CN109655040A - A kind of slope displacement monitoring method based on unmanned plane targeting technology - Google Patents
A kind of slope displacement monitoring method based on unmanned plane targeting technology Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The present invention provides a kind of slope displacement monitoring method based on unmanned plane targeting technology, is related to a kind of safety monitoring slope method and technology field.The invention in the doubtful instable slope of quasi- monitoring the following steps are included: preset the control point identification on some readily identified monitoring point identifications and its periphery stable side slope；High definition photo is acquired to the monitoring point that scene is laid using unmanned plane；Monitoring point coordinate in unmanned plane shooting photo is extracted based on image processing techniques；It examines and optimizes the coordinate points for generating and there is high absolute positional accuracy；The coordinate that comparison shoots photo monitoring point twice carries out the calculating of slope displacement.Operation mode of the present invention is more flexible, and field process intensity is small, and the feature of slope deforming is not reacted by range control, non-contact and dynamic, and information storage is big, the displacement that calculating side slope that can be more accurate deforms.
Description
Technical field
The present invention relates to a kind of safety monitoring slope method and technology fields, target skill based on unmanned plane more particularly to one kind
The slope displacement monitoring method of art.
Background technique
In safety monitoring slope, mainly has and monitored based on ess-strain and two major classes are monitored based on displacement deformation.For
Ess-strain monitoring, although precision is higher than being monitored based on displacement deformation, sensor required for ess-strain monitors
Acquisition cost is high, and not convenient for safeguarding and embedded difficulty is high, project amount is big.For displacement deformation monitor, most common method its
In based on GPS and 3 D laser scanning method, however the precision of GPS method, by climatic effect, error is up to ten meters of magnitudes, precision
It is extremely difficult to the demand of application to engineering practice；3 D laser scanning rule needs to scan target one by one with laser, required time compared with
Long, for extensive side slope, the selection of survey station point will also be affected.
Summary of the invention
Aiming at the shortcomings existing in the above problems, the present invention provides a kind of side slope position based on unmanned plane targeting technology
Monitoring method is moved, keeps its operation mode more flexible, field process intensity is small, not by range control, non-contact and dynamic
The feature of slope deforming is reacted, information storage is big, the displacement that calculating side slope that can be more accurate deforms.
To solve the above-mentioned problems, the present invention provides a kind of slope displacement monitoring method based on unmanned plane targeting technology,
Wherein, comprising the following steps:
S10, some readily identified monitoring point identifications and its week are preset in the doubtful instable slope of quasi- monitoring
Control point identification on the stable side slope of side: monitoring point and control point identification are laid according to live side slope feature selecting, it is ensured that nobody
Machine can collect the mark photo of high definition, and the coordinate of monitoring point is obtained by the means of image procossing；
S20, acquire high definition photo to the monitoring point that scene is laid using unmanned plane: framework is based on unmanned plane collection in worksite side
The high definition photo system on slope；
S30, monitoring point coordinate in unmanned plane shooting photo is extracted by image procossing: based on MATLAB to nobody
The high definition photo for the side slope to be measured acquisition that machine is successively shot twice carries out image procossing, is shot and is shone to unmanned plane by image procossing
Monitoring point coordinate extracts in piece,；
S40, inspection simultaneously optimize the coordinate points for generating and having high absolute positional accuracy: reduce error to control precision, it will
From the aspect of measurement method and image procossing precision two；
The coordinate that S50, comparison shoot photo monitoring point twice carries out the calculating of slope displacement: sitting to the pixel extracted
Mark, is further processed and calculates the displacement that side slope actually occurs；
The accuracy test of S60, slope displacement: being that three-dimensional coordinate solves by gained coordinate transformation by its changes in coordinates
It calculates, acquires actual displacement.
Preferably, further comprising the steps of in the step S10:
The selection of S101, field labeled measurement method: selection GPS RTK measuring technique；It is restricted in GPS positioning
Region should select the determination at total station progress control point；For some high gradient slopes, the hand that can be combined using multiple technologies
Section；
The selection of S102, layout of the monitoring points: the color that chromaticity stability is good, anti-interference is good, penetration capacity is strong, institute are chosen
The shape that identifying body is arranged should also select the pattern of comparison rule；
The selection of S103, control points layout: the basement rock of dew, highway etc. are selected at the relatively stable place of side slope, if without direct
The position at distinguishable control point then needs to place clear significant accessory ID on the ground, and controlling point identification should be along doubtful cunning
Slopes surrounding is laid.
Preferably, further comprising the steps of in the step S20:
S201, the system building that the acquisition of side slope high definition photograph is carried out based on unmanned plane: in order to realize slope displacement monitoring
Demand based on total station, is acquired ground identification point and takes pictures with quadrotor drone big boundary spirit 4Pro；
S202, unmanned plane acquire slope monitoring point, control point high definition photo: ensuring unmanned plane in holder parameters and shape
It after state is normal, takes off in the control point position of laying, it is ensured that flying height is certain, carries out side slope image collection.
Preferably, it in the step S30, is pre-processed based on MATLAB language side slope photo:
S301, use Sobel operator to image binaryzation processing first, main includes the edge of detection image, counts side
Pixel on edge；Automatically selecting for binarization threshold is carried out on these edge pixel points；Other non-edge pixels points are used
Conventional binarization method is handled；
S302, then after binary conversion treatment, the center of mass point or boundary point of round monitoring mark are determined, so that it is determined that prison
The distance between measuring point and control point finally extract the pixel coordinate of monitoring point.
Preferably, further comprising the steps of in the step S40:
S401, verifying are displaced the precision calculated: the setting monitoring mark in side slope to be measured in advance, between two lateral marks
Distance be X, distance is Y between longitudinal mark, is then shot twice to the mark of target area, takes the photograph photograph with navigating for the first time
The calculated mark center point coordinate of piece is calculated separately every with the calculated mark of second of aerial photograph and center point coordinate
Lateral distance between group mark, compares with original mark distance, casts out the biggish identification point of error；
S402, reduce error caused by measurement method:, can when monitoring, which identifies, nearby to be existed with object similar in its color
It can will recognise that the mark of mistake and directly result in displacement result at the point deviation occur, therefore should select as far as possible and side slope scene
The biggish monitoring mark of color distinction；When choosing control point identification, in order to improve monitoring control precision, control should be monitored
Point will be laid along doubtful slip mass surrounding.
S403, it improves image procossing precision: when carrying out image procossing to unmanned plane acquisition high definition photo based on MATLAB, answering
Using HSV color space diagnostic method and sobel edge detection operator more easy to identify.
Preferably, further comprising the steps of in the step S50:
The parameters such as projection array target centroid, the area that S501, basis acquire, the quasi- displacement battle array and throwing constituted with pin hole projection
The spatial relationship of the parameters such as shadow battle array target centroid, area calculates camera distance battle array, observation mark and positioning identifier projector distance
Battle array, the equidistant parameter of depth difference battle array, all kinds of range informations needed for obtaining three-dimensional resolve；
S502, space three-point scaling method is then used, completes displacement battle array spatial data and resolve, and then acquires and actually occur
Displacement.
It preferably, is that three-dimensional coordinate solves by gained coordinate transformation by its changes in coordinates in the step S60
It calculates, acquires actual displacement, multi collect is carried out in the same period to the monitoring mark photo of laying, is then calculated separately in fact
Border displacement, acquires the error of actual displacement, checks whether to meet required precision.
Compared with prior art, the invention has the following advantages that
In recent years, small drone is more and more used in the observation to earth's surface, and computation vision technology also obtains
Quick development.It is applied it in the displacement monitoring of side slope surface in conjunction with above equipment and technological means, there is huge development
Space.Compared with traditional method, the method for the side slope surface displacement monitoring based on unmanned plane aerial photography has numerous advantages:
1, operation mode is more flexible, and field process intensity is small；
2, the feature of slope deforming is not reacted by range control, non-contact and dynamic；
3, information storage is big: utilizing digital image processing techniques, compresses image information to the maximum extent；
4, the displacement that calculating side slope that can be more accurate deforms, error are smaller.
Detailed description of the invention
The invention will be further described with case study on implementation with reference to the accompanying drawing.
Fig. 1 is a kind of flow chart of slope displacement monitoring method based on unmanned plane targeting technology described in the invention；
Fig. 2 is floor map of the present invention in side slope surface layout monitoring point and control point, and wherein red circular identifies
To monitor point identification, monitoring mark arrangement mode is n × n array form (form of 4 × 4 arrays is used in Fig. 2), black and white phase
Between cross be identified as the mark at control point；
Fig. 3 is the partial schematic diagram that the present invention monitors point identification in side slope surface layout, i.e., the cross of two marks on the direction x
It is X to distance, the fore-and-aft distance of two marks is Y on the direction y；
Fig. 4 is the original side slope scene of the present invention and detection home position schematic diagram；
Fig. 5 is side slope scene and detection home position after present invention sliding；
Fig. 6 is the original side slope center-of-mass coordinate position view of the present invention；
Fig. 7 is the center-of-mass coordinate position view of side slope after present invention sliding；
Fig. 8 is MATLAB processing result schematic diagram of the invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below with reference to example and attached drawing to this
Invention is described in further detail, but example is not as a limitation of the invention.
A method of the slope displacement monitoring based on unmanned plane targeting technology, technical step include: according in quasi- monitoring
Doubtful instable slope on preset control points on some readily identified monitoring point identifications and its periphery stable side slope
Mark acquires high definition photo to the monitoring point that scene is laid with unmanned plane；Unmanned plane is shot in photo by image procossing and is supervised
Measuring point coordinate extracts；It examines and optimizes the coordinate points for generating and there is high absolute positional accuracy；Shooting photo is supervised twice for comparison
The coordinate of measuring point carries out the calculating of slope displacement.
S10, some readily identified monitoring point identifications and its week are preset in the doubtful instable slope of quasi- monitoring
Control point identification on the stable side slope of side
Monitoring point and control point identification are laid according to live side slope feature selecting, it is ensured that unmanned plane can collect high definition
Photo is identified, the coordinate of monitoring point and control point is obtained by the means of image procossing.
The selection of S101, field labeled measurement method
Side slope control measurement should select and the matched high-precision of unmanned plane monitoring means, low error, the easily technical side that implements
Method can choose GPS RTK measuring technique；Total station should be selected to carry out control point really in the region that GPS positioning is restricted
It is fixed；For some high gradient slopes, the means that can be combined using multiple technologies.
The selection of S102, layout of the monitoring points
As shown in Fig. 2, in order to form more apparent contrast with quasi- monitoring side slope surface color and be more advantageous to mark
The extraction of body should choose the color that chromaticity stability is good, anti-interference is good, penetration capacity is strong, the shape of set identifying body
The pattern of comparison rule, such as round or square should be selected.
The selection of S103, control points layout
As shown in Fig. 2, for control point the basement rock of dew, highway etc. can be selected at the relatively stable place of side slope, if without straight
The position at distinguishable control point is connect, then needs to place clear significant accessory ID on the ground, such as chequered with black and white cross identifies；It is right
It should be ready to complete before unmanned plane aerial photography in monitoring point and control points layout, to ensure to monitor in the photo of unmanned plane aerial photography out
The mark at point and control point can be high-visible.
S20, high definition photo is acquired to the monitoring point that scene is laid using unmanned plane
High definition photo system of the framework based on unmanned plane collection in worksite side slope.
S201, the system building that the acquisition of side slope high definition photograph is carried out based on unmanned plane
In order to realize that the demand of slope displacement monitoring, the present invention be with the big boundary spirit 4Pro of quadrotor drone, total station
Basis is acquired ground monitoring point and takes pictures.Big boundary spirit 4Pro be equipped with 1 inch 2 of 0,000,000 pixel CMOS image sensor with
And the high-res camera lens of 7 groups 8 full glass lens compositions；Unmanned plane is equipped with flight control system and high-precision GPS module,
Aircraft and object can be calculated by the observation of flight environment of vehicle based on the six wooden navigation system of three groups of double visual sensor compositions
The relative velocity and distance of body；And its included infrared perception system not only makes its detection area big, but also can accurately identify away from
The object distance nearest from aircraft has stronger anti-interference ability, greatly improves the reliability of perception.
S202, unmanned plane acquire slope monitoring point, control point high definition photo
Ensure that unmanned plane after holder parameters and state are normal, takes off in the control point position of laying, it is ensured that fly
Row height is certain, carries out side slope image collection.In shooting process, it is ensured that unmanned plane camera lens is always vertically downward；Flight terminates
Afterwards, check whether unmanned plane shooting photo photo is clear, if cover the requirement such as whole areas of laying.
S30, monitoring point coordinate in unmanned plane shooting photo is extracted by image procossing
Image procossing is carried out based on high definition photo of the MATLAB to the side slope to be measured acquisition that unmanned plane is successively shot twice, is led to
Image procossing is crossed to extract monitoring point coordinate in unmanned plane shooting photo,.
S301, it is pre-processed based on MATLAB language side slope photo
First using Sobel operator to image binaryzation processing, main includes the edge of detection image, is counted on edge
Pixel；Automatically selecting for binarization threshold is carried out on these edge pixel points；To other non-edge pixels points using conventional two
Value method is handled, and then after binary conversion treatment, the center of mass point or boundary point of round monitoring mark is determined, thus really
Determine the distance between monitoring point and control point, finally extracts the pixel coordinate of monitoring point.
S40, inspection simultaneously optimize the coordinate points for generating and having high absolute positional accuracy
Reduce error to control precision, it will be from the aspect of measurement method and image procossing precision two.
The precision that S401, verifying displacement calculate
In order to verify displacement computational accuracy, the monitoring of Fig. 3 such as is set in side slope to be measured in advance and is identified, two laterally identify
The distance between be X, distance is Y between longitudinal mark.Then the mark of target area is shot twice, if C11 is to make
With the calculated mark of first time aerial photograph, 1. center point coordinate, C11 and C22 respectively use second of aerial photograph to calculate
2. mark out with 3. center point coordinate, calculates separately lateral distance delta C21 and Δ C31 between every group of mark, and original
Mark distance compares, and casts out the biggish identification point of error.
S402, reduce error caused by measurement method
When monitoring, which identifies, nearby to be existed with object similar in its color, it may will recognise that the mark of mistake and directly lead
It causes displacement result at the point deviation occur, therefore should select to identify with the biggish monitoring of side slope scene color distinction as far as possible.
S403, image procossing precision is improved
When carrying out image procossing to unmanned plane acquisition high definition photo based on MATLAB, HSV color Ying Caiyong more easy to identify
Space diagnostic method and sobel edge detection operator.
The coordinate that S50, comparison shoot photo monitoring point twice carries out the calculating of slope displacement.
To the pixel coordinate extracted, it is further processed and calculates the displacement that side slope actually occurs.According to what is acquired
The parameters such as projection array target centroid, area, the parameters such as the quasi- displacement battle array constituted with pin hole projection and projection array target centroid, area
Spatial relationship, calculate camera distance battle array, observation mark with positioning identifier projector distance battle array, the equidistant parameter of depth difference battle array,
All kinds of range informations needed for obtaining three-dimensional resolve.Then space three-point scaling method is used, displacement battle array spatial data is completed and resolves,
And then it acquires and actually occurs displacement.
The accuracy test of S60, slope displacement
By its changes in coordinates, it is that three-dimensional coordinate resolves by gained coordinate transformation, acquires actual displacement.To actual bit
The required precision of shifting, according to geotechnical engineering specification, horizontal displacement uses the required precision of the fourth estate, it is desirable that its mean square error of a point
For ± 12mm, using the requirement of the 5th level accuracy, vertical error is ± 8mm for vertical displacement.So needing the monitoring to laying
It identifies photo and carries out multi collect in the same period, then calculate separately its actual displacement, acquire the error of actual displacement, examine
It tests and whether meets required precision.
In the present embodiment, specific example is as follows: as shown in figure 4, laying 3 × 3 array formats in hand excavation's side slope
Monitoring mark, then find side slope not labile position (such as exposed basement rock or the highway built) cloth in side slope side
It is located at monitoring point surrounding and lays control point identification for establishing observation field and coordinate system automatically.Monitoring point identification use diameter for
The round plank of 8cm, control point are identified as the square plank that side length is 10cm.Then certain altitude has been flown to unmanned plane
(this example flying height 8m) carries out boat to the quasi- doubtful instable slope of monitoring and takes the photograph, and shooting photo is as shown in Figure 4.
For navigating in Fig. 4, the side slope photo taken the photograph carries out coordinate verifying, it is known that measures in photo 1 point of monitoring point and 2 in advance
The practical fore-and-aft distance of point is 10cm, and 1 point is 16cm with 4 points of actual lateral separation, is calculated by image procossing and is measured respectively
1 point of side slope and 2 points of fore-and-aft distance are 10.01cm, and 1 point and 4 points of lateral distance are 16.03cm, meet required precision, can be into
Row following calculation.
A period of time rainfall and then it is secondary the doubtful instable slope of quasi- monitoring is shot with unmanned plane, shoot
Photo is as shown in Figure 5.
Based on the photo shot twice, accordingly in method calculated, it is as a result as follows:
(1) image procossing is carried out to Fig. 4 photo, the range of blue mark is determined, so that it is determined that the original of the monitoring point 3-11
Initial line slope center-of-mass coordinate (as shown in Figure 6), the original side slope center-of-mass coordinate in the monitoring point 3-11 can be shown in Table one.
The original side slope center-of-mass coordinate of table one
(2) image procossing is carried out to Fig. 5 photo, the range of blue mark is determined, so that it is determined that after No. 3-11 monitoring crawl
The center-of-mass coordinate (as shown in Figure 7) of side slope, No. 3-11 monitoring crawl back slope center-of-mass coordinate can be shown in Table two.
| X (pixel) | Y (pixel) | |
| 3 | 173.80 | 96.04 |
| 4 | 173.86 | 167.09 |
| 5 | 173.77 | 240.00 |
| 6 | 274.82 | 99.99 |
| 7 | 274.80 | 171.05 |
| 8 | 274.82 | 243.99 |
| 9 | 365.77 | 104.00 |
| 10 | 365.80 | 175.04 |
| 11 | 365.85 | 248.03 |
Side slope center-of-mass coordinate after table two slides
(3) by the changes in coordinates of two center-of-mass coordinate of contrast table one and table, the case where probably judging its change in location, then
The distance between control point is arrived respectively by the center-of-mass coordinate of the monitoring point 3-11 in Fig. 4 and Fig. 5 to judge whether its position is sent out
Changing, as shown in Table 3:
Table three slides front and rear coordinate variation
Similarly, the relative displacement that the monitoring point 3-11 is equivalent to No. 1, No. 2, No. 13 control can be found out.
By list data it is found that the coordinate of 3-11 monitoring point is changed, i.e., monitoring point coordinate is opposite on picture
Control point coordinates are slided, as shown in the MATLAB processing in Fig. 8.
Due to the pixel displacement of only coordinate points resulting on picture, and in Practical Project what is desired is that slope sliding
Actual displacement.Known circular monitoring identification of diameter is 8cm in this example, and control point identification uses side length for the mark of 8cm.So
According to image procossing, the average diameter size of the mark point in available image is indicated with pixel number, n circular mark
The mean pixel diameter of point is m, then can illustrate: the corresponding actual range of 1 pixel distance is 1/m (mm), then basis
This, can obtain the mobile pixel distance d of coordinate points, resolve further according to three-dimensional, it is to be understood that the sliding distance of side slope, calculated result
It is as follows:
| Monitoring point | Sliding distance (cm) |
| 3 | 2.48 |
| 4 | 2.51 |
| 5 | 2.49 |
| 6 | 2.73 |
| 7 | 2.75 |
| 8 | 2.73 |
| 9 | 3.08 |
| 10 | 3.09 |
| 11 | 3.10 |
The displacement of slope deforming and pre- by Digital Image Processing etc. is monitored in the present invention by Digital image technology
It surveys the development of side slope, occur that personnel can be difficult to the dangerous slopes reached or precipitous slope surface to avoid the generation of life danger
It is monitored, field process amount is smaller, and it is rapid to obtain data, can observe in side slope all the points simultaneously with flashy spatial position
Information, and the image document clapped can utilize at any time, and precision aspect is also in speed change, play completely to meet side slope slumped mass
The requirement in change stage can guarantee the safety of personnel to the greatest extent, and easy to operate.
The present invention is to rely on side slope feature to be monitored a laying on side slope surface, and utilize total station or GPS according to existing
Field environment determines the position at control point, while carrying out photo using the monitoring point on unmanned plane side slope surface and control point identification and adopting
Collection, by the means of the image procossing of computation vision, the coordinate of the high resolution correlation monitoring point of the same name that image obtains twice is carried out
Slope deforming displacement monitoring and measuring and calculating, thus efficiently, the fast and accurate feature for obtaining slope deforming.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (7)
1. a kind of slope displacement monitoring method based on unmanned plane targeting technology, which comprises the following steps:
S10, some readily identified monitoring point identifications are preset in the doubtful instable slope of quasi- monitoring and its periphery is steady
Control point identification on deckle slope: monitoring point and control point identification are laid according to live side slope feature selecting, it is ensured that unmanned plane can
To collect the mark photo of high definition, the coordinate of monitoring point is obtained by the means of image procossing；
S20, acquire high definition photo to the monitoring point that scene is laid using unmanned plane: framework is based on unmanned plane collection in worksite side slope
High definition photo system；
S30, monitoring point coordinate in unmanned plane shooting photo is extracted by image procossing: based on MATLAB to unmanned plane elder generation
The high definition photo of the side slope to be measured acquisition shot twice afterwards carries out image procossing, is shot in photo by image procossing to unmanned plane
Monitoring point coordinate extracts；
S40, inspection simultaneously optimize the coordinate points for generating and having high absolute positional accuracy: reduce error to control precision, it will be from survey
From the aspect of amount method and image procossing precision two；
The coordinate that S50, comparison shoot photo monitoring point twice carries out the calculating of slope displacement: to the pixel coordinate extracted,
It is further processed and calculates the displacement that side slope actually occurs；
The accuracy test of S60, slope displacement: by its changes in coordinates, it is that three-dimensional coordinate resolves by gained coordinate transformation, asks
Obtain actual displacement.
2. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
It is further comprising the steps of in step S10:
The selection of S101, field labeled measurement method: selection GPS RTK measuring technique；In the region that GPS positioning is restricted
Total station should be selected to carry out the determination at control point；For some high gradient slopes, the means that can be combined using multiple technologies；
The selection of S102, layout of the monitoring points: choosing the color that chromaticity stability is good, anti-interference is good, penetration capacity is strong, set
The shape of identifying body should also select the pattern of comparison rule；
The selection of S103, control points layout: selecting the basement rock of dew, highway etc. at the relatively stable place of side slope, if without directly distinguishable
The position at control point then needs to place clear significant accessory ID on the ground, and controlling point identification should be along doubtful slip mass
Surrounding is laid.
3. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
It is further comprising the steps of in step S20:
S201, the system building that the acquisition of side slope high definition photograph is carried out based on unmanned plane: the demand in order to realize slope displacement monitoring,
With the big boundary spirit 4Pro of quadrotor drone, based on total station, ground identification point is acquired and is taken pictures；
S202, unmanned plane acquire slope monitoring point, control point high definition photo: ensuring unmanned plane in holder parameters and state just
Chang Hou takes off in the control point position of laying, it is ensured that flying height is certain, carries out side slope image collection.
4. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
In step S30, pre-processed based on MATLAB language side slope photo:
S301, use Sobel operator to image binaryzation processing first, main includes the edge of detection image, is counted on edge
Pixel；Automatically selecting for binarization threshold is carried out on these edge pixel points；To other non-edge pixels points using conventional
Binarization method is handled；
S302, then after binary conversion treatment, the center of mass point or boundary point of round monitoring mark are determined, so that it is determined that monitoring point
The pixel coordinate of monitoring point is finally extracted at the distance between control point.
5. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
It is further comprising the steps of in step S40:
The precision that S401, verifying displacement calculate: setting monitoring mark, two transverse directions in the quasi- doubtful instable slope of monitoring in advance
The distance between mark is X, and distance is Y between longitudinal mark, is then shot twice to the mark of target area, with first
The secondary calculated mark center point coordinate of aerial photograph is divided with the calculated mark of second of aerial photograph and center point coordinate
The lateral distance between every group of mark is not calculated, is compared with original mark distance, is cast out the biggish identification point of error；
S402, reduce error caused by measurement method:, may when monitoring, which identifies, nearby to be existed with object similar in its color
It identifies the mark to make mistake and directly results in displacement result at the point deviation occur, therefore should select as far as possible and side slope scene color
The biggish monitoring mark of difference；
S403, image procossing precision is improved: when carrying out image procossing to unmanned plane acquisition high definition photo based on MATLAB, Ying Caiyong
HSV color space diagnostic method and sobel edge detection operator more easy to identify.
6. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
It is further comprising the steps of in step S50:
The parameters such as projection array target centroid, the area that S501, basis acquire, the quasi- displacement battle array constituted with pin hole projection and projection array
The spatial relationship of the parameters such as target centroid, area, calculate camera distance battle array, observation mark with positioning identifier projector distance battle array,
The equidistant parameter of depth difference battle array, all kinds of range informations needed for obtaining three-dimensional resolve；
S502, space three-point scaling method is then used, completes displacement battle array spatial data and resolve, and then acquires and actually occur displacement
Amount.
7. as described in claim 1 based on the slope displacement monitoring method of unmanned plane targeting technology, which is characterized in that described
In step S60, by its changes in coordinates, it is that three-dimensional coordinate resolves by gained coordinate transformation, actual displacement is acquired, to laying
Monitoring mark photo the same period carry out multi collect, then calculate separately its actual displacement, acquire actual displacement
Error checks whether to meet required precision.
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