CN108958288A - Low latitude operation UAV system and its path planning method based on geography information - Google Patents
Low latitude operation UAV system and its path planning method based on geography information Download PDFInfo
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Abstract
The low latitude operation UAV system based on geography information that the present invention provides a kind of, including the first unmanned plane of low latitude image for obtaining target job region, the background server of release module, image splicing reconstruction module, geography information characteristic extracting module and two dimension or three-dimensional route planning module is received configured with image, for controlling the unmanned plane task terminal of the second unmanned plane during flying, and the second unmanned plane for executing low latitude operation according to the trajectory planning result；The present invention also provides the path planning methods of above-mentioned low latitude operation UAV system.Operation UAV system in low latitude of the invention and its path planning method, it is capable of the geography information in the different target job region of convenient acquisition, and carries out the job task trajectory planning of corresponding low latitude operation unmanned plane, it is easy to operate, it is applied widely, there is good practical reference value.
Description
Technical field
The present invention relates to unmanned plane fields, and in particular to a kind of low latitude operation UAV system and its track based on geography information
Planing method.
Background technique
Traditional aviation plant protection operation generally carries out plant protection operation using manned all purpose aircraft.All purpose aircraft
Volume is big, speed is fast, working area is big, but upkeep operation cost is very high, can only make on local excess area plant protection operation
With.With the development of unmanned air vehicle technique, small drone is more and more common for agricultural plant protection field, compared to traditional people
Work or other mechanical works have many advantages, for example, it is high-efficient, at low cost, spray effect is good.Meanwhile small drone is also wide
It is general to be applied to the fields such as power circuit polling.
In the prior art, plant protection or power circuit polling unmanned plane are usually to manipulate separate unit unmanned plane by operator to carry out
Operation.This mode is observed dependent on the visual of operator to control working path；When operating area is larger, operation error compared with
Greatly, operation quality is greatly reduced.
In addition, having the function of autonomous flight there are also some operation unmanned planes, can be flown according to preset track.
But usually there are the following problems for such mode:
1) it is usually obtained from third party for the map data of trajectory planning, often there is precision and be unsatisfactory for requiring or obstacle
The defects of object mark is not known, this is difficult the operation unmanned plane that relative flying height is usually 5-10m to meet its track rule
The demand of drawing；Meanwhile acquisition third party's map is time-consuming and laborious, in some cases without suitable map data for using；
2) trajectory planning is of low quality, is easy to appear repetition operation or omits operating area, operation unmanned plane is also possible to when serious
Barrier is knocked to cause to damage.
Summary of the invention
Present invention solves the technical problem that be to provide a kind of low latitude operation UAV system based on geography information and its
Path planning method, to solve the problems, such as at least one above-mentioned aspect.
To achieve the goals above, present invention employs following technical solutions:
The first aspect of the invention provides a kind of low latitude operation UAV system based on geography information, comprising:
First unmanned plane, for obtaining the low latitude image in target job region；
Background server, including data processing memory module, and the image of connection data processing module receive release module, figure
As splicing reconstruction module, geography information characteristic extracting module and flight path programming module, wherein described image receives release module quilt
It is configured to the low latitude image obtained for receiving first unmanned plane, and is issued on the server after the completion of image reconstruction,
Described image splicing reconstruction module is configured for carrying out splicing reconstruction to the image received, generates high-precision geography information
Data, the geography information characteristic extracting module are configured for extracting operation area by the high-precision geographic information data
Domain geography information topography and landform character, the flight path programming module are configured for according to the operating area geography letter extracted
Cease the trajectory planning that topography and landform character carries out the second unmanned plane；
Unmanned plane task terminal, communicates with the background server, for according to the trajectory planning as a result, control second nobody
The flight track of machine；
And second unmanned plane, second unmanned plane is low latitude operation unmanned plane, for executing low latitude operation.
Further, first unmanned plane includes unmanned plane body, the first wireless data transmission mould on body
Block, and connect the RTK high accuracy positioning module and high resolution camera of first wireless data transfer module, wherein it is described
First wireless data transfer module is used to carry out data interaction with background server；
Second unmanned plane includes unmanned plane body, the second wireless data transfer module on body, and connection institute
State the flight control modules and operation module of the second wireless data transfer module, wherein second wireless data transfer module
For carrying out data interaction with the unmanned plane task terminal.
Further, described image splicing reconstruction module includes:
Image flame detection unit carries out image distortion correction to original image for taking the photograph identification table using boat；
Image encryption unit is encrypted for carrying out sky three to image according to flight control data；
Model foundation unit, for establishing digital elevation model according to empty three encrypted images；
Model treatment unit is used to carry out Differential rectification to model, and inlays, mixes colours, cutting processing；
Pattern checking unit for checking treated model, and establishes DOM Document Object Model DOM.
Further, the geography information characteristic extracting module includes:
Profile information extraction unit, for extracting two dimension or three-dimensional topography and geomorphology profile information by data search algorithm；
Characteristics of objects extraction unit, for extracting operating area targets of interest object by Digital Image Processing algorithm.
Further, the flight path programming module includes:
Interpolating unit, it is raw for handling discrete target area landform landforms contour feature data by bilinear interpolation algorithm
At continuous trajectory planning basic data；
Track generation unit generates track rule by artificial intelligence planning algorithm for being based on the trajectory planning basic data
Draw data；
Track optimization unit generates final track for optimizing the trajectory planning data based on the targets of interest object.
The second aspect of the invention additionally provides a kind of low latitude operation unmanned aerial vehicle flight path planning side based on geography information
Method includes the following steps:
S1, target job region low latitude image is obtained by the first unmanned plane；
S2, the low latitude image is uploaded to background server progress splicing reconstruction, generates high-precision geographic information data；
S3, the image rebuild and completed is issued in server, and with extracting operating area by the high-precision geographic information data
Manage information topography and landform character；
S4, the trajectory planning that the second unmanned plane is carried out according to the operating area geography information topography and landform character extracted；
Wherein, first unmanned plane is aerial mapping unmanned plane, and the second unmanned plane is low latitude operation unmanned plane.
Further, image joint reconstruction specifically includes in S2:
S21, identification table is taken the photograph using boat to original image progress image distortion correction；
S22, three encryption of sky is carried out to image according to flight control data；
S23, digital elevation model is established according to empty three encrypted images；
S24, Differential rectification is carried out to model, and inlays, mixes colours, cuts processing；
S25, it checks treated model, and establishes DOM Document Object Model DOM.
Further, in S22, three encryption of sky is specifically included:
S211, image and parameter settings data are imported；
S212, the offset for determining course line；
S213, relative orientation and tie point selection are carried out and is measured；
S214, model connection inspection is carried out, if checking successfully, progress is in next step；If connection is unsuccessful, human-edited is carried out,
Then it carries out in next step；
S215, control point measurement is carried out；
S216, zoning net adjusted data, and detect calculated result；If qualified, result is exported；If unqualified, S214 is returned
S215 and S216 are executed again after carrying out human-edited, until calculated result is qualified and exports result.
Further, geography information topography and landform character in operating area is extracted in S3 to specifically include:
S31, two dimension or three-dimensional topography and geomorphology profile information are extracted by data search algorithm；
S32, pass through Digital Image Processing algorithm, extraction operating area targets of interest object.
Further, trajectory planning specifically includes in S4:
S41, discrete target area landform landforms contour feature data are handled using bilinear interpolation algorithm, generate continuous boat
Mark foundation of planning data；
S42, it is based on the trajectory planning basic data, trajectory planning data is generated by artificial intelligence planning algorithm；
S43, the trajectory planning data are optimized based on the targets of interest object, generates final track.
Compared to existing low latitude operation UAV system and path planning method, the present invention has the advantage that
1. influenced by orographic factor it is small, the unmanned machine operation of air-mapping plane i.e. first in the region away from ground 80m to 100m or so,
Small-scale hypsography is changed insensitive；2. operating efficiency is high, it is no more than the time required to operation 100m*100m size area
Half an hour；3. imaging precision is high, the image resolution of acquisition is no more than 2cm/ pixel, and the image resolution after reconstruction is no more than
6cm/ pixel；4. abundant information, the image after reconstruction includes all multi informations such as terrain, plant distribution, Obstacle Position.
On the other hand, operation UAV system in low latitude of the invention is respectively worked independently by shooting, operation unmanned plane,
Server carries out the mode that image procossing includes map generation, contours extract and trajectory planning, greatly reduces unmanned plane and clothes
The flow and unmanned plane data volume to be treated itself of data transmission, reduce system architecture difficulty and cost between business device,
With good commercial value.
Low latitude operation UAV system and its path planning method based on geography information of the invention, convenient can obtain
The geography information in different target job regions, and the trajectory planning of corresponding low latitude operation unmanned plane is carried out, it can effectively improve
The efficiency of unmanned machine operation increases safety.Whole system is easy to operate, applied widely, has good practical promotion price
Value.
Detailed description of the invention
Fig. 1 is the composition schematic diagram of the low latitude operation UAV system of the invention based on geography information.
Fig. 2 is the flow diagram of operation UAV system path planning method in low latitude of the invention.
Fig. 3 is the processing flow schematic diagram of image splicing reconstruction.
Fig. 4 is empty three encryption flow schematic diagrames.
Fig. 5 is analytical aerial triangulation schematic diagram.
Fig. 6 is the unmanned aerial vehicle flight path planning algorithm application flow schematic diagram based on genetic algorithm.
Fig. 7 is Hopfield neural network model schematic diagram.
Specific embodiment
For a further understanding of the present invention, the preferred embodiment of the invention is described below with reference to embodiment, still
It should be appreciated that these descriptions are only further explanation the features and advantages of the present invention, rather than to the claims in the present invention
Limitation.
One embodiment of the invention provides the low latitude operation UAV system based on geography information, is mainly used in
Agricultural plant protection or power circuit polling field are the composition schematic diagram of embodiment, specifically include as described in Figure 1:
First unmanned plane 1, for obtaining the low latitude image in target job region.In the present embodiment, the first unmanned plane includes for nobody
Machine body, the first wireless data transfer module on body, and connect the RTK high of first wireless data transfer module
Precision locating module and high resolution camera.Wherein, the first wireless data transfer module is used to carry out data with background server
Interaction, is chosen as ofdm communication module or microwave communication module etc..RTK high accuracy positioning module is high-precision fixed for providing
Position information, high resolution camera are used for shooting operation region.
In general, when the first 1 shooting operation of unmanned plane in the region away from ground 80m to 100m or so, to small-scalely
Shape fluctuations are insensitive, and half an hour, operation effect with higher are no more than the time required to operation 100m*100m size area
Rate.
Further include background server 2, is chosen as Cloud Server, including data processing module, and connection data processing
The image of module receives release module, image splicing reconstruction module, geography information characteristic extracting module, flight path programming module and deposits
Store up module.
Wherein, image receives release module for communicating with the first wireless data transfer module of the first unmanned plane, receives
The low latitude image that first unmanned plane obtains, and issued on the server after the completion of image reconstruction；
Image splicing reconstruction module is used to carry out splicing reconstruction to the image received, generates high-precision geographic information data,
It specifically includes:
Image flame detection unit carries out image distortion correction to original image for taking the photograph identification table using boat；
Image encryption unit is encrypted for carrying out sky three to image according to flight control data；
Model foundation unit, for establishing digital elevation model according to empty three encrypted images；
Model treatment unit is used to carry out Differential rectification to model, and inlays, mixes colours, cutting processing；
Pattern checking unit for checking treated model, and establishes DOM Document Object Model DOM.
Geography information characteristic extracting module is used for through high-precision geographic information data with extracting operating area geography information
Shape geomorphic feature, specifically includes:
Profile information extraction unit, for extracting two dimension or three-dimensional topography and geomorphology profile information by data search algorithm；
Characteristics of objects extraction unit, for extracting operating area targets of interest object by Digital Image Processing algorithm.
The flight path programming module is configured for according to the operating area geography information topography and landform character extracted
The trajectory planning for carrying out the second unmanned plane, specifically includes:
Interpolating unit, it is raw for handling discrete target area landform landforms contour feature data by bilinear interpolation algorithm
At continuous trajectory planning basic data；
Track generation unit generates trajectory planning number by artificial intelligence planning algorithm for being based on trajectory planning basic data
According to；
Track optimization unit generates final track for optimizing the trajectory planning data based on targets of interest object.
Wherein, artificial intelligence planning algorithm includes A-Star algorithm unit, genetic algorithm, artificial neural network algorithm
Unit, ant group algorithm unit and simulated annealing unit.Several algorithm units are briefly chosen below to be illustrated:
1. genetic algorithm, including following constituent functional units:
(1) coding unit: for encoding to unmanned plane position and track feasibility, there are many coding modes, the results showed
Preferable effect can be obtained using a kind of elongated real value gene coding mode, man-machine one of each chromosome representative element
Track；
(2) initial population generation unit: for X original string structured data to be randomly generated, each string structure data represent one
Individual, X individual constitute a group；Initial population indicates all possible track position of unmanned plane；
(3) function selection unit, for choosing fitness function, the selection of fitness function is the most key portion of genetic algorithm
Point, it is the driving force of evolutionary process；
(4) genetic operator unit: for obtaining next-generation group by 3 kinds of selection, intersection, variation basic genetic manipulations,
The purpose of middle selection is in order to select excellent individual from current group kind, according to the fitness value of each individual, from previous generation
Group's kind selects some excellent individual inheritances into next-generation group.
(5) optimal trajectory generation unit: for evolving by constantly circulation, with maximum adaptation angle value is ultimately produced
Body is optimal trajectory.
Artificial neural network 2. (ANN) algorithm unit, including following constituent functional units:
(1) sliding-model control unit, for carrying out sliding-model control to planning space, building is adapted with unmanned plane
Hopfield neural network model；
(2) construction of function unit, for constructing an energy function in conjunction with digital terrain information and constraint condition, wherein connecting
Power can reflect terrain information, if unmanned plane is close to barrier, connection weight is reduced rapidly, and the peace of unmanned plane may be implemented in this way
Full flight；
(3) series analog memory unit, since the Hopfield neural network created is parallel processing problem, and at current computer
Managing device is usually work in series, it is therefore desirable to carry out series analog memory to the neural network model established；
(4) numerical value visual field establishes unit, for can then establish in planning space unimodal when series analog memory reaches expected and requires
The numerical value potential field of gradient；
(5) optimal trajectory generation unit: for combining potential field gradient magnitude and unmanned plane during flying constraint condition in planning space
Interior search optimal trajectory.
3. ant group algorithm unit, including following constituent functional units:
(1) structure assignment unit gives Voronoi each edge for constructing Voronoi diagram according to known threat source distribution situation
Assign certain weight (initial information element value)；
(2) route searching unit, for all human oasis exploiteds to be placed in the Voronoi diagram node location nearest apart from starting point,
It is selected according to ant state transition rules (generally being determined by the intensity of the visibility of point-to-point transmission and the pheromones value on point-to-point transmission side)
Next node is selected, until all ants reach home and complete search process；
(3) path cost computing unit updates institute for calculating separately out the cost of every feasible path after the completion of route searching
The optimal path found；
(4) weight removal unit, for updating the weight on all sides referring to pheromone alteration ruler, to what is do not passed through
Each node carries out pheromones evaporation (i.e. removal weight)；
(5) optimal trajectory generation unit: for recycling above-mentioned steps until meet preset condition, after export optimal trajectory.
Further include unmanned plane task terminal 3, communicated with background server 2, for according to trajectory planning as a result, control the
The flight track of two unmanned planes.In the present embodiment, which includes the bases such as data processing module, communication module
This unit module further includes an instant playback module i.e. display screen, can be used for the second unmanned plane of real-time display state of flight or
Acquired job content, such as the image of shooting.
It further include the second unmanned plane 3, which is low latitude operation unmanned plane, for executing operation.Specifically, the
Two unmanned planes include unmanned plane body, the second wireless data transfer module on body, and the second wireless data of connection
The flight control modules and operation module of transmission module, wherein the second wireless data transfer module is used for whole with unmanned plane task
End carries out data interaction.
In one embodiment of the invention, which is plant protection operation unmanned plane, for carrying out plant protection operation,
Its operation module configured be the pesticide spraying device of adjustable dose, including drug reservoir, sprinkler head and is sprayed for controlling
Spill the motor switch etc. of dose.
In second embodiment of the invention, which is power circuit polling unmanned plane, the operation of configuration
Module is industrial camera and intelligent recognition unit, for shooting the icing, twister or connection of power circuit to carry out
Preliminary intelligent recognition, and concentrate in real time or after the completion of shooting and shooting image is transmitted to unmanned plane task terminal, for the people that works
Member carries out further artificial examination.
In third embodiment of the invention, which is police security protection unmanned plane, the operation module of configuration
For security monitoring video camera and infrared probe, for shooting security protection region, and in real time or after the completion of shooting, concentration will shoot image transmitting
To unmanned plane task terminal, further manually checked for security personnel.
In the 4th embodiment of the invention, which is fire-fighting unmanned plane, and the operation module of configuration is red
External detector and life-detection instrument help fire fighter to carry out fire-fighting for fire hazard detection or scene of fire life detection
It checks or rescues.
The second aspect of the invention provides the path planning method of the low latitude operation UAV system based on geography information, such as
Fig. 2 show the flow diagram of embodiment, includes the following steps:
The first step, by the first unmanned plane obtain target job region low latitude image, first unmanned plane be aerial mapping nobody
Machine, specific tasks process include:
1) course line is planned；
2) it selects and imports basic map；
3) basic job parameter: flying height, flying speed, degree of overlapping is set；
4) setting is safe makes a return voyage a little；
5) ground control point (GCP) (also referred to as phased point) is set；
6) automatic flight, monitors flight process or change of flight plan by control software；
7) predefined drop zone deduced image is dropped to automatically.
Low latitude image is uploaded to background server and carries out splicing reconstruction, generates high-precision geographic information data by second step,
It specifically includes:
1) identification table being taken the photograph using boat, image distortion correction is carried out to original image；
2) sky three is carried out to image according to flight control data to encrypt；
3) digital elevation model is established according to three encrypted images of sky；
4) Differential rectification is carried out to model, and inlays, mixes colours, cuts processing；
5) it checks treated model, and establishes DOM Document Object Model DOM.
Further, in step 2, three encryption of sky is specifically included:
21) image and parameter settings data are imported；
22) offset in course line is determined；
23) it carries out relative orientation and tie point is chosen and measured；
24) it carries out model connection to check, if checking successfully, carry out in next step；If connection is unsuccessful, human-edited is carried out, so
It carries out afterwards in next step；
25) control point measurement is carried out；
26) zoning net adjusted data, and detect calculated result；If qualified, result is exported；If unqualified, return step
(24) step (25) and (26) are executed again after carrying out human-edited, until calculated result is qualified and exports result.
Third step, the image completed is rebuild in publication on the server, and is extracted by the high-precision geographic information data
Operating area geography information topography and landform character, specifically includes:
1) two dimension or three-dimensional topography and geomorphology profile information are extracted by data search algorithm；
Wherein, searching algorithm is chosen as Fibonacci search algorithm, and it is specific to extract target area landform landforms contour feature data
Include:
The geographic information data number recorded in the geographical information data table of high-precision is some Fibonacci number small 1 and n=Fk-1;
Start k value being compared (i.e. mid=low+F (k-1) -1) with the record data of the position F (k-1), comparison result point
It is three kinds:
1) equal, the element of the position mid is required；
2) >, low=mid+1, k-=2；
Illustrate: low=mid+1 illustrate element to be found in [mid+1, hign] range, the declared range of k-=2 [mid+1,
High] in element number be n-(F (k-1))=Fk-1-F (k-1)=Fk-F (k-1) -1=F (k-2) -1, it is possible to pass
That returns applies Fibonacci search；
3)< ,high=mid-1,k-=1。
2) by Digital Image Processing algorithm, operating area targets of interest object is extracted.
Wherein, image zooming-out algorithm is chosen as image segmentation algorithm, algorithm for image enhancement and edge detection algorithm, described emerging
Interesting target object includes operative goals object, barrier and boundary line.Wherein, image segmentation algorithm is chosen as watershed algorithm,
A kind of its embodiment are as follows:
High-precision aviation image is successively carried out to gray processing, filtering, Gauss-Laplace edge detection process；
Profile is searched, and profile information is drawn according to different numbers, is equivalent to label injection point；
Watershed operation is executed, and draws the region split.
4th step is advised according to the track that the operating area geography information topography and landform character extracted carries out the second unmanned plane
It draws；Wherein, the second unmanned plane is low latitude operation unmanned plane, is chosen as plant protection operation unmanned plane, power circuit polling unmanned plane, police
With security protection unmanned plane or fire-fighting unmanned plane.
Specifically, the trajectory planning of the second unmanned plane includes the following steps:
Discrete target area landform landforms contour feature data are handled using bilinear interpolation algorithm, generate continuous track rule
Draw basic data；
Based on trajectory planning basic data, trajectory planning data are generated by artificial intelligence planning algorithm；
Optimize the trajectory planning data based on targets of interest object, generates final track, optimization aim is to make unmanned plane course line
Closer to operative goals and/or avoiding obstacles.
Wherein, artificial intelligence planning algorithm includes A-Star algorithm, genetic algorithm, artificial neural network algorithm, ant colony calculation
Method and simulated annealing.Many algorithms integrated application can effectively improve trajectory planning precision.
Illustrate that the image joint in above-mentioned process rebuilds the embodiment of publication and trajectory planning in detail further below.
One, image joint
1, image processing technique process is as shown in Figure 3；Wherein, empty three encryption flows are as shown in Figure 4.Its basic principle are as follows:
(1) aerial triangulation
Analytical aerial triangulation: it as shown in figure 5, using the method calculated, is sat according to the tie point measured on aerophoto
Mark and a small amount of ground control point, find out the object space coordinate of ground pass point.
If it is the image data for having POS information, it can directly be positioned using POS information, reduce control point
Demand, moreover it is possible to make entirely survey area inside degree of conformity be improved, convenient for the edge fit of mapping.
The three common method of parsing of sky has air strips method, analytic method and light shafts method.
(2) three matching of sky and dense Stereo Matching
Sky three matches: when triangulation in the sky (SFM), in order to determine the tie point of the same name between some images as adjustment item
Part and the homotopy mapping carried out, generation is sparse cloud.
Dense Stereo Matching: when producing DSM/DEM, surveying each object space point three-dimensional coordinate in area to calculate, to rebuild entire
The homotopy mapping surveying area's landform and carrying out, generation is point off density cloud.
The two is provided to look for the culture point of the same name on different images, therefore essence is consistent；Secondly, three matching of sky is
The basis of dense Stereo Matching, the dense Stereo Matching for not completing sky three are nonsensical.If now with the aviation image in a collection of somewhere,
It is required that obtaining the DSM/DEM of this area, work step is as follows:
(1) aerial triangulation is carried out, determines the coordinate posture (elements of exterior orientation) of every image；
(2) to each cubic phase to carrying out dense Stereo Matching, and the three-dimensional coordinate of each object space point is calculated by forward intersection, from
And obtain the DSM/DEM of this area.
2, job step
(1) image is imported；
(2) it is aligned photo, generates tie point (sparse cloud) while being aligned photo；
(3) point off density cloud is established；
(4) grid/generation texture is generated；
By above two step, the 3D model more completely to link up is ultimately generated.
(5) other products are generated.
Other product generations are all based on sparse cloud, point off density cloud or mesh, and source data difference will lead to appearance and essence
Thin degree difference.
Two, post-processing
Job requirements can't be fully met by rebuilding the image completed, the processing for needing to follow the steps below, to guarantee image
Reliability.
(1) image geometry is corrected
The systematic error generated during the random error as caused by unmanned plane POS information inaccuracy and image reconstruction, can make
It is devious that image leads to the problem of relative position inaccuracy and image coordinate and actual coordinate inside image.By in Arcgis
Image geometry correcting function can be with such problem of effective solution.The picture control arranged in advance is pierced out on importing Arcgis image
Point, and corresponding coordinate is imported, it is calculated by suitable image correction algorithm, obtains internal the relative position error and do not surpass
0.2m is crossed, the available image of 0.5m is no more than with actual coordinate error.
(2) image is cut: being cropped useless marginal portion, is left and taken effective central part.
(3) it generates operation boundary: manually marking general operating area on the image after correction, know then referring to mode
Method for distinguishing generates more careful operation boundary by factors such as height, colors.
(4) barrier that supplement is not reconstructed: since the resolution ratio of image is about in 6cm/ pixel or so, and on image
It differentiates an object and at least needs 2-3 pixel.It is therefore possible to have diameter less than 12-18cm, and unmanned plane can be carried out
The barrier that plant protection operation or other work have an impact exists.The issue handling scheme is as follows:
A. front mapping worker needs Inspection place unfavorable with the presence or absence of may significantly generate to plant protection drone operation
The object of influence simultaneously records in time, uploads recording documents while uploading image.
B. after the completion of image reconstruction, reconstruction personnel are other than comparing image and front recording documents, it is also necessary to original
Beginning image is compared one by one, determines that these are not reconstructed coordinate of the barrier on image.
C. by raw video extract or document on the data that record, the elevation information and distribution situation of reduction disorder object,
And it is substituted and is imported in 3D model with suitable model.
Three, image is issued
Image service is released using raster data and image data as service.Client can be to raster data at this time
Access.Such as: it checks the band class information of grid, checks the value etc. of some pixel of grid.
Image service is issued, has certain requirement for initial data, the data of image service support mainly have: grid number
According to collection, raster map layer, inlays data set, inlays figure layer.Its groundwork is divided into following three step:
A. raster dataset is created;B. raster data is added;C. it is shared as image service.
Four, trajectory planning
1, genetic algorithm
Genetic algorithm originates from the study of computer simulation carried out to biosystem, is by the Holland of Michigan university
What professor proposed in the literature, the basic principle is that the natural process of simulation genetic recombination and evolution, the ginseng of problem to be solved
Number weaves into binary code or decimal code (gene), and several genes form a chromosome, and many chromosomes be similar to certainly
So selection, the operation matching intersection and making a variation, by iteration is repeated several times until obtaining optimum results to the end.With reference to attached drawing 6,
Completely the unmanned aerial vehicle flight path planning algorithm based on genetic algorithm includes the following steps:
(1) encode: genetic algorithm first has to encode unmanned plane position and track feasibility before scanning for, gene
There are many coding modes, the results showed can obtain preferable effect using a kind of elongated real value gene coding mode, often
A man-machine track of item chromosome representative element.
(2) initial population generates: X original string structured data is randomly generated, each string structure data represent an individual,
X individual constitutes a group.Initial population indicates all possible track position of unmanned plane.
(3) choose fitness function: the selection of fitness function is the most key part of genetic algorithm, it is to evolve
The driving force of journey.
(4) genetic operator: group obtains next-generation group by 3 kinds of selection, intersection, variation basic genetic manipulations,
The purpose of middle selection is in order to select excellent individual from current group kind, according to the fitness value of each individual, according to certain
Method from previous generation group kind select some excellent individual inheritances into next-generation group.It can be obtained by crossover operation
To individual of new generation, the initial stage should select biggish crossover probability to guarantee the ability of searching optimum of algorithm, be evolved to certain journey
Crossover probability can be reduced after degree to improve search efficiency.The validity of algorithm can be improved in mutation operation, is the production of new individual
Raw to provide chance, the initial stage of evolving should select lesser mutation probability to protect defect individual, and later stage of evolution can be improved
Mutation probability is to improve the local search ability of algorithm.
(5) optimal trajectory generates: by constantly recycling evolution, ultimately producing the individual with maximum adaptation angle value is most
Excellent track.
2, artificial neural network (ANN) algorithm
Artificial neural network is a kind of mathematical model simulated biological neural network and carry out information processing, by a large amount of processing unit
(neuron) is interconnected together by certain topological structure.Neural network has the parallel organization and Parallel Implementation energy of height
Power, the ability that there is high speed to find optimization solution, can play the high-speed computation ability of computer, can quickly find optimal
Solution, is widely used in terms of trajectory planning.Neural network is there are many model: perceptron neural network model, linear
Neural network model, BP neural network model, RBF neural network model, self organizing neural network model and Hopfield mind
Through network model, wherein Hopfield neural network model belongs to Feedback Neural Network type, is suitble to processing trajectory planning etc. non-
Linear problem, as shown in Figure 7.
Based on Hopfield neural network model unmanned aerial vehicle flight path planning basic principle be by construct energy function,
So that energy minimum is reached stable state to obtain optimal trajectory using the convergence of network, can specifically pass through following steps reality
It is existing:
(1) sliding-model control, the Hopfield neural network model that building is adapted with unmanned plane are carried out to planning space.
(2) digital terrain information and constraint condition is combined to construct an energy function, wherein connection weight can reflect ground
Shape information, if unmanned plane is close to barrier, connection weight is reduced rapidly, and the safe flight of unmanned plane may be implemented in this way.
(3) since the Hopfield neural network created is parallel processing problem, and current computer processor is general
It is work in series, it is therefore desirable to which series analog memory is carried out to the neural network model established.
(4) when series analog memory, which reaches expected, to be required, the numerical value potential field of unimodal gradient can then be set up in planning space.
(5) potential field gradient magnitude and the man-machine flight constraints condition of member is combined to search for optimal trajectory in planning space.
3, ant group algorithm
Ant group algorithm originates from the process of Ant Search food as its name suggests, it passes through information interchange and mutual association between individual
Make to carry out realizing route search.It is based on the distinctive secretion of ant --- pheromones why ant, which can search for optimal path,
Mouthful, the path of other ants can be influenced by release pheromone, it is assumed that in the initial stage, ant selects the probability in different paths
Identical, since path is shorter, the ant number passed through within the unit time is also more, and the pheromones of release are also more, with
The increase of pheromones intensity, ant select the probability in the path also higher, over time, this paths just becomes
Optimal path of the ant from starting point to point of destination.
Unmanned aerial vehicle flight path planning can be regarded as finds several track points in certain planning space, so that unmanned plane is on edge
The flight of these track points distance it is most short or cost is minimum, this is similar to Principle of Ant Colony Algorithm, therefore ant colony optimization algorithm
Suitable for trajectory planning problem.Ant colony optimization algorithm often combines with Voronoi diagram, can be according to using Voronoi diagram
Know battlefield threaten source distribution in the case of generate initial optional path collection, it can effectively by geography information, threat source point,
Object and region are showed with gathering topological structure.
It can realize that the unmanned aerial vehicle flight path based on ant group algorithm is planned by following steps:
(1) Voronoi diagram is constructed according to known threat source distribution situation, it is (initial to assign certain weight to Voronoi each edge
Pheromones value)；
(2) all human oasis exploiteds are placed in the Voronoi diagram node location nearest apart from starting point, is converted and is advised according to ant state
Then (generally being determined by the intensity of the visibility of point-to-point transmission and the pheromones value on point-to-point transmission side) selects next node, until all
Ant, which is reached home, completes search process；
(3) cost that every feasible path is calculated separately out after the completion of circulation, updates found optimal path；
(4) weight that all sides are updated referring to pheromone alteration ruler carries out pheromones to each node not passed through
Evaporation (i.e. removal weight)；
(5) optimal trajectory is exported after circulation is until meet condition.
The above description of the embodiment is only used to help understand the method for the present invention and its core ideas.It should be pointed out that pair
For those skilled in the art, without departing from the principle of the present invention, the present invention can also be carried out
Some improvements and modifications, these improvements and modifications also fall within the scope of protection of the claims of the present invention.
Claims (10)
1. the low latitude operation UAV system based on geography information characterized by comprising
First unmanned plane, for obtaining the low latitude image in target job region；
Background server, including data processing memory module, and the image of connection data processing module receive release module, figure
As splicing reconstruction module, geography information characteristic extracting module and flight path programming module, wherein described image receives release module quilt
It is configured to the low latitude image obtained for receiving first unmanned plane, and is issued on the server after the completion of image reconstruction,
Described image splicing reconstruction module is configured for carrying out splicing reconstruction to the image received, generates high-precision geography information
Data, the geography information characteristic extracting module are configured for extracting operation area by the high-precision geographic information data
Domain geography information topography and landform character, the flight path programming module are configured for according to the operating area geography letter extracted
Cease the trajectory planning that topography and landform character carries out the second unmanned plane；
Unmanned plane task terminal, communicates with the background server, for according to the trajectory planning as a result, control second nobody
The flight track of machine；
And second unmanned plane, second unmanned plane is low latitude operation unmanned plane, for executing low latitude operation.
2. the low latitude operation UAV system based on geography information as described in claim 1, it is characterised in that:
First unmanned plane includes unmanned plane body, the first wireless data transfer module on body, and connection should
The RTK high accuracy positioning module and high resolution camera of first wireless data transfer module, wherein first wireless data passes
Defeated module is used to carry out data interaction with background server；
Second unmanned plane includes unmanned plane body, the second wireless data transfer module on body, and connection institute
State the flight control modules and operation module of the second wireless data transfer module, wherein second wireless data transfer module
For carrying out data interaction with the unmanned plane task terminal.
3. the low latitude operation UAV system based on geography information as claimed in claim 1 or 2, which is characterized in that the figure
As splicing reconstruction module includes sequentially connected:
Image flame detection unit carries out image distortion correction to original image for taking the photograph identification table using boat；
Image encryption unit is encrypted for carrying out sky three to image according to flight control data；
Model foundation unit, for establishing digital elevation model according to empty three encrypted images；
Model treatment unit is used to carry out Differential rectification to model, and inlays, mixes colours, cutting processing；
Pattern checking unit for checking treated model, and establishes DOM Document Object Model DOM.
4. as claimed in claim 3 based on the UAV system of geography information, which is characterized in that the geography information feature mentions
Modulus block includes:
Profile information extraction unit, for extracting two dimension or three-dimensional topography and geomorphology profile information by data search algorithm；
Characteristics of objects extraction unit, for extracting operating area targets of interest object by Digital Image Processing algorithm.
5. the low latitude operation UAV system based on geography information as claimed in claim 4, which is characterized in that the track rule
Drawing module includes:
Interpolating unit, it is raw for handling discrete target area landform landforms contour feature data by bilinear interpolation algorithm
At continuous trajectory planning basic data；
Track generation unit generates track rule by artificial intelligence planning algorithm for being based on the trajectory planning basic data
Draw data；
Track optimization unit generates final track for optimizing the trajectory planning data based on the targets of interest object.
6. the low latitude operation UAV system path planning method based on geography information, which comprises the steps of:
S1, target job region low latitude image is obtained by the first unmanned plane；
S2, the low latitude image is uploaded to background server progress splicing reconstruction, generates high-precision geographic information data；
S3, the image rebuild and completed is issued in server, and with extracting operating area by the high-precision geographic information data
Manage information topography and landform character；
S4, the trajectory planning that the second unmanned plane is carried out according to the operating area geography information topography and landform character extracted；
Wherein, first unmanned plane is aerial mapping unmanned plane, and the second unmanned plane is low latitude operation unmanned plane.
7. the low latitude operation unmanned aerial vehicle flight path planing method based on geography information as claimed in claim 6, which is characterized in that S2
Middle image joint reconstruction specifically includes:
S21, identification table is taken the photograph using boat to original image progress image distortion correction；
S22, three encryption of sky is carried out to image according to flight control data；
S23, digital elevation model is established according to empty three encrypted images；
S24, Differential rectification is carried out to model, and inlays, mixes colours, cuts processing；
S25, it checks treated model, and establishes DOM Document Object Model DOM.
8. the low latitude operation unmanned aerial vehicle flight path planing method based on geography information as claimed in claim 7, which is characterized in that
In S22, three encryption of sky is specifically included:
S211, image and parameter settings data are imported；
S212, the offset for determining course line；
S213, relative orientation and tie point selection are carried out and is measured；
S214, model connection inspection is carried out, if checking successfully, progress is in next step；If connection is unsuccessful, human-edited is carried out,
Then it carries out in next step；
S215, control point measurement is carried out；
S216, zoning net adjusted data, and detect calculated result；If qualified, result is exported；If unqualified, S214 is returned
S215 and S216 are executed again after carrying out human-edited, until calculated result is qualified and exports result.
9. the low latitude operation unmanned aerial vehicle flight path planing method based on geography information as claimed in claim 6, which is characterized in that S3
Middle extraction operating area geography information topography and landform character specifically includes:
S31, two dimension or three-dimensional topography and geomorphology profile information are extracted by data search algorithm；
S32, pass through Digital Image Processing algorithm, extraction operating area targets of interest object.
10. the low latitude operation unmanned aerial vehicle flight path planing method based on geography information as claim in any one of claims 6-9, special
Sign is, in S4, trajectory planning includes:
S41, discrete target area landform landforms contour feature data are handled using bilinear interpolation algorithm, generate continuous boat
Mark foundation of planning data；
S42, it is based on the trajectory planning basic data, trajectory planning data is generated by artificial intelligence planning algorithm；
S43, the trajectory planning data are optimized based on the targets of interest object, generates final track.
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