CN110243374A - A kind of unmanned plane airline generation method convenient for side slope image collection - Google Patents
A kind of unmanned plane airline generation method convenient for side slope image collection Download PDFInfo
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- CN110243374A CN110243374A CN201910563824.2A CN201910563824A CN110243374A CN 110243374 A CN110243374 A CN 110243374A CN 201910563824 A CN201910563824 A CN 201910563824A CN 110243374 A CN110243374 A CN 110243374A
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- slope
- side slope
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- course line
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 239000000284 extract Substances 0.000 claims abstract description 5
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims abstract description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 241000196324 Embryophyta Species 0.000 description 5
- 238000005070 sampling Methods 0.000 description 4
- 238000012876 topography Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- 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
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- Automation & Control Theory (AREA)
- Adjustment And Processing Of Grains (AREA)
- Image Analysis (AREA)
Abstract
The invention discloses a kind of unmanned plane airline generation methods convenient for side slope image collection, include the following steps: that a makes unmanned plane divide equally interval airline operations along several fixed height with serpentine fashion and hover over to acquire image on the fixed high sampled point divided equally on the course line of interval, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and are set side by side along side slope inclined direction uniform intervals, uniform intervals are provided with several sampled points on the course line, and the course line sampled point from the course line of corresponding slope foot to corresponding top of the slope gradually increases；Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data, and DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect；C obtains contour interval by side slope slope angle and side slope slope aspect and the requirement to endlap rate first in ArcGIS and its from side slope ground level, then extracts course line using isopleth extracting tool, extract sampled point using along line drawing point tool；Unmanned plane is high along the quality of image that the airline operation acquires.
Description
Technical field
The present invention relates to image collection field, in particular to a kind of unmanned plane airline generation side convenient for side slope image collection
Method.
Background technique
China's geological environment is abundant, but frequent natural calamity, often meets with earthquake disaster or comes down naturally, in addition the mankind
The activity such as mining or construction can also destroy natural plants, lead to many exposed side slopes, and side slope reparation becomes normality high frequency
Demand.And project supervision, the acceptance of work, engineering management and the engineering research in side slope reparation require to focus plant space point
Cloth, existing unmanned plane plant species sort research be substantially topography it is flat, obviously do not rise and fall area carry out, and classify pair
As relatively simple.And if side slope unmanned plane with a varied topography along tradition it is fixed it is high divide equally the sampling of interval course line and will appear two problems determine
The top of the slope image course coverage rate that height divides equally interval sampling divides equally the slope foot image point for being spaced flight sampling lower than slope foot and Ding Gao
Resolution is lower than top of the slope.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of unmanned plane airline generation method convenient for side slope image collection,
Unmanned plane is consistent with the course coverage rate and resolution ratio of top of the slope image along the slope foot image that the airline operation acquires.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of unmanned plane airline generation method convenient for side slope image collection, includes the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect；
C is in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, the requirement to resolution ratio and to course
The requirement of Duplication obtains contour interval and its from side slope ground level, is then sailed using the extraction of isopleth extracting tool
Line extracts sampled point using along line drawing point tool.
The beneficial effects of the present invention are:
A kind of unmanned plane airline generation method convenient for side slope image collection of the invention, unmanned plane are acquired along the airline operation
Slope foot image is consistent with the course coverage rate and resolution ratio of top of the slope image, so as to improve plant species nicety of grading.
Other advantages, target and feature of the invention will be illustrated in the following description to a certain extent, and
And to a certain extent, based on will be apparent to those skilled in the art to investigating hereafter, Huo Zheke
To be instructed from the practice of the present invention.Target and other advantages of the invention can be wanted by following specification and right
Book is sought to be achieved and obtained.
Detailed description of the invention
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
The detailed description of one step, in which:
Fig. 1 is flow chart of the present invention.
Fig. 2 is route map of the present invention.
Fig. 3 is sectional view of the unmanned plane along contour flight sampling.
Specific embodiment
Hereinafter reference will be made to the drawings, and a preferred embodiment of the present invention will be described in detail.It should be appreciated that preferred embodiment
Only for illustrating the present invention, rather than limiting the scope of protection of the present invention.
Method of the invention is implemented in the Artificial Side-slope in Wenchuan area respectively, a height of 75m of Slope, length of grade 150m, slope
Than being 1/2.
As shown in Figure 1-3, a kind of unmanned plane airline generation method convenient for side slope image collection, includes the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect, DSM is digital surface model；
C is in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, the requirement to resolution ratio and to course
The requirement of Duplication obtains contour interval and its from side slope ground level, is then sailed using the extraction of isopleth extracting tool
Line extracts sampled point using along line drawing point tool.
The height of the course line from the ground is 50m, which is according to continuous to the resolution requirement and unmanned plane that sample image
Depending on boat ability.
As described in Figure 3, contour interval calculation method are as follows:
In figure the vertical distance of unmanned plane sampled point P2 to ground Q2 be H`, unmanned plane endlap rate be EF/TF=ρ=
60%, side slope slope angle is β, and the distance of unmanned plane sampled point P1 to P2 can be indicated with ground point O1O2, ∠ EP2O2=α/
2,
∠ EO2P2=∠ QO2O1=1- β, therefore available according to triangle sine: EO2=H`. sin (α/2)/sin
(β−α/2) .Similarly, available O2F=H`. sin (α/2)/sin (α/2 π β).It is to sum up available:
A kind of unmanned plane airline generation method convenient for side slope image collection of the invention, unmanned plane are acquired along the airline operation
Slope foot image is consistent with the course coverage rate and resolution ratio of top of the slope image, so that plant species nicety of grading be made to have reached 90%.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of the technical program, should all be covered in the present invention
Scope of the claims in.
Claims (1)
1. a kind of unmanned plane airline generation method convenient for side slope image collection, characterized by the following steps:
A makes unmanned plane with serpentine fashion along several fixed high respectively interval airline operations and hovers on fixed high respectively interval course line
Image is acquired on sampled point, several fixed high interval course lines of dividing equally are located at the same plane above side slope Nei and along side slope inclined direction
Uniform intervals are set side by side, and uniform intervals are provided with several sampled points on the course line, from the course line of corresponding slope foot to corresponding slope
Sampled point on the course line course line on top gradually increases；
Image is imported into Pix4DMapper and is synthesized low-density point cloud data by b, obtains DSM from low-density point cloud data,
DSM is imported in ArcGIS and obtains side slope slope angle and side slope slope aspect；
C is in ArcGIS first by side slope slope angle, side slope slope aspect, camera lens parameter, the requirement to resolution ratio and to course
The requirement of Duplication obtains contour interval and its from side slope ground level, is then sailed using the extraction of isopleth extracting tool
Line extracts sampled point using along line drawing point tool.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111473791A (en) * | 2020-04-30 | 2020-07-31 | 北京土小豆在线科技有限公司 | Route planning method for unmanned aerial vehicle flying close to ground |
| CN112000129A (en) * | 2020-09-01 | 2020-11-27 | 四川省地质工程勘察院集团有限公司 | Improved ground-imitating flight control method for unmanned aerial vehicle |
| CN112113542A (en) * | 2020-09-14 | 2020-12-22 | 浙江省自然资源征收中心 | Method for checking and accepting land special data for aerial photography construction of unmanned aerial vehicle |
| CN112904894A (en) * | 2021-01-19 | 2021-06-04 | 招商局重庆交通科研设计院有限公司 | Slope live-action image acquisition method based on unmanned aerial vehicle oblique photography |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN112113542A (en) * | 2020-09-14 | 2020-12-22 | 浙江省自然资源征收中心 | Method for checking and accepting land special data for aerial photography construction of unmanned aerial vehicle |
| CN112904894A (en) * | 2021-01-19 | 2021-06-04 | 招商局重庆交通科研设计院有限公司 | Slope live-action image acquisition method based on unmanned aerial vehicle oblique photography |
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Inventor after: Han Chao Inventor after: Liu Pin Inventor after: Li Linxia Inventor after: Yang Yin Inventor after: Guo Ke Inventor before: Han Chao Inventor before: Yang Yin Inventor before: Guo Ke |
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Application publication date: 20190917 |