CN108548525A - A method of carrying out field mapping using unmanned plane aeroplane photography - Google Patents
A method of carrying out field mapping using unmanned plane aeroplane photography Download PDFInfo
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- CN108548525A CN108548525A CN201810616274.1A CN201810616274A CN108548525A CN 108548525 A CN108548525 A CN 108548525A CN 201810616274 A CN201810616274 A CN 201810616274A CN 108548525 A CN108548525 A CN 108548525A
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- unmanned plane
- control point
- stereo images
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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
-
- 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
- G01C11/04—Interpretation of pictures
Abstract
The invention discloses a kind of methods carrying out field mapping using unmanned plane aeroplane photography, belong to unmanned plane survey field, its key points of the technical solution are that being as follows：S1：Photo control point is laid in operation area, and measures the coordinate value of photo control point；S2：According to the photo control point of laying, aerial stereo images data are obtained using unmanned plane；S3：By the aerial stereo images data of unmanned plane, POS data and three calculating of photo control point coordinate value importing Survey and map software progress sky measured；S4：Empty three result of calculations and aerial stereo images data are imported into Survey and map software and generate DOM.With effect easy to operate, low-cost.
Description
Technical field
It is the present invention relates to unmanned plane survey field, more particularly to a kind of to carry out field mapping using unmanned plane aeroplane photography
Method.
Background technology
Aerophotogrammetry is the important technical of quick obtaining geography information, be measure and more new nation's topographic map with
And the approach of geographic information database is established, irreplaceable role is played in the acquisition of spatial information and renewal process, especially
It is acquisition and the even more too busy to get away aerophotogrammetry of update of large area and big-and-middle scale number evidence.
Current aerophotogrammetry is mostly to use Small Civil aircraft, but carry out after once surveying and drawing, and also will produce one
The not small winged expense of pen, a kind of low-cost, there is an urgent need for generate for aerial mapping mode easy to operate.
Invention content
The object of the present invention is to provide a kind of methods carrying out field mapping with unmanned plane aeroplane photography, have operation letter
Single, low-cost advantage.
The present invention above-mentioned technical purpose technical scheme is that：It is a kind of to be taken the photograph using unmanned plane aviation
The method that shadow carries out field mapping, is as follows：
S1：Photo control point is laid in operation area, and measures the coordinate value of photo control point；
S2：According to the photo control point of laying, aerial stereo images data are obtained using unmanned plane；
S3：By the aerial stereo images data of unmanned plane, POS data and the photo control point coordinate value importing Survey and map software progress sky measured
Three calculate；
S4：Empty three result of calculations and aerial stereo images data are imported into Survey and map software and generate DOM.
By using above-mentioned technical proposal, high-resolution aerial stereo images are obtained using unmanned plane, are then introduced into special soft
Sky three is carried out in part to calculate, and generates DOM.Due in the method use unmanned plane carry out aeroplane photography, gathered data, greatly
Ground saves the previous cost that image collection is carried out using civil small-scale aircraft.
The present invention is further arranged to：In S1, more than two photo control points are laid for every square kilometre in operation area, as control
Point is typically chosen in the punctual geo-objects that the good tiny thread of the angle of cut, apparent atural object dog-ear fixed point, aerial stereo images are less than 0.2mm
Center, and identify readily discernible label.
By using above-mentioned technical proposal, picture control point be generally selected in elevation rise and fall it is smaller, be relatively fixed and easily throughout the year
In the place for being accurately positioned and measuring so that it is convenient to which unmanned plane is captured, mapping precision can be improved, avoids measuring in vain.
The present invention is further arranged to：In S1, the coordinate value of photo control point is measured using RTK measuring instruments, and RTK is measured
Instrument initializes twice, and each epoch of observation number is no less than 20, sampling interval 2S-5S, cannot be direct for RTK measuring instruments
It measures, using total station survey.
By using above-mentioned technical proposal, the coordinate value of photo control point is measured, so that the later stage establishes three-dimensional model.
The present invention is further arranged to：In S2, unmanned plane course should go beyond the scope outer two baselines, other to going beyond the scope
No less than the 50% of film size；Photo endlap is not less than 70%, and sidelapping is not less than 60%；It revolves drift angle and is not more than 20 °.
By using above-mentioned technical proposal, the aerial stereo images of acquisition are clear, and level is abundant, and contrast is moderate, and tone is soft；Energy
The tiny atural object image being adapted with ground resolution is recognized, clearly three-dimensional model can be established.
The present invention is further arranged to：In S1, RTK measuring instruments are initialized twice, each epoch of observation number is many
In 100, sampling interval 1S.
By using above-mentioned technical proposal, more accurately photo control point coordinate value is measured, to obtain more accurately standing
Body Model.
The present invention is further arranged to：In S3, aerial stereo images are anticipated, check POS quantity and image
Number is consistent and corresponds, and Inspection and analysis is carried out in conjunction with inertial guidance data, eliminates the image of POS distortion, excessive for degree of overlapping
Carry out pumping piece, carry out a point course line of the degree of overlapping less than 50% is handled.
By using above-mentioned technical proposal, data processing is carried out to original aerial stereo images, treated aerial stereo images are clear,
Contrast is moderate, abundant information, real colour, tone are unified, to be preferably applied to subsequent digital photogrammetry.
The present invention is further arranged to：By first vacuating tie point extremely after initial network forming, accurate matching, the optimization of gray scale point
500, adjustment of Free Networks is then carried out, parameter is set, deletes the big point of residual error, after free net result is stablized, adds thorn control point
Carry out empty three adjustments.
By using above-mentioned technical proposal, sky three is preferably carried out later and is calculated, accurate empty three evaluations are obtained.
The present invention is further arranged to：S41：Light and color homogenization processing is carried out to aerial stereo images；
S42：Edit-modify, again Differential rectification are carried out to aerial stereo images, produce rough DOM；
S43：Edge fit inspection is carried out to the DOM of individual photo, and docks edge error more than being handled at 2 pixels；
S44：Tone processing is carried out to inlaying front and back orthography, to reach close to consistent tone, and without apparent splicing
Seam.
S45：Output is interacted according to the cyclopean virtual image in regional network using OrthVista.
By using above-mentioned technical proposal, generate it is complete, clearly DOM and export.
The present invention is further arranged to：In S44, tone processing includes that histogram stretches, gray scale/contrast is handled, color
Processing, edge enhancing processing, denoising and centralized processing.
By using above-mentioned technical proposal so that aerial stereo images, which are substantially all, meets that contrast is moderate, and tone is consistent, texture
Clear, level is abundant, and without apparent distortion, grey level histogram is in normal distribution substantially.
In conclusion the invention has the advantages that：
1, aerial stereo images are carried out by unmanned plane, easy to operate, job costs are lower, operational efficiency higher；
2, the image definition that ultimately generates, contrast be moderate, abundant information, real colour, tone are unified.
Description of the drawings
Fig. 1 is the flow diagram of this method in embodiment.
Specific implementation mode
Below in conjunction with attached drawing, invention is further described in detail.
Embodiment：
A method of it carrying out field mapping using unmanned plane aeroplane photography and is as follows referring to Fig.1：Before proceeding,
It is made an on-the-spot survey on the spot firstly the need of field is carried out, analyzes related data, formulate preliminary mapping scheme.
S1：More than two photo control points are laid in operation area for every square kilometre, and it is smaller, normal that photo control point is generally selected in elevation fluctuating
It is relatively fixed in year and is easy to the place for being accurately positioned and measuring.General room angle, the angle of cut of being selected in is good（30 °~150 °）Tiny line
Shape atural object intersection point, apparent atural object corner point, aerial stereo images are less than the punctual geo-objects center of 0.2mm.Photo control point image is more visible,
It is easy to sentence thorn and stereo measurement, is identified using red paint or other labels for being easy to observation after determining photo control point.
Photogrammetric control point surveying is measured using RTK measuring instruments, and technology requires as follows：
(1) RTK measuring instruments are initialized twice.Each epoch of observation number is no less than 20, sampling interval 2s~5s；Or every time
Epoch of observation number is no less than 100, sampling interval 1s.
(2) the plane convergence precision of data capture setting single observation should not exceed 5cm, and elevation convergence precision should not be big
In 5cm.
(3) for cannot point measured directly, using total station survey.
When cannot still obtain more than 3 minutes fixed coordinates value between upon initialization, by disconnecting communication link, satellite is restarted
Location receiver carries out initialization operation again.In addition, also by improve satellite altitude angle of cut-off, or increase instrument height,
Or it selects different multipath effects to eliminate pattern and measures.
The ornamenting of photo control point is included the following steps：
（1）Number：Photo control point Unified number, without double sign.For convenience of interior industry photo control point choosing thorn, photo control point is numbered to pierce spot film
Piece number is numbered for it, when a thorn point on piece there are two and when the above photo control point, numbered as photo control point with " p-n ", n 1,2,
3 ... flowline numberings.
（2）Thorn point and ornamenting：Field operation carries out photo control point using tablet computer and sentences, pierces, and first copies into required original photo flat
Plate computer, on the spot by tablet computer zoom point regional area when operation, to allow point position selection to be more clear standard
Really.
（3）The sample that each photo control point pierces spot film with reference to design sheets has made digital thorn spot film.
S2：According to the photo control point of laying, aerial stereo images data are obtained using unmanned plane.Aeroplane photography uses roc CW-10
Unmanned plane low-altitude remote sensing system carries out operation, carries the micro- one cameras of SONY A7R and carries out operation.A7R film sizes are 7360 × 4912,
Pixel size is 4.88um, and shutter generally uses 1/1250 second, and between ISO is 200~400, shutter priority mode exposes.Landing
Mode uses VTOL mode, reduces requirement of the operation to place.
The flight-line design of unmanned plane should meet following requirement：
(1), ground resolution 6-8cm, flying height is according to camera focus, Pixel size and takes the photograph the dispersed elevation synthesis determination of area ground.
(2), boat takes the photograph subregion：Design flying height, which is above, takes the photograph peak 100m or more on area and air route, and design course line is total
Voyage is respectively less than the maximum distance that unmanned function reaches.
(3), it is flown by the shape direction of subregion according to partition shapes and size, course line.
(4), boat is taken the photograph the time and is generally carried out between when afternoon 15 at the morning 10, and wind speed is less than fresh breeze when flight
Power meteorological condition.
The requirements on flying qualities of unmanned plane is as follows：
(1), photo degree of overlapping meets：Ship's control minimum 70%；Sidelapping degree minimum 60%, meets design requirement.
(2), swing angle is up to 20 ° and meets design requirement.
(3), course covering is generally 2~5 baselines beyond taking the photograph area boundary line.Side is general beyond area boundary line is taken the photograph to covering
For a course line, area is entirely taken the photograph on inspection without aerial photographic gap.
(4), the flying height difference of adjacent shots is less than 10m on same course line, meets code requirement（It should not exceed 30 meters）.
Aerial stereo images quality meets claimed below：
(1), image definition, level is abundant, and contrast is moderate, and tone is soft；Can recognize with ground resolution be adapted it is tiny
Atural object image can establish clearly three-dimensional model.
(2), for there is the photo of the defects of reflective cloud, Yun Ying, cigarette, large area, stain on image, flown again.
(3), image point displacement is generally not more than 1 pixel.Image definition, level is abundant, and contrast is moderate, and tone is soft；
The tiny atural object image being adapted with ground resolution can be recognized, clearly three-dimensional model can be established.
(4), for there is the photo of the defects of reflective cloud, Yun Ying, cigarette, large area, stain on image, flown again.
(5), image point displacement is generally not more than 1 pixel.
S3：By the aerial stereo images data of unmanned plane, POS data and the photo control point coordinate value that measures import Survey and map software into
Row sky three calculates.Survey and map software in this example interrogates the God-Work of figure using Wuhan.
First, aerial stereo images are anticipated, checks that POS quantity is consistent with image number and corresponds, in conjunction with
Inertial guidance data carry out Inspection and analysis, eliminate POS distortion image, for degree of overlapping it is excessive carry out pumping piece, degree of overlapping is less than
The 50% point course line that carries out is handled.
By first vacuating tie point to 500 after initial network forming, accurate matching, the optimization of gray scale point, it is flat then to carry out free net
Difference sets parameter, deletes the big point of residual error, after free net result is stablized, thorn control point is added to carry out empty three adjustments.
S4：Empty three result of calculations and aerial stereo images data are imported into Survey and map software and generate DOM.Mapping in the present embodiment is soft
Part interrogates the God-Work of figure using Wuhan.
S41：Raw video processing.Before photogrammetric office work operation, need to carry out light and color homogenization processing to raw video, with
Just preferably it is used for follow-up work.
S42：Image rectification.It is matching DSM, right using " EOS " software using the EOS project files that generate after three encryption of sky
DEM carries out edit-modify, again Differential rectification, produces rough DOM.
S43：Image editing.Edge fit inspection is carried out to the DOM of individual photo, and dock at more than 2 pixels of edge error into
Row processing.Whole drawing is checked, confirm the problems such as it is with the presence or absence of dislocation, distortion, garland and is further changed, to reach
To clear, beautiful the effect of drawing.
S44：Colors countenance.Tone processing is carried out to inlaying front and back orthography, to reach close to consistent tone, and
Without apparent splicing seams.Include mainly：Histogram stretching, gray scale/contrast processing, colors countenance, edge enhancing processing, at denoising
Reason and centralized processing.
S45：Image is cut.Image, which is cut, directly to use OrthVista according to the cyclopean virtual image in regional network
Output is interacted, photo can also be inlayed according to geographical location for an entirety, in the Subset Image tools of ERDAS
Lower progress image is cut, by line alignment 1：The interior mapborder range of 1000 free framings extends out progress image and cuts.
Colors countenance mode is as follows in S44：
（1）, histogram stretch
The image of each wave band is stretched into column hisgram so that image histogram is located at histogram close to normal distribution, peak value
It is intermediate；
（2）, the processing of gray scale/contrast
The gray scale and contrast of image carry out proper treatment, keep image shading value moderate, and contrast is normal, and it is existing supersaturation do not occur
As；
（3）, colors countenance
Enhancing processing is carried out by the image of a certain wave band, changes the color of image, makes image closer to natural color；
（4）, edge enhancing processing
Use " sharpen the edge feature of tool prominent terrain features, make in image class boundary be more easy to interpretation and delineate；
（5）, denoising
For the certain noises occurred in image, Strip phenomenon can use high-pass filtering operator, at medium filtering operator
Reason；
（6）, centralized processing
Multiple images in region are focused on so that the effect between image is almost the same.It can be used image automatic
Even color software is operated, and the efficiency of processing and the quality of achievement are improved.
This specific embodiment is only explanation of the invention, is not limitation of the present invention, people in the art
Member can as needed make the present embodiment the modification of not creative contribution after reading this specification, but as long as at this
It is all protected by Patent Law in the right of invention.
Claims (9)
1. a kind of method carrying out field mapping using unmanned plane aeroplane photography, it is characterised in that：It is as follows：
S1：Photo control point is laid in operation area, and measures the coordinate value of photo control point；
S2：According to the photo control point of laying, aerial stereo images data are obtained using unmanned plane；
S3：By the aerial stereo images data of unmanned plane, POS data and the photo control point coordinate value importing Survey and map software progress sky measured
Three calculate；
S4：Empty three result of calculations and aerial stereo images data are imported into Survey and map software and generate DOM.
2. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 1, it is characterised in that：
In S1, more than two photo control points are laid for every square kilometre in operation area, it is good tiny that photo control point is typically chosen in the angle of cut
Thread, apparent atural object dog-ear fixed point, aerial stereo images are less than the punctual geo-objects center of 0.2mm, and identify readily discernible label.
3. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 1, it is characterised in that：
In S1, the coordinate value of photo control point is measured using RTK measuring instruments, RTK measuring instruments are initialized twice, each epoch of observation
Number no less than 20, sampling interval 2S-5S, cannot be measured directly for RTK measuring instruments, using total station survey.
4. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 1, it is characterised in that：
In S2, unmanned plane course should go beyond the scope outer two baselines, other to the 50% of the no less than film size of going beyond the scope；Photo course weight
Folded to be not less than 70%, sidelapping is not less than 60%；It revolves drift angle and is not more than 20 °.
5. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 3, it is characterised in that：
In S1, RTK measuring instruments are initialized twice, each epoch of observation number is no less than 100, sampling interval 1S.
6. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 1, it is characterised in that：
In S3, aerial stereo images are anticipated, check that POS quantity is consistent with image number and corresponds, in conjunction with inertial navigation number
According to Inspection and analysis is carried out, eliminate the image of POS distortion, for degree of overlapping it is excessive carry out pumping piece, degree of overlapping less than 50% into
A row point course line is handled.
7. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 6, it is characterised in that：
By first vacuating tie point to 500 after initial network forming, accurate matching, the optimization of gray scale point, adjustment of Free Networks is then carried out, is set
Parameter deletes the big point of residual error, after free net result is stablized, thorn control point is added to carry out empty three adjustments.
8. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 1, it is characterised in that：
S41：Light and color homogenization processing is carried out to aerial stereo images；
S42：Edit-modify, again Differential rectification are carried out to aerial stereo images, produce rough DOM；
S43：Edge fit inspection is carried out to the DOM of individual photo, and docks edge error more than being handled at 2 pixels；
S44：Tone processing is carried out to inlaying front and back orthography, to reach close to consistent tone, and without apparent splicing
Seam；
S45：Output is interacted according to the cyclopean virtual image in regional network using OrthVista.
9. a kind of method carrying out field mapping using unmanned plane aeroplane photography according to claim 8, it is characterised in that：
In S44, tone processing include histogram stretching, gray scale/contrast processing, colors countenance, edge enhancing processing, denoising and
Centralized processing.
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| CN109861138A (en) * | 2019-03-22 | 2019-06-07 | 内蒙古送变电有限责任公司 | It is a kind of to cross over virgin forest construction method using unmanned plane high-altitude stringing |
| CN110440761A (en) * | 2019-09-18 | 2019-11-12 | 中国电建集团贵州电力设计研究院有限公司 | A kind of processing method of unmanned plane aerophotogrammetry data |
| CN110440762A (en) * | 2019-09-18 | 2019-11-12 | 中国电建集团贵州电力设计研究院有限公司 | A kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure gridding photo control point distribution method |
| CN110503080A (en) * | 2019-08-30 | 2019-11-26 | 中国电建集团西北勘测设计研究院有限公司 | Investigation method based on unmanned plane oblique photograph auxiliary sewage draining exit |
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| CN109861138B (en) * | 2019-03-22 | 2021-02-05 | 内蒙古送变电有限责任公司 | Construction method for crossing original forest by using unmanned aerial vehicle high-altitude overhead line |
| CN109861138A (en) * | 2019-03-22 | 2019-06-07 | 内蒙古送变电有限责任公司 | It is a kind of to cross over virgin forest construction method using unmanned plane high-altitude stringing |
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| CN110503080B (en) * | 2019-08-30 | 2022-09-02 | 中国电建集团西北勘测设计研究院有限公司 | Investigation method based on unmanned aerial vehicle oblique photography auxiliary sewage draining exit |
| CN110440761B (en) * | 2019-09-18 | 2022-05-03 | 中国电建集团贵州电力设计研究院有限公司 | Processing method of aerial photogrammetry data of unmanned aerial vehicle |
| CN110440761A (en) * | 2019-09-18 | 2019-11-12 | 中国电建集团贵州电力设计研究院有限公司 | A kind of processing method of unmanned plane aerophotogrammetry data |
| CN110440762A (en) * | 2019-09-18 | 2019-11-12 | 中国电建集团贵州电力设计研究院有限公司 | A kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure gridding photo control point distribution method |
| CN110440762B (en) * | 2019-09-18 | 2022-05-03 | 中国电建集团贵州电力设计研究院有限公司 | Gridding image control point layout method for multi-rotor unmanned aerial vehicle mountainous area aerial survey image |
| CN111750838A (en) * | 2020-07-07 | 2020-10-09 | 中南民族大学 | Method, device and equipment for generating agricultural land planning map and storage medium |
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| CN114199204B (en) * | 2021-11-08 | 2024-03-15 | 呼和浩特市自然资源规划设计研究有限公司 | Topographic map mapping method for unmanned aerial vehicle low-altitude photography |
| CN116164711B (en) * | 2023-03-09 | 2024-03-29 | 广东精益空间信息技术股份有限公司 | Unmanned aerial vehicle mapping method, unmanned aerial vehicle mapping system, unmanned aerial vehicle mapping medium and unmanned aerial vehicle mapping computer |
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