Z-Max type double-frequency GPS-RTK alignment systems, and (measurement result includes repetition measurement after 3 months
RTK system error), it is ensured that it, which is settled, is less than 5cm such as Fig. 8；
3rd, colored flying disc of the fixed diameter more than 50cm is used as control point such as Fig. 2 of unmanned plane, 3 in fixed point stake；
4th, unmanned plane during flying course line such as Fig. 9 is planned respectively in the monitoring region of 2, region section, flying height is
60-80m, tilting 45 degree of angles respectively from four different directions, camera lens, respectively once, heading is mutually perpendicular to two-by-two for flight,
The image Duplication in each direction is all higher than 60%；
5th, using unmanned plane gather the region aerial photograph in monitoring region, as far as possible the selection cloudy day shot or
Early morning and, to ensure to avoid in photo the solar flare as caused by the water surface is reflective to greatest extent the dusk time-division；
The 6th, the photo that unmanned plane is shot is generated to the point cloud in the region using 3 d modeling software Agisoft PhotoScan
And orthography, since ponding region can influence the digital elevation model of tidal flat threedimensional model, so being identified from orthography
Go out ponding region, and rejected from cloud data ponding region with Cloud compare softwares.
7th, using the processed good cloud data of stake top control point elevation information coupling gathered in region is monitored, three are used
Dimension modeling software Agisoft PhotoScan establish the threedimensional model such as Figure 10 in the region, you can the tidal flat for obtaining the region is high
Journey DEM, after rejecting the abnormal point on DEM, you can obtain the tidal flat elevation information such as Figure 11 in the region；
8th, model error, 20 values that 5 styluses in each directions of Rod-SET are measured are verified using Rod-SET systems
Be averaging, calculate the elevation average value of the border circular areas, to verify the height accuracy of threedimensional model, be computed, the model it is equal
Square error RMSE ≈ 0.09m；
9th, every month modeling is periodically monitored to monitoring region, you can obtain Inversion of Tidal Flat elevation letter monthly
Breath, you can monitor the Erosion and progradation in the region.
It is also an advantage of the present invention that by improving modern unmanned plane Technology of low altitude remote sensing, add and be suitble to Inversion of Tidal Flat
Two-dimentional remote sensing image data is converted into Three-dimensional Tide beach terrain information by Level monitoring means, and with Rod-SET systems to forefathers
Verification method improved, i.e., based on oblique photograph measurement Inversion of Tidal Flat dimensional topography develop monitoring and authentication
Method.It solves the problems, such as control point to be directly placed on Inversion of Tidal Flat to sink, topographic height accuracy reaches Centimeter Level.
The above is only the better embodiment to the present invention, not makees limit in any form to the present invention
System, any simple modification that every technical spirit according to the invention makes embodiment of above, equivalent variations and modification,
Belong in the range of technical solution of the present invention.
Claims (6)
1. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction, it is characterised in that according to following steps
It carries out：
Step 1, the monitoring scope of Inversion of Tidal Flat landform and monitoring time scope are determined；
Step 2, guide pile is uniformly stamped in monitoring Inversion of Tidal Flat terrestrial range, stake top control is measured using GPS positioning system
Point height processed, and repetition measurement over time, it is ensured that it is not settled in short term；
Step 3, the control point that flying disc is used as unmanned plane is fixed in fixed point stake；
Step 4, plan unmanned plane during flying course line in monitoring region, 45 degree are tilted respectively from four different directions, camera lens
Respectively once, heading is mutually perpendicular to two-by-two for flight at angle；
Step 5, in monitoring region the region aerial photograph is gathered using unmanned plane；
Step 6, the photo that unmanned plane is shot is generated to the point cloud and orthography in the region using 3 d modeling software, from just penetrating
Ponding region is identified in image, and ponding region is rejected from cloud data；
Step 7, using the processed good cloud data of stake top control point elevation information coupling gathered in region is monitored, three are used
Dimension modeling software establishes the threedimensional model and digital elevation model in the region, obtains the tidal flat elevation information in the region；
Step 8, model error is verified using Rod-SET systems；
Step 9, modeling is periodically monitored to the same area, obtains the Inversion of Tidal Flat landform altitude information of different times, i.e.,
It can monitor the Erosion and progradation in the region.
2. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction according to claim 1, special
Sign is：3.2 meters far from ground of guide pile stake bottom in the step 2, the sedimentation of vertical direction are less than 5cm；Guide pile, which meets, to be stablized
Property requirement, trend, the active force of wave can be kept out, ground part exposed above has stronger corrosion resistance, and seawater impregnates
Non-corrosive afterwards.
3. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction according to claim 1, special
Sign is：The control point that flying disc is used as unmanned plane is fixed in the step 3 fixed point stake, by water cover cap on PVC and is flown using electric drill
Disk drills out corresponding hole, and is fixed with nylon cable tie, and water cover cap on PVC is closely entangled firm with pvc pipe one end, and pvc pipe is another
End cap is on guide pile top.
4. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction according to claim 1, special
Sign is：During step 4 unmanned plane during flying, 45 degree of angles of camera lens inclination are opposite with the orientation of the sun, shone to avoid sunlight
Penetrate the influence of the solar flare generated on tidal flat surface.
5. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction according to claim 1, special
Sign is：The photo that unmanned plane is shot is generated the region by the step 6 using 3 d modeling software Agisoft PhotoScan
Point cloud and orthography, since ponding region can influence the digital elevation model of tidal flat threedimensional model, so from orthography
In identify ponding region, and ponding region is rejected from cloud data with Cloud compare softwares.
6. the Inversion of Tidal Flat seabed evolution method based on oblique photograph three-dimensional reconstruction according to claim 1, special
Sign is：Verification of the step 8Rod-SET systems to Inversion of Tidal Flat dimensional topography, wherein：
The elevation for measuring five different distances respectively in four different directions of same guide pile using Rod-SET instruments is believed
Breath；
It is average respectively by border circular areas maximum radius to 20 elevation informations of same guide pile, and assign average value to circle
On region；
Acquired Inversion of Tidal Flat elevation information in the height value of border circular areas and step 7 is done into root-mean-square error, to verify
The error of the Inversion of Tidal Flat elevation information.
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| CN108956392A (en) * | 2018-07-05 | 2018-12-07 | 河海大学 | A kind of unmanned plane recognition methods of Surface Sediments of Tidal Flat type |
| CN110456378A (en) * | 2019-07-04 | 2019-11-15 | 重庆交通大学 | Underwater full topographic surveying system and test method based on unmanned plane route intelligent planning |
| CN110515091A (en) * | 2019-08-28 | 2019-11-29 | 珠海达伽马科技有限公司 | A kind of water-surface areas detection method and water-surface areas detection device, computer readable storage medium for unmanned boat automatic Pilot |
| CN110986876A (en) * | 2019-11-14 | 2020-04-10 | 河海大学 | Method for inverting underwater topography of silt tidal trench based on unmanned aerial vehicle |
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| CN108956392A (en) * | 2018-07-05 | 2018-12-07 | 河海大学 | A kind of unmanned plane recognition methods of Surface Sediments of Tidal Flat type |
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| CN110515091A (en) * | 2019-08-28 | 2019-11-29 | 珠海达伽马科技有限公司 | A kind of water-surface areas detection method and water-surface areas detection device, computer readable storage medium for unmanned boat automatic Pilot |
| CN110515091B (en) * | 2019-08-28 | 2022-11-11 | 珠海达伽马科技有限公司 | Water surface area detection method and device for unmanned ship automatic driving |
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