CN109470203A - A kind of photo control point information collecting method and system based on unmanned plane - Google Patents
A kind of photo control point information collecting method and system based on unmanned plane Download PDFInfo
- Publication number
- CN109470203A CN109470203A CN201811348718.4A CN201811348718A CN109470203A CN 109470203 A CN109470203 A CN 109470203A CN 201811348718 A CN201811348718 A CN 201811348718A CN 109470203 A CN109470203 A CN 109470203A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- measured
- information
- module
- elevation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
Abstract
The invention belongs to unmanned plane technical field of mapping, disclose a kind of photo control point information collecting method and system based on unmanned plane.Acquisition method disclosed by the invention carries out information collection, and synchronous realization elevation photography and vedio recording in such a way that unmanned plane does not land；By geographical image in conjunction with geodata information, the three-dimensional geographic model that can intuitively check is formed；This mode not only increases the efficiency of unmanned plane mapping, and improves the quality of unmanned plane mapping, keeps the combination of field operation and interior industry even closer；Acquisition system provided by the invention carries out geography information mapping by unmanned plane, generates the threedimensional model of geographical mapping；The threedimensional model visual sense that the acquisition system generates has more and uses referential.Therefore, it is suitble to promote the use of.
Description
Technical field
The invention belongs to unmanned plane technical field of mapping, and in particular to a kind of photo control point information collection side based on unmanned plane
Method and system.
Background technique
People survey and draw and use to the geographic information data in production and living environment, and constantly improve and refine；Through
The geographical mapping information for crossing optimization and confirmation is embodied in the geographic information database of country.Geographic information data follow society and
The variation of environment and be varied, therefore data information is to constantly update, and the work of mapping also never stops.Close to people
The region of production and living is surveyed and drawn, and mapping worker can be arranged to reach photo control point and carry out information collection, and most of far from people
Production and living region, such as waters, mountain area etc. that some of the staff can not directly set foot in, mapping worker can not directly determine picture
Control point, it is difficult to the acquisition of photo control point information is realized by existing technology, therefore the purpose for realizing geography information mapping is very difficult
It is difficult.
In view of this, it is proposed that the theory surveyed and drawn using unmanned plane.Mode is surveyed and drawn for existing unmanned plane,
Its main principle is to reach specified phased click-through row information acquisition by UAV flight's information collection module.And it is current
This unmanned plane mapping mode there are segmental defects to have much room for improvement, it is specific as follows:
(1) mapping of existing unmanned plane is using first droping to specified point for unmanned plane, then carry out the mode of information collection into
Row, this mode inefficiency, unmanned plane are accurately stopped to specified point take a substantial amount of time each time；It exists simultaneously quite big
Application limitation, the region of anchor point can not be partially provided, then be not suitable in this way carry out information collection.
(2) in the mapping of existing unmanned plane, unmanned plane is stopped to specified point, for the considerations of continuing a journey to unmanned plane and
It reduces and is interfered caused by unmanned machine vibration, the motor of unmanned plane can be powered off and be shut down, opened again again after completing information collection
Dynamic motor sets sail.When in this way, start and stop repeatedly are easy to damage motor itself, will greatly shorten making for motor
With the service life and increase the cost of mapping.
(3) existing unmanned plane surveys and draws mode, shoots to form planar pickup by carrying out multiple regions respectively successive frame
Picture, and the image in different regions is spliced, the whole camera picture in big region is formed, but due to imaging angle
The variation of degree and splicing it is undesirable, cause the overall picture effect generated excessively poor, it is difficult to be applied to actual geography
In information bank；Alternatively, carrying out photo control point information collection to whole region, DEM model (Digital is formed by point cloud data
Elevation Model, digital elevation model).The data model that these modes are formed is difficult to intuitively reflect actual geographical face
Looks, it is inconvenient for use.
Therefore, exist in such a way that unmanned plane carries out information collection and need to optimize place, need to propose more reasonable
Technical solution solves technical problem present in existing acquisition mode.
Summary of the invention
The present invention provides a kind of photo control point information collecting method based on unmanned plane, it is intended to not landed by unmanned plane
Mode carries out information collection, and synchronous realization elevation photography and vedio recording；By geographical image in conjunction with geodata information, formation can be straight
See the three-dimensional geographic model checked；This mode not only increases the efficiency of unmanned plane mapping, and improves unmanned plane mapping
Quality, keep the combination of field operation and interior industry even closer.
In order to realize said effect, the technical scheme adopted by the invention is as follows:
A kind of photo control point information collecting method based on unmanned plane, specifically, described method includes following steps:
Closed region to be measured is surrounded by demarcating photo control point, and demarcates multiple sampling points to be measured in region to be measured；
Earth station determines course line of the unmanned plane in region to be measured and is sent to unmanned plane, and unmanned plane is along course line from area to be measured
All sampling points to be measured are in-flight passed through in edge heart circuit or the serpentine-like reciprocal flight in region to be measured thereto in domain；
Unmanned plane persistently carries out aeroplane photography in flight course, and image information is sent to earth station, and earth station will
Image information carries out sky three and calculates the bigness scale DEM model for forming region to be measured；
Unmanned plane hovers when flight is to sampling point to be measured, everywhere sampling point to be measured carry out multiple longitude and latitude get ready positioning and
Elevation, which is got ready, measures and obtains multiple groups measurement data, and unmanned plane is labeled as the multi-group data to measure information and is sent to ground
It stands；
The information that measures for treating test sample point carries out demarcating the sampling point longitude and latitude and elevation to be measured after eliminating systematic error processing
Measurement information；Earth station will measure information and match with bigness scale DEM model simultaneously, this is waited for test sample by latitude and longitude information
Point location is modified the elevation of the position on bigness scale DEM model to bigness scale DEM model, and according to measurement information；
After the elevation information for correcting bigness scale DEM model, fine DEM model is obtained.
It can realize that the real-time measurement after unmanned plane sails in region to be measured obtains data measured by the above method, by ground
Face station determines determination data after being handled, and output extremely connects with actual geographic situation after being analyzed and processed in Survey and map software
Close DEM model.
During actual measurement, the object height of earth's surface has certain drop, if unmanned plane height above sea level it is positive high it is too low be easy by
To the blocking of object, and height above sea level is excessively high, will increase the error of measurement, reduces the accuracy of measurement, to avoid the occurrence of above-mentioned feelings
Condition advanced optimizes above-mentioned technical proposal, and when carrying out aeroplane photography, the positive high height control of height above sea level is unmanned plane
50m~100m；And unmanned plane keeps cruising height constant in flight course.Keep cruising height is unanimously constant can conveniently pass through
The positive height of the height above sea level show that the height above sea level of ground object is just high.
It when unmanned plane navigation reaches the sampling point to be measured demarcated in advance, treats test sample point and measures, since unmanned plane is outstanding
It is parked in and is moved horizontally in the air vulnerable to the interference of air-flow, while there are the vibrations of motor operation in hovering for unmanned plane itself
It influences, so that error occurs in unmanned plane positioning in measurement, influences its latitude and longitude information measured.It is right to reduce above-mentioned error
The optimization of above-mentioned technical proposal further progress, unmanned plane carry out multiple longitude and latitude in everywhere sampling point to be measured and get positioning measurement ready
Afterwards, imaginary circles are established on the basis of the multiple points measured, so that imaginary circles is covered all points and circumference and passes through multiple points,
And using the center of circle of imaginary circles as measuring point, longitude and latitude of the longitude and latitude of measuring point as measurement.
Similarly, it when unmanned plane navigation reaches the sampling point to be measured demarcated in advance, treats test sample point and measures, due to nobody
Machine hovering floats up and down vulnerable to the interference of air-flow in the sky, while there are motor operations in hovering for unmanned plane itself
Vibration influences, so that unmanned plane error occurs in position in measurement, influences its elevation information measured.To reduce above-mentioned error,
Above-mentioned technical proposal further progress is optimized, after the everywhere multiple elevation of sampling point progress to be measured gets positioning measurement ready, to measure
Multiple altitude datas arithmetic average as measurement height value.
Further, after measuring elevation information, the elevation amendment of sampling point to be measured is carried out, directly by the measurement of sampling point to be measured
Elevation of the elevation as the point.The elevation of the point is equal to elevation locating for unmanned plane itself and subtracts the height difference measured, and unmanned plane is every
It is secondary get ready measure height difference after by airborne processor module carry out data operation, obtain the sampling point elevation to be measured this time measured.
Further, influence of the selection and arrangement of photo control point and sampling point to be measured to measurement structure is very big, in the model of license
In enclosing, more setting sampling point to be measured as far as possible, and be reasonably distributed according to topography and geomorphology.Topography and geomorphology is changed greatly
Region can increase sampling point quantity to be measured and centralized arrangement, is conducive to improve the accuracy of measurement to the region；For landform
Looks, which change small region, can suitably reduce sampling point to be measured, advantageously reduce the energy consumption of unmanned plane, and improve the efficiency of measurement；
For other points between sampling point to be measured, its elevation is determined using interpolation method.
After region to be measured for one is measured, the DEM model for generating the region can be corresponded to, in order to will entire big region
Model is all measured and generated, further includes following steps: the fine DEM model in multiple regions to be measured being spliced, is obtained
Obtain the fine DEM model of whole region.
The present invention also provides a kind of photo control point information acquisition system based on unmanned plane, it is intended to pass through the system and realize nothing
Man-machine carry out geography information mapping, generates the threedimensional model of geographical mapping；The threedimensional model visual sense that the acquisition system generates,
With more using referential.
In order to realize said effect, the technical scheme adopted by the invention is as follows:
A kind of photo control point information acquisition system based on unmanned plane, including earth station and unmanned plane, earth station is for generating
Instruction and information processing, unmanned plane sets sail from earth station executes instruction simultaneously feedback data.
Specifically, the earth station includes processor module, processor module is separately connected power supply module, without line number
Transmission module and memory module.
Power supply module is the power supply of entire earth station, and electrical storage device can be used or be connected directly to alternating current, and by corresponding
Transformation device convert voltages into the demand voltage of earth station.
The image information and measure information that wireless data transmission module is used to receive from unmanned plane, and transmit information to data
Processing module.
Data processing module repairs bigness scale DEM model for analyzing the received image information of processing and measuring information
It is just obtaining fine DEM model, and fine DEM model exports to (DigitalOrthophoto Map, number are just penetrated for DOM model
Striograph) it is stored in memory module.
The unmanned plane is equipped with airborne processor module, and airborne processor module is separately connected locating module, laser
Range finder module, airborne wireless digital transmission module.
Locating module will height for exporting the current latitude and longitude information of unmanned plane and elevation information, airborne processor module
After information is converted to the positive height of unmanned plane current altitude, positive high and current as the unmanned plane latitude and longitude information position letter of the height above sea level
Breath.
When laser ranging module is hovered for unmanned plane, its height difference between the photo control point of underface, airborne processing are measured
Module is just high according to the height above sea level of the high difference and unmanned plane, calculates the height value of output photo control point.
Airborne wireless digital transmission module is used to the height value of the current location information of unmanned plane and photo control point being sent to ground
The wireless data transmission module stood.
Further, above-mentioned technical proposal is optimized, the earth station further includes monitoring modular, and monitoring modular is used
In the current location of monitoring unmanned plane and the deviation in course line, when deviation occurs in the position of unmanned plane, processor module makes control
System instruction, and unmanned plane is sent to by wireless data transmission module.Unmanned plane is subjected to displacement after the interference by air-flow, by prison
It is actively corrected after surveying module discovery, the accuracy of measurement can be improved.
Further, above-mentioned technical proposal is optimized, the unmanned plane further includes electric power detection module, electricity inspection
Module is surveyed to connect with airborne processor module and be used for real-time detection unmanned plane current residual electricity, the residual electric quantity detected
It is sent to the wireless data transmission module of earth station in real time by airborne wireless digital transmission module, processor module is according to residual capacity measurement
Value plans the course line of unmanned plane again, and the control instruction for executing new course line is sent to unmanned plane by wireless data transmission module.
By the detection of electric power detection module early warning, again rule of the processor module to course line can be issued to the ability of making a return voyage of unmanned plane
It draws, can actively stop measurement task, avoid unmanned plane cruising ability insufficient, can not be returned after electricity exhausts, it is unnecessary to cause
Loss.
Compared with prior art, the invention has the benefit that
1. the present invention forms the profile in region to be measured, and by after unmanned plane precise measurement by forming bigness scale DEM model
Data correction is carried out, fine DEM model is formed, dual measurement improves the accuracy of measurement, the model for generating determination data
It is more reliable.
2. the present invention obtains data using hover mode measured directly of unmanned plane, abandoned unmanned plane is drop to it is to be measured
Sampling point carries out the mode of static measurement, more quickly and efficiently, can choose more sampling points to be measured and measure, improve data
The scale of construction keeps the result of measurement relatively reliable, and the model of formation more refines.
3. unmanned plane is avoided the repeatedly starting and stopping of unmanned plane, is reduced using non-stop-machine mode of not landing in the present invention
Loss to unmanned plane greatly improves the service life of unmanned plane.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings only shows section Example of the invention, therefore is not to be taken as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the schematic illustration of this acquisition method.
Fig. 2 is the schematic illustration in ground station control unmanned plane adjustment course line.
Fig. 3 is the schematic illustration that thick side DEM model and fine DEM model are generated in this acquisition method.
Specific embodiment
With reference to the accompanying drawing and specific embodiment does further explaination to the present invention.
Embodiment 1:
As shown in Figure 1, Figure 3, a kind of photo control point information collecting method based on unmanned plane is present embodiments provided, specifically
It says, described method includes following steps:
S01: closed region to be measured is surrounded by demarcating photo control point, and demarcates multiple sampling points to be measured in region to be measured；
A rectangular area is measured in the present embodiment, the general more than two photo control points of every square kilometre of laying；Photo control point selection is handed over
The tiny linear ground object intersection point at angle good (30 °~150 °), obvious atural object corner point, aerial stereo images less than 0.2mm dottedly
Object center.Photo control point image is more visible, is easy to sentence thorn and stereo measurement, determine after photo control point using red paint or other be easy to
The label of observation is identified.Four angles of rectangular area are phased point, and the midpoint of rectangular area four edges is also configured as
Photo control point；In the region to be measured of the rectangle, increase the density of sampling point to be measured in the part that landforms change greatly, changes in landforms
Lesser part reduces the density of sampling point to be measured.
S02: earth station determines course line of the unmanned plane in region to be measured and is sent to unmanned plane, unmanned plane along course line to
Edges of regions heart circuit or the serpentine-like reciprocal flight in region to be measured thereto is surveyed, in-flight by all to test sample
Point.
S03: unmanned plane persistently carries out aeroplane photography in flight course, and image information is sent to earth station, ground
It stands and image information is subjected to the bigness scale DEM model that three calculating of sky forms region to be measured；In photography, the micro- one camera of UAV flight
Operation is carried out, film size is 7360 × 4912, and Pixel size 4.88um, shutter generally uses 1/1250 second, and ISO is 200~400
Between, shutter priority mode exposes.Landing mode uses VTOL mode, reduces requirement of the operation to place.
S04: unmanned plane hovers in flight to sampling point to be measured, and everywhere sampling point to be measured carries out multiple longitude and latitude and gets ready calmly
Position and elevation, which are got ready, measures and obtains multiple groups measurement data, and unmanned plane is labeled as the multi-group data to measure information and is sent to ground
Face station；Every place's residence time is specifically measured no more than 10s, frequency is got ready in 10Hz~30Hz, how can guarantee previous transmission
Laser signal is not influenced by the laser signal issued next time.
S05: treat test sample point measure information carry out eliminate systematic error processing after demarcate the sampling point longitude and latitude to be measured and
The measurement information of elevation；Earth station will measure information and match with bigness scale DEM model simultaneously, be waited for this by latitude and longitude information
Test sample point location is modified the elevation of the position on bigness scale DEM model to bigness scale DEM model, and according to measurement information.
S06: after the elevation information of amendment bigness scale DEM model, fine DEM model is obtained.
It can realize that the real-time measurement after unmanned plane sails in region to be measured obtains data measured by the above method, by ground
Face station determines determination data after being handled, and output extremely connects with actual geographic situation after being analyzed and processed in Survey and map software
Close DEM model.
During actual measurement, the object height of earth's surface has certain drop, if unmanned plane height above sea level it is positive high it is too low be easy by
To the blocking of object, and height above sea level is excessively high, will increase the error of measurement, reduces the accuracy of measurement, to avoid the occurrence of above-mentioned feelings
Condition advanced optimizes above-mentioned technical proposal, and for unmanned plane when carrying out aeroplane photography, height above sea level is positive high in the present embodiment
Degree control is 50m or 100m；And unmanned plane keeps cruising height constant in flight course.Keep cruising height is unanimously constant can
It is convenient to show that the height above sea level of ground object is just high by the positive height of the height above sea level.
It when unmanned plane navigation reaches the sampling point to be measured demarcated in advance, treats test sample point and measures, since unmanned plane is outstanding
It is parked in and is moved horizontally in the air vulnerable to the interference of air-flow, while there are the vibrations of motor operation in hovering for unmanned plane itself
It influences, so that error occurs in unmanned plane positioning in measurement, influences its latitude and longitude information measured.It is right to reduce above-mentioned error
The optimization of above-mentioned technical proposal further progress, unmanned plane carry out multiple longitude and latitude in everywhere sampling point to be measured and get positioning measurement ready
Afterwards, imaginary circles are established on the basis of the multiple points measured, so that imaginary circles is covered all points and circumference and passes through multiple points,
And using the center of circle of imaginary circles as measuring point, longitude and latitude of the longitude and latitude of measuring point as measurement.
Similarly, it when unmanned plane navigation reaches the sampling point to be measured demarcated in advance, treats test sample point and measures, due to nobody
Machine hovering floats up and down vulnerable to the interference of air-flow in the sky, while there are motor operations in hovering for unmanned plane itself
Vibration influences, so that unmanned plane error occurs in position in measurement, influences its elevation information measured.To reduce above-mentioned error,
Above-mentioned technical proposal further progress is optimized, after the everywhere multiple elevation of sampling point progress to be measured gets positioning measurement ready, to measure
Multiple altitude datas arithmetic average as measurement height value.
Measure elevation information after, carry out sampling point to be measured elevation amendment, directly using the measurement elevation of sampling point to be measured as
The elevation of the point.The elevation of the point is equal to elevation locating for unmanned plane itself and subtracts the height difference measured, and unmanned plane gets survey ready every time
Data operation is carried out by airborne processor module after height difference, obtain the sampling point elevation to be measured this time measured.
Influence of the selection and arrangement of photo control point and sampling point to be measured to measurement structure is very big, in the range of license, as far as possible
More settings sampling point to be measured, and be reasonably distributed according to topography and geomorphology.The region that topography and geomorphology changes greatly can be incited somebody to action
Sampling point quantity to be measured increases and centralized arrangement, is conducive to improve the accuracy of measurement to the region, according to specific geographical relief
Situation, can be in every 100m2Interior setting is no less than 10 sampling points to be measured；For topography and geomorphology change small region can suitably reduce to
Test sample point, advantageously reduces the energy consumption of unmanned plane, and improves the efficiency of measurement, can be in every 100m2It is interior setting 3~5 to
Test sample point；For other points between sampling point to be measured, its elevation is determined using interpolation method, the density of interpolation is referring to specific geographicly
Looks.
After region to be measured for one is measured, the DEM model for generating the region can be corresponded to, in order to will entire big region
Model is all measured and generated, further includes following steps: the fine DEM model in multiple regions to be measured being spliced, is obtained
Obtain the fine DEM model of whole region.
Embodiment 2:
Present embodiments provide a kind of photo control point information acquisition system based on unmanned plane, it is intended to which nothing is realized by the system
Man-machine carry out geography information mapping, generates the threedimensional model of geographical mapping；The threedimensional model visual sense that the acquisition system generates,
With more using referential.
Specifically, a kind of photo control point information acquisition system based on unmanned plane, including earth station and unmanned plane, earth station use
In generating instruction and information processing, unmanned plane sets sail from earth station executes instruction simultaneously feedback data.
In the present embodiment, the earth station includes processor module, and processor module is separately connected power supply module, nothing
Line number transmission module and memory module.Single-chip microcontroller or PLC (Programmable Logic can be used in processor module
Controller, programmable logic controller (PLC)).
Power supply module is the power supply of entire earth station, and electrical storage device can be used or be connected directly to alternating current, and by corresponding
Transformation device convert voltages into the demand voltage of earth station.
The image information and measure information that wireless data transmission module is used to receive from unmanned plane, and transmit information to data
Processing module.
Data processing module repairs bigness scale DEM model for analyzing the received image information of processing and measuring information
It is just obtaining fine DEM model, and fine DEM model exports to (Digital Orthophoto Map, number is just for DOM model
Penetrate striograph) it is stored in memory module.
The unmanned plane is equipped with airborne processor module, and airborne processor module is separately connected locating module, laser
Range finder module, airborne wireless digital transmission module.Equally, single-chip microcontroller or PLC can be used in airborne processor module.
Locating module will height for exporting the current latitude and longitude information of unmanned plane and elevation information, airborne processor module
After information is converted to the positive height of unmanned plane current altitude, positive high and current as the unmanned plane latitude and longitude information position letter of the height above sea level
Breath.
When laser ranging module is hovered for unmanned plane, its height difference between the photo control point of underface, airborne processing are measured
Module is just high according to the height above sea level of the high difference and unmanned plane, calculates the height value of output photo control point.
Airborne wireless digital transmission module is used to the height value of the current location information of unmanned plane and photo control point being sent to ground
The wireless data transmission module stood.
As shown in Fig. 2, optimizing to above-mentioned technical proposal, the earth station further includes monitoring modular, detection module
Including an operation independent processor, operation and comparison are carried out to the unmanned plane location information received；Monitoring modular is for monitoring
The current location of unmanned plane and the deviation in course line, monitoring modular matches the current location information of unmanned plane with course line, if nothing
The distance of man-machine nearest point on course line is less than or equal to 5cm, then judges that unmanned plane does not occur navigation deviation, be otherwise inclined
Difference；When deviation occurs in the position of unmanned plane, processor module makes control instruction, and is sent to nothing by wireless data transmission module
It is man-machine.Unmanned plane is subjected to displacement after the interference by air-flow, is actively corrected after monitoring modular is found, survey can be improved
The accuracy of amount.
Above-mentioned technical proposal is optimized, the unmanned plane further includes electric power detection module, electric power detection module with
Airborne processor module connects and is used for real-time detection unmanned plane current residual electricity, and the residual electric quantity detected passes through airborne
Wireless data transmission module is sent to the wireless data transmission module of earth station in real time, and processor module is advised again according to residual capacity measurement value
The course line of unmanned plane is drawn, and the control instruction for executing new course line is sent to by unmanned plane by wireless data transmission module.Pass through electricity
The detection of detection module can issue early warning to the ability of making a return voyage of unmanned plane, and again planning of the processor module to course line can be actively
Stop measurement task, avoids unmanned plane cruising ability insufficient, can not be returned after electricity exhausts, cause unnecessary loss.
Above is the several embodiments that the present invention enumerates, but the present invention is not limited to above-mentioned optional embodiment,
Those skilled in the art can obtain other numerous embodiments according to the mutual any combination of aforesaid way, anyone is of the invention
Other various forms of embodiments can be all obtained under enlightenment.Above-mentioned specific embodiment should not be understood protection of the invention in pairs
The limitation of range, protection scope of the present invention should be subject to be defined in claims, and specification can be used for solving
Release claims.
Claims (10)
1. a kind of photo control point information collecting method based on unmanned plane, which is characterized in that described method includes following steps:
Closed region to be measured is surrounded by demarcating photo control point, and demarcates multiple sampling points to be measured in region to be measured；
Earth station determines course line of the unmanned plane in region to be measured and is sent to unmanned plane, and unmanned plane is along course line from regional edge to be measured
All sampling points to be measured are in-flight passed through in edge heart circuit or the serpentine-like reciprocal flight in region to be measured thereto；
Unmanned plane persistently carries out aeroplane photography in flight course, and image information is sent to earth station, and earth station is by image
Information carries out sky three and calculates the bigness scale DEM model for forming region to be measured；
Unmanned plane hovers in flight to sampling point to be measured, and everywhere sampling point to be measured carries out multiple longitude and latitude and gets positioning and elevation ready
It gets ready and measures and obtain multiple groups measurement data, unmanned plane is labeled as the multi-group data to measure information and is sent to earth station；
The information that measures for treating test sample point carries out eliminating the survey for demarcating the sampling point longitude and latitude and elevation to be measured after systematic error is handled
Determine information；Earth station will measure information and match with bigness scale DEM model simultaneously, be determined the sampling point to be measured by latitude and longitude information
Position is modified the elevation of the position on bigness scale DEM model to bigness scale DEM model, and according to measurement information；
After the elevation information for correcting bigness scale DEM model, fine DEM model is obtained.
2. the photo control point information collecting method according to claim 1 based on unmanned plane, it is characterised in that: unmanned plane into
When row aeroplane photography, height control is 50m~100m；And unmanned plane keeps cruising height constant in flight course.
3. the photo control point information collecting method according to claim 1 based on unmanned plane, it is characterised in that: everywhere is to be measured
After the multiple longitude and latitude of sampling point progress gets positioning measurement ready, imaginary circles are established on the basis of the multiple points measured, contain imaginary circles
It covers all points and circumference passes through multiple points, and using the center of circle of imaginary circles as measuring point, the longitude and latitude conduct of measuring point
The longitude and latitude of measurement.
4. the photo control point information collecting method according to claim 1 based on unmanned plane, it is characterised in that: everywhere is to be measured
After the multiple elevation of sampling point progress gets positioning measurement ready, using the arithmetic average of the multiple altitude datas measured as the elevation of measurement
Value.
5. the photo control point information collecting method according to claim 4 based on unmanned plane, it is characterised in that: carry out to test sample
When the elevation amendment of point, directly using the measurement elevation of sampling point to be measured as the elevation of the point.
6. the photo control point information collecting method according to claim 1 based on unmanned plane, it is characterised in that: for test sample
Other points between point, determine its elevation using interpolation method.
7. the photo control point information collecting method according to claim 1 based on unmanned plane, which is characterized in that further include as follows
Step: splicing the fine DEM model in multiple regions to be measured, obtains the fine DEM model of whole region.
8. a kind of photo control point information acquisition system based on unmanned plane, including earth station and unmanned plane, it is characterised in that: described
Earth station includes processor module, and processor module is separately connected power supply module, wireless data transmission module and memory module；
Power supply module is the power supply of entire earth station；
The image information and measure information that wireless data transmission module is used to receive from unmanned plane, and transmit information to data processing
Module；
Data processing module is modified bigness scale DEM model for analyzing the received image information of processing and measuring information
To fine DEM model, and fine DEM model is exported and is stored in memory module for DOM model；
The unmanned plane is equipped with airborne processor module, and airborne processor module is separately connected locating module, laser ranging
Module, airborne wireless digital transmission module；
Locating module is for exporting the current latitude and longitude information of unmanned plane and elevation information, and airborne processor module is by elevation information
After being converted to the positive height of unmanned plane current altitude, the positive high and latitude and longitude information location information current as unmanned plane of the height above sea level；
When laser ranging module is hovered for unmanned plane, its height difference between the photo control point of underface, airborne processing module are measured
Height above sea level according to the high difference and unmanned plane is just high, calculates the height value of output photo control point；
Airborne wireless digital transmission module is used to the height value of the current location information of unmanned plane and photo control point being sent to earth station
Wireless data transmission module.
9. the photo control point information acquisition system according to claim 8 based on unmanned plane, it is characterised in that: the ground
Station further includes monitoring modular, and monitoring modular is used to monitor the current location of unmanned plane and the deviation in course line, when the position of unmanned plane
When there is deviation, processor module makes control instruction, and is sent to unmanned plane by wireless data transmission module.
10. the photo control point information acquisition system according to claim 8 based on unmanned plane, it is characterised in that: the nothing
Man-machine further includes electric power detection module, and electric power detection module, which connect with airborne processor module and is used for real-time detection unmanned plane, to be worked as
Preceding remaining capacity, the residual electric quantity detected are sent to the wireless data sending mould of earth station by airborne wireless digital transmission module in real time
Block, processor module plans the course line of unmanned plane according to residual capacity measurement value again, and will be executed by wireless data transmission module
The control instruction in new course line is sent to unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348718.4A CN109470203A (en) | 2018-11-13 | 2018-11-13 | A kind of photo control point information collecting method and system based on unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811348718.4A CN109470203A (en) | 2018-11-13 | 2018-11-13 | A kind of photo control point information collecting method and system based on unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109470203A true CN109470203A (en) | 2019-03-15 |
Family
ID=65672416
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811348718.4A Pending CN109470203A (en) | 2018-11-13 | 2018-11-13 | A kind of photo control point information collecting method and system based on unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109470203A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456378A (en) * | 2019-07-04 | 2019-11-15 | 重庆交通大学 | Underwater full topographic surveying system and test method based on unmanned plane route intelligent planning |
| CN111142548A (en) * | 2019-12-24 | 2020-05-12 | 河南省有色测绘有限公司 | Surveying and mapping unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
| CN112033389A (en) * | 2020-08-10 | 2020-12-04 | 山东科技大学 | Deformation settlement monitoring method under gully terrain condition |
| CN114894163A (en) * | 2022-05-24 | 2022-08-12 | 中国地质科学院岩溶地质研究所 | Geological disaster hidden danger detection method for multi-unmanned aerial vehicle collaborative photogrammetry |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105180963A (en) * | 2015-07-22 | 2015-12-23 | 北京航空航天大学 | Unmanned plane remote measurement parameter correction method based on on-line calibration |
| US20170305546A1 (en) * | 2014-04-29 | 2017-10-26 | Baidu Online Network Technology (Beijing) Co., Ltd. | Autonomous navigation method and system, and map modeling method and system |
| CN107657660A (en) * | 2017-09-15 | 2018-02-02 | 南开大学 | It is a kind of based on the unmanned plane vision quick three-dimensional reconstructing method for equidistantly facing photogrammetric constraint |
| CN108287559A (en) * | 2017-12-29 | 2018-07-17 | 易瓦特科技股份公司 | The method and device controlled for the unmanned plane in target area |
| CN108701373A (en) * | 2017-11-07 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Three-dimensional rebuilding method, system based on unmanned plane and device |
-
2018
- 2018-11-13 CN CN201811348718.4A patent/CN109470203A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170305546A1 (en) * | 2014-04-29 | 2017-10-26 | Baidu Online Network Technology (Beijing) Co., Ltd. | Autonomous navigation method and system, and map modeling method and system |
| CN105180963A (en) * | 2015-07-22 | 2015-12-23 | 北京航空航天大学 | Unmanned plane remote measurement parameter correction method based on on-line calibration |
| CN107657660A (en) * | 2017-09-15 | 2018-02-02 | 南开大学 | It is a kind of based on the unmanned plane vision quick three-dimensional reconstructing method for equidistantly facing photogrammetric constraint |
| CN108701373A (en) * | 2017-11-07 | 2018-10-23 | 深圳市大疆创新科技有限公司 | Three-dimensional rebuilding method, system based on unmanned plane and device |
| CN108287559A (en) * | 2017-12-29 | 2018-07-17 | 易瓦特科技股份公司 | The method and device controlled for the unmanned plane in target area |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110456378A (en) * | 2019-07-04 | 2019-11-15 | 重庆交通大学 | Underwater full topographic surveying system and test method based on unmanned plane route intelligent planning |
| CN111142548A (en) * | 2019-12-24 | 2020-05-12 | 河南省有色测绘有限公司 | Surveying and mapping unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle |
| CN112033389A (en) * | 2020-08-10 | 2020-12-04 | 山东科技大学 | Deformation settlement monitoring method under gully terrain condition |
| CN114894163A (en) * | 2022-05-24 | 2022-08-12 | 中国地质科学院岩溶地质研究所 | Geological disaster hidden danger detection method for multi-unmanned aerial vehicle collaborative photogrammetry |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109470203A (en) | A kind of photo control point information collecting method and system based on unmanned plane | |
| CN110308457B (en) | Unmanned aerial vehicle-based power transmission line inspection system | |
| CN107479059B (en) | A kind of overhead line based on unmanned plane and vegetation distance-measuring device and method | |
| CN104075691B (en) | Method for measuring topography by using ground laser scanner | |
| CN109612427A (en) | A kind of the unmanned plane highway bridge deformation detecting method and system of multi-sensor cooperation | |
| CN108614274B (en) | Cross type crossing line distance measuring method and device based on multi-rotor unmanned aerial vehicle | |
| CN105805560B (en) | A kind of gas pipeline leakage detecting system based on unmanned plane | |
| CN102589524B (en) | Power line patrolling method | |
| CN109901624A (en) | A kind of bridge method for inspecting | |
| CN102645203B (en) | Power line crossover measurement method based on airborne laser radar data | |
| CN110503080A (en) | Investigation method based on unmanned plane oblique photograph auxiliary sewage draining exit | |
| CN108318499A (en) | A kind of bridge method for inspecting | |
| CN105549619A (en) | Multi-rising-and-landing-point course planning method used for cruising power of unmanned aircraft | |
| CN208569041U (en) | Bridge cruising inspection system | |
| CN203038112U (en) | Unmanned aerial vehicle (UAV) automatic control system | |
| CN110530366A (en) | A kind of flight course planning system and method for transmission line of electricity modeling | |
| CN104091168A (en) | Method for automatically extracting and locating power line based on unmanned aerial vehicle image | |
| CN109885098A (en) | A kind of bridge sidebar inspection flight course planning method | |
| CN102155913A (en) | Method and device for automatically measuring coal pile volume based on image and laser | |
| CN109901623A (en) | Bridge pier shaft inspection flight course planning method | |
| CN114089787A (en) | Ground three-dimensional semantic map based on multi-machine cooperative flight and construction method thereof | |
| CN208367546U (en) | Skyscraper natural gas standpipe safety pre-warning system based on unmanned machine testing | |
| CN110104167A (en) | A kind of automation search and rescue UAV system and control method using infrared thermal imaging sensor | |
| CN111142548A (en) | Surveying and mapping unmanned aerial vehicle and surveying and mapping method based on unmanned aerial vehicle | |
| CN104933223A (en) | Power transmission line channel digital surveying method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190315 |