CN109341666B - Unmanned aerial vehicle aerial photography crosswind-resistant course determining method - Google Patents
Unmanned aerial vehicle aerial photography crosswind-resistant course determining method Download PDFInfo
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Abstract
The invention provides a method for determining a crosswind-resistant course of an unmanned aerial vehicle aerial photography, which comprises the following steps of calculating course design parameters, and comprehensively calculating the course design parameters through the terrain of a photographic area, the parameters of an aerial photography instrument and standard precision indexes; and step two, wind-resistant course drawing, namely laying a regular course according to the course interval and the absolute flight height in the course design parameters obtained in the step one and in combination with the shooting area surveying and mapping range line, setting a shooting take-off and landing point, determining the number of a first returning course, then sequentially drawing the wind-resistant courses, adjusting the interval of the middle courses, and finally returning to the shooting take-off and landing point. The method for determining the crosswind-resistant course of the aerial photography of the unmanned aerial vehicle ensures that the course of one half of courses in the photographic area is kept consistent, and the course of the other half of courses is reversed; under the influence of continuous crosswind, the sidewise overlapping degree between the shooting area route is uniform without leak, the problems of non-uniform sidewise overlapping of the traditional 'intertillage route' in the separation area and aerial shooting leak under the condition of crosswind can be avoided, and the precision uniformity of aerial triangulation of photogrammetry can be effectively improved.
Description
Technical Field
The invention relates to the technical field of low-altitude photogrammetry, in particular to a method for determining an anti-crosswind course of aerial photography of an unmanned aerial vehicle.
Background
The unmanned aerial vehicle photogrammetry technology is widely applied to topographic mapping, and the reliability of the achievement quality depends on the course overlapping degree and the side direction overlapping degree of aerial images to meet the standard requirements. In actual aerial photography flight, construction period pressure is forced, weather conditions cannot be ideal, the flight attitude can incline towards one side continuously under the influence of continuous lateral airflow, half of the flight paths are insufficient in lateral overlapping degree according to the traditional intertillage flight path design, and the aerial photography leak or overlarge workload can be caused due to overlarge half of the flight paths.
Disclosure of Invention
The invention provides a method for determining a crosswind-resistant course of an unmanned aerial vehicle, which aims to solve the problem that the existing course has overlarge sidewise overlapping degree and possibly causes aerial photography loopholes or overlarge workload.
One of the objects of the present invention is: in the invention, the course of one half of the shooting area is kept consistent, and the course of the other half of the shooting area is reversed.
The second purpose of the invention is: the invention has uniform lateral overlapping degree between shooting area lines under the influence of continuous crosswind without leak, and the problem of non-uniform lateral overlapping of the separation zone of the traditional intertillage line under the condition of crosswind can not occur.
A method for determining an anti-crosswind air route of an unmanned aerial vehicle aerial photography specifically comprises the following steps:
step one, calculating a route design parameter, namely comprehensively calculating the route design parameter through a shooting area terrain, a aerial camera parameter and a standard precision index;
and step two, wind-resistant course drawing, namely laying a regular course according to the course interval and the absolute flight height in the course design parameters obtained in the step one and in combination with the shooting area surveying and mapping range line, setting a shooting take-off and landing point, determining the number of a first returning course, then sequentially drawing the wind-resistant courses, adjusting the interval of the middle courses, and finally returning to the shooting take-off and landing point.
And the standard precision index in the first step at least comprises design ground resolution, course overlapping degree and side overlapping degree.
In the first step, the flight path design parameters at least comprise flight path intervals, relative flight heights, absolute flight heights and shooting baselines.
In the first step, the aerial photography instrument is a camera.
In the first step, the parameters of the aerial camera at least comprise an effective image frame, a pixel size and a camera main distance.
And step two, drawing a wind-resistant course, which at least comprises the following steps:
step 201: establishing a project file of a test area according to the project attributes, and filing after determining aerial photography data;
step 202: setting the coordinates of the take-off and landing points of aerial photographyA0（B,L,H），The route is drawn from this point;
step 203: searching the longest edge of the measuring area range line in the measuring area range line, and selecting the longest edge as the main route direction;
step 204: automatically laying a route array covering the whole shooting area according to the route interval and the route height parameters calculated in the step 103, wherein the total number of routes isN（N=1,2，3…N）(ii) a strip;
step 205: determining the number of the first return routeRWhen is coming into contact withNIn the case of an even number, the number of the first,R=N/2+1(ii) a When in useNIn the case of an odd number of the groups,R=(N+1）/2 +1；
step 206: the crosswind-resistant flight route is drawn in the sequence of：1,R,2,R+1,3,R+2…,Until the course is traversed completely;
step 207: determining whether to supplement the encrypted air route, when the average rolling angle and the average rotating deflection angle of the photos of the R-1 air route and the R air route are both larger than 10 degrees, supplementing an encrypted air route between the two air routes, and then executing a step 208 to ensure that the overlapping degree of the photos of the two air routes meets the design requirement of the air route; otherwise, go to step 208;
step 208: the flight path returns to the point of origin and landing A0 (B, L, H) and the flight path plotting ends.
In step 203, the longest side of the survey area range line is searched in the survey area range line, and the longest side is selected as the main route direction, and the specific steps are as follows: and calculating the distance between the two end points of the longest side and the take-off and landing point, taking the nearest end point as an effective course drawing starting point and also a course azimuth starting point, taking the other end point as a course azimuth end point, and performing the calculation method by adopting a coordinate azimuth calculation method in mapping.
The project attributes at least comprise project numbers, project names, mapping scales, responsible persons and filing dates.
The invention has the beneficial effects that:
in the invention, the course of one half of the shooting area is kept consistent, and the course of the other half of the shooting area is reversed.
The invention has uniform lateral overlapping degree between shooting area lines under the influence of continuous crosswind without leak, and the problem of non-uniform lateral overlapping of the separation zone of the traditional intertillage line under the condition of crosswind can not occur.
When the continuous side wind influences the lateral tilt aerial photography of the airplane, the invention provides more uniform and reliable air route side overlapping degree, and improves the aerial photography quality stability and the aerial triangulation precision of photogrammetry.
The following will be further described with reference to the accompanying drawings.
Drawings
FIG. 1 is a relationship between altitude and ground resolution.
Fig. 2 is a schematic view of a wind-resistant course.
Detailed Description
Example 1:
in order to solve the problem that aerial photography loopholes or excessive workload can be caused due to the fact that the existing aerial route side overlapping degree is too large, the invention provides the aerial photography crosswind-resistant aerial route determination method of the unmanned aerial vehicle as shown in the figure 1-2.
One of the objects of the present invention is: in the invention, the course of one half of the shooting area is kept consistent, and the course of the other half of the shooting area is reversed.
The second purpose of the invention is: the invention has uniform lateral overlapping degree between shooting area lines under the influence of continuous crosswind without leak, and the problem of non-uniform lateral overlapping of the separation zone of the traditional intertillage line under the condition of crosswind can not occur.
A method for determining an anti-crosswind air route of an unmanned aerial vehicle aerial photography specifically comprises the following steps:
step one, calculating a route design parameter, namely comprehensively calculating the route design parameter through a shooting area terrain, a aerial camera parameter and a standard precision index;
and step two, wind-resistant course drawing, namely laying a regular course according to the course interval and the absolute flight height in the course design parameters obtained in the step one and in combination with the shooting area surveying and mapping range line, setting a shooting take-off and landing point, determining the number of a first returning course, then sequentially drawing the wind-resistant courses, adjusting the interval of the middle courses, and finally returning to the shooting take-off and landing point.
The method improves a intertillage route under the continuous influence of crosswind during the aerial photography of the unmanned aerial vehicle, and comprises the specific steps of a route determination parameter calculation module and wind-resistant route drawing. The route determining parameter calculating module loads global DEM data and a shooting area KML format range line, and carries out rigorous aerial shooting parameter calculation considering terrain fluctuation. Drawing a wind-resistant course, firstly calculating the code of a first return courseRThe whole shooting area air route is divided into two facing air routes by the air route, all the air routes are drawn according to the drawing sequence of the wind-resistant air route, and finally the interval of the middle air route is adjusted. Thus, the wind is shot under the influence of continuous crosswindThe side overlapping degree between the regional routes is uniform without leak, and the problem of nonuniform side overlapping of the isolation zone of the traditional 'intertillage route' under the condition of crosswind can be avoided.
Example 2:
based on embodiment 1, in this embodiment, the standard accuracy index in the first step at least includes a design ground resolution, a heading overlap degree, and a side overlap degree.
In the first step, the flight path design parameters at least comprise flight path intervals, relative flight heights, absolute flight heights and shooting baselines.
In the first step, the aerial photography instrument is a camera.
In the first step, the parameters of the aerial camera at least comprise an effective image frame, a pixel size and a camera main distance. The aerial camera in this embodiment is a camera.
Calculating the design parameters of the central line in the first step at least comprises the following steps:
step 101: selecting a specific aerial photography instrument model or inputting custom aerial photography instrument parameters: effective pixels, pixel size, camera principal distance;
step 102: loading 30-meter grid SRTM DEM topographic data and a measuring area KML format range line vector file;
step 103: after the loading step 102, inputting a design ground resolution, a course overlapping degree, a side direction overlapping degree, a photographing area minimum elevation, a photographing area maximum elevation and a photographing area datum plane elevation according to requirements;
step 104: and inputting the data parameters in the step 103, and calculating the course interval, the shooting baseline, the relative navigational height, the lowest point resolution, the highest point course overlapping degree and the highest point sidewise overlapping degree.
The first step of calculating the design parameters of the central line, as shown in fig. 2, at least comprises the following steps:
step 101: selecting a specific aerial photography instrument model or inputting necessary parameters of a user-defined camera technology: effective image frame, pixel size and camera principal distance;
step 102: and loading free open 30-meter grid SRTM DEM topographic data and a KML format range line vector file universal for measuring areas, and ensuring that the ground resolution and the overlapping degree of the whole area completely reach the standard due to topographic relief.
Step 103: according to project technical design requirements, inputting design ground resolution, course overlapping degree, side overlapping degree, shooting area minimum elevation, shooting area maximum elevation and shooting area datum plane elevation.
Step 104: and calculating the course interval, the shooting baseline, the relative altitude, the lowest point resolution, the highest point course overlapping degree and the highest point sidewise overlapping degree by adopting the unmanned aerial vehicle aerial shooting course design parameter calculation software. The principle of calculation of the altitude is shown in fig. 1, and the calculation method is a calculation method known in the photogrammetry industry.
In the formula: h-flight height; f-focal length of lens;
a-pixel size; GSD-ground resolution.
And step two, drawing a wind-resistant course, which at least comprises the following steps:
step 201: establishing a project file of a test area according to the project attributes, and filing after determining aerial photography data;
step 202: setting the coordinates of the take-off and landing points of aerial photographyA0（B,L,H），The route is drawn from this point;
step 203: searching the longest edge of the measuring area range line in the measuring area range line, and selecting the longest edge as the main route direction;
step 204: automatically laying a route array covering the whole shooting area according to the route interval and the route height parameters calculated in the step 103, wherein the total number of routes isN（N=1,2，3…N）(ii) a strip;
step 205: determining the number of the first return routeRWhen is coming into contact withNIn the case of an even number, the number of the first,R=N/2+1(ii) a When in useNIn the case of an odd number of the groups,R=(N+1）/2 +1；
step 206: the crosswind-resistant flight route is drawn in the sequence of：1,R,2,R+1,3,R+2…,Until the course is traversed completely;
step 207: determining whether to supplement the encrypted air route, when the average rolling angle and the average rotating deflection angle of the photos of the R-1 air route and the R air route are both larger than 10 degrees, supplementing an encrypted air route between the two air routes, and then executing a step 208 to ensure that the overlapping degree of the photos of the two air routes meets the design requirement of the air route; otherwise, step 208 is performed.
Step 208: the flight path returns to the point of origin and landing A0 (B, L, H) and the flight path plotting ends.
In step 203, the longest side of the survey area range line is searched in the survey area range line, and the longest side is selected as the main route direction, and the specific steps are as follows: and calculating the distance between the two end points of the longest side and the take-off and landing point, taking the nearest end point as an effective course drawing starting point and also a course azimuth starting point, taking the other end point as a course azimuth end point, and performing the calculation method by adopting a coordinate azimuth calculation method in mapping.
The project attributes at least comprise project numbers, project names, mapping scales, responsible persons and filing dates.
In the second step, the crosswind-resistant course drawing module at least comprises the following steps:
step 201: according to the project attributes (project number, project name, mapping scale, responsible person and filing date), establishing a project file of the survey area, so that the aerial photography data can be conveniently and standardly filed;
step 202: setting the coordinates of the take-off and landing points of aerial photographyA0（B,L,H），The route is drawn from this point;
step 203: and searching the longest edge of the measuring area range line in the measuring area range line, and selecting the longest edge as the main route direction. The specific implementation mode is as follows: and calculating the distance between the two end points of the longest side and the take-off and landing point, taking the nearest end point as an effective course drawing starting point and also a course azimuth starting point, taking the other end point as a course azimuth end point, and performing the calculation method by adopting a coordinate azimuth calculation method in mapping.
Step 204: automatically laying a route array covering the whole shooting area according to the route interval and the route height parameters calculated in the step 103, wherein the total number of routes isN（N=1,2，3…N）And (3) strips.
Step 205: calculating the number of the first return routeR. When in useNIn the case of an even number, the number of the first,R=N/2+1(ii) a When in useNIn the case of an odd number of the groups,R=(N+1）/2 +1。
step 206: the crosswind-resistant flight route is drawn in the sequence of：1,R,2,R+1,3,R+2…,Until the course is traversed.
Step 207: it is determined whether to patch the encrypted flight path. When in useR-1AndRwhen the average transverse rolling angle and the average rotating deflection angle of the photos of the two air routes are both larger than 10 degrees, an encrypted air route needs to be additionally flown between the two air routes, and then step 208 is executed to ensure that the overlapping degree of the photos of the two air routes meets the design requirement of the air routes; otherwise, step 208 is performed.
Step 208: returning of flight line to take-off and landing pointA0（B,L,H），And finishing the route drawing.
The method improves a intertillage route under the continuous influence of crosswind during the aerial photography of the unmanned aerial vehicle, and comprises the specific steps of a route determination parameter calculation module and wind-resistant route drawing. The route determining parameter calculating module loads global DEM data and a shooting area KML format range line, and carries out rigorous aerial shooting parameter calculation considering terrain fluctuation. Drawing a wind-resistant course, firstly calculating the code of a first return courseRThe whole shooting area air route is divided into two facing air routes by the air route, all the air routes are drawn according to the drawing sequence of the wind-resistant air route, and finally the interval of the middle air route is adjusted. Therefore, the side overlapping degree between shooting area lines under the influence of continuous crosswind is uniform without leak, and the problem of non-uniform side overlapping of a separate navigation zone of a traditional intertillage line under the condition of crosswind is solved.
The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the invention, which is intended to be covered by the claims and any design similar or equivalent to the scope of the invention. The components and processes of the present embodiments not described in detail are well known in the art and are not necessarily described herein.
Claims (7)
1. A method for determining an anti-crosswind route of an unmanned aerial vehicle aerial photography is characterized by comprising the following steps: the method specifically comprises the following steps:
step one, calculating a route design parameter, namely comprehensively calculating the route design parameter through a shooting area terrain, a aerial camera parameter and a standard precision index;
step two, wind-resistant course drawing, namely laying a regular course according to the course interval and the absolute flight height in the course design parameters obtained in the step one and in combination with a shooting area surveying and mapping range line, setting a shooting take-off and landing point, determining a first returning course number, then sequentially drawing wind-resistant courses, adjusting the interval of middle courses, and finally returning to the shooting take-off and landing point; the wind-resistant course drawing method at least comprises the following steps:
step 201: establishing a project file of a test area according to the project attributes, and filing after determining aerial photography data;
step 202: setting the coordinates of the take-off and landing points of aerial photographyA0（B,L,H），The route is drawn from this point;
step 203: searching the longest edge of the measuring area range line in the measuring area range line, and selecting the longest edge as the main route direction;
step 204: automatically laying a route array covering the whole shooting area according to the obtained route interval and route height parameters, and the total number of routesN（N=1,2，3…N）(ii) a strip;
step 205: determining the number of the first return routeRWhen is coming into contact withNIn the case of an even number, the number of the first,R=N/2+1(ii) a When in useNIn the case of an odd number of the groups,R=(N+1）/2+1；
step 206: the crosswind-resistant flight route is drawn in the sequence of：1,R,2,R+1,3,R+2…,Until the course is traversed completely;
step 207: determining whether to supplement the encrypted air route, when the average rolling angle and the average rotating deflection angle of the photos of the R-1 air route and the R air route are both larger than 10 degrees, supplementing an encrypted air route between the two air routes, and then executing a step 208 to ensure that the overlapping degree of the photos of the two air routes meets the design requirement of the air route; otherwise, go to step 208;
step 208: returning of flight line to take-off and landing pointA0（B,L,H），And finishing the route drawing.
2. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: and the standard precision index in the first step at least comprises design ground resolution, course overlapping degree and side overlapping degree.
3. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: in the first step, the flight path design parameters at least comprise flight path intervals, relative flight heights, absolute flight heights and shooting baselines.
4. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: in the first step, the aerial photography instrument is a camera.
5. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: in the first step, the parameters of the aerial camera at least comprise an effective image frame, a pixel size and a camera main distance.
6. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: in step 203, the longest side of the survey area range line is searched in the survey area range line, and the longest side is selected as the main route direction, and the specific steps are as follows: and calculating the distance between the two end points of the longest side and the take-off and landing point, taking the nearest end point as an effective course drawing starting point and also a course azimuth starting point, taking the other end point as a course azimuth end point, and performing the calculation method by adopting a coordinate azimuth calculation method in mapping.
7. The unmanned aerial vehicle aerial photography crosswind-resistant course determination method according to claim 1, characterized in that: the project attributes at least comprise project numbers, project names, mapping scales, responsible persons and filing dates.
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| CN111044018B (en) * | 2019-12-12 | 2024-08-16 | 南京韦博智控科技有限公司 | Method for planning aerial photogrammetry route on opposite face |
| CN111510686B (en) * | 2020-04-27 | 2021-04-06 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Vehicle-mounted unmanned aerial vehicle power inspection flight management and control method and system |
| CN111578905B (en) * | 2020-05-13 | 2022-03-22 | 中测新图(北京)遥感技术有限责任公司 | Inclined camera route laying method and device |
| CN111536977A (en) * | 2020-05-19 | 2020-08-14 | 广东电网有限责任公司 | Unmanned aerial vehicle inspection route planning method and related device |
| CN113188520B (en) * | 2021-04-30 | 2023-04-18 | 成都睿铂科技有限责任公司 | Planning method and system for regional block surrounding type route and aerial photography method |
| CN116149350A (en) * | 2022-10-12 | 2023-05-23 | 浙江点创信息科技有限公司 | Unmanned aerial vehicle route planning and data acquisition method for mountain terrain |
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