CN110390720A - A kind of method and system of tile center point-rendering Real-time scape map - Google Patents
A kind of method and system of tile center point-rendering Real-time scape map Download PDFInfo
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Abstract
The invention discloses a kind of method and system of tile center point-rendering Real-time scape map, which comprises S1: obtaining the longitude and latitude on the boundary of target shooting area；S2: multiple tiles are marked off；S3: the longitude and latitude of the central point of each tile is calculated；S4: a whole picture for each tile is obtained；S5: processing is corrected to the picture of each tile；S6: target area map is generated.The beneficial effects of the practice of the present invention is, using tile technology, unmanned plane is shot in the center position of each tile, and server obtains a whole photo for each tile in real time, picture renewal speed is fast, greatly improves the speed for updating entire target shooting area.
Description
Technical field
The present invention relates to the maps based on unmanned air vehicle technique to obtain field, more specifically to a kind of tile central point
Draw the method and system of real-time live-action map.
Background technique
Along with the high speed development of wireless communication, computer technology and geographic information system technic, map location service is early
It is mature to be surveyed and drawn applied to agriculture or industry, and the unmanned plane drafting soil map that is based on existing at present is leapt by unmanned plane
Soil and execute sequence of images capture, specifically by unmanned plane along path from origin-to-destination snake mode, shoot phase mutual respect
Folded photo realizes the primary update of map by correction, cutting, emergence, combination, but the update method is very slow.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the drawbacks of the prior art, providing a kind of tile center point-rendering
The method and system of real-time live-action map.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of tile center point-rendering Real-time scape
The method of map, comprising:
S1: the longitude and latitude on the boundary of target shooting area is obtained；
S2: multiple tiles are marked off；
S3: the longitude and latitude of the central point of each tile is calculated；
S4: a whole picture for each tile is obtained；
S5: processing is corrected to the picture of each tile；
S6: generating target area map,
The step S2 is specifically included:
Pyramid model tile map, since the target shooting area upper left corner, Cong Zuozhi are created to target shooting area
The right side is cut from top to bottom, is divided into the map tile of the square of same size, the 0th layer of tile matrix is formed, the 0th
On the basis of layer map picture, generate the 1st layer of map picture according to the method that every 2 ﹡, 2 pixel synthesizes a pixel, and to its into
Row piecemeal is divided into the square map picture with next layer of same size, forms the 1st layer of tile matrix, so recycles, until
N-1 layers, each layer of tile matrix is formed,
The step S4 is specifically included:
The center position of each tile is defined, the figure that unmanned plane is shot in the center position of each tile is received
Piece.
The embodiment of the present invention also provides a kind of system of tile center point-rendering Real-time scape map, comprising: unmanned plane,
Face station system, server and network, in which: earth station system and server are connect with unmanned plane by network communication respectively,
The server connects cloud；
The server includes computing module, and the computing module is used to obtain the longitude and latitude on the boundary of target shooting area
Degree marks off multiple tiles by tile technology, constructs tile pyramid model, and calculate the central point of each tile
Longitude and latitude；
The server further includes communication module, for being in communication with each other with earth station system and transmitting control instruction extremely
The earth station system is shot with controlling unmanned plane, finally obtains a whole picture for each tile；
The server further includes image processing module, is corrected for the picture to each tile, the server
Picture after processing is put into cloud, forms the newest picture of target shooting area, each tile that the server obtains
A whole picture be the picture shot by unmanned plane in the center position of each tile.
The method and system for implementing tile center point-rendering Real-time scape map of the invention, have the advantages that
Using tile technology, pyramid model tile map is created, finds tile point, such as unmanned plane is in the center point of each tile
Shooting photo is set, and synthesizes a whole photo for each tile, by server to the entirety of each tile received
A picture rectified a deviation, cut, and the picture after being rectified a deviation, being cut is put into cloud, directly generates tile map, more
New speed is fast, greatly improves the speed for updating entire target shooting area.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the application environment provided in an embodiment of the present invention to execute map rejuvenation；
Fig. 2 is the concrete structure schematic diagram of unmanned plane in Fig. 1；
Fig. 3 is a kind of method flow signal of the method for tile center point-rendering Real-time scape map of the embodiment of the present invention
Figure；
Fig. 4 is divided into the schematic diagram of multiple mutually independent tiles；
Fig. 5 is the method flow schematic diagram of the map updating method of the preferred embodiment based on Fig. 3；
Fig. 6 is the schematic diagram for indicating the center position of each tile；
Fig. 7 is the method flow schematic diagram of the map updating method of another preferred embodiment based on Fig. 3；
Fig. 8 is the schematic diagram for indicating multiple positions of each tile.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
As shown in Figure 1, being the application environment provided in an embodiment of the present invention to execute map rejuvenation, the application environment packet
It includes: unmanned plane 10, earth station system 20, Cloud Server 30 and network.
Unmanned plane 10 can be high-altitude or the low flyer of any suitable type, including typical four-axle aircraft,
The RC Goblin or the Fixed Wing AirVehicle with certain movement speed that can hover etc..At least one is set on unmanned plane 10
Image collecting device, infrared induction instrument (it was found that life entity), swashs at thermoinduction instrument (for measuring temperature, looking for fire source, life entity etc.)
Away from, radar etc., image collecting device can be such as high-definition camera or motion cameras, to complete to target light thunder
The communication module of any suitable type can also be arranged in the image shoot process of shooting area A, to realize the control to unmanned plane
The transmission of system and data.
The hardware of unmanned plane 10 relates generally to three parts: the 1, flight control system of unmanned plane, 2, the dynamical system of unmanned plane,
Coordination collocation etc. including propeller, motor, battery and a whole set of system, 3, the contour structures of inorganic machine, for carrying image
Acquisition device such as camera, and by each error reference record of the picture of shooting in picture data.Specifically, unmanned plane
Specific structure is as shown in Figure 2 comprising flight control system 101；Gyroscope 102, be used to measure X, Y, Z-direction pitch angle,
Tilt angle etc.；GPS/ Beidou 103；Barometer 104, for measuring drone flying height；Data link 105, for passing
Transmission of data and photo (original image)；Magnetic compass 106.
Earth station system 20 covers all key points of operation unmanned plane 10, lead to unmanned plane 10 can with remote control
The track of load is crossed independently according to the airline operation of planning, automatically grabs map datum.Cloud Server 30 is to pass through earth station
System 20 issues control instruction and receives unmanned plane acquisition data, receives the picture of each tile in corresponding geographical location.Pass through
It is put into cloud after integration, splicing, directly generates tile map.
Network can be any suitable, to connect to realize two communication between devices wired or wireless network,
Such as 4G/WiFi.It is established and is communicated to connect by network between 10 three of earth station system 20, Cloud Server 30 and unmanned plane, on
Data/commands are passed or issued, and then complete map rejuvenation instruction.
In application process, unmanned plane 10 is connect by corresponding network with earth station system 20, by earth station system 20
Unmanned plane 10 is controlled independently according to the airline operation of planning, automatically grabs map datum, while the figure that unmanned plane 10 will take
As data are returned to earth station system 20, earth station system 20 is transmitted further to Cloud Server 30, and Cloud Server 30 carries out data
It is put into cloud after processing, directly generates updated tile map.
It is a kind of method stream of the method for tile center point-rendering Real-time scape map of the embodiment of the present invention referring to Fig. 3
Journey schematic diagram, this method comprises the following steps:
S1: the longitude and latitude on the boundary of target shooting area A is obtained.Target shooting area A for example can be comprising needing to clap
The smallest square or rectangle in the region taken the photograph, the side of target shooting area A is obtained by the computing module in Cloud Server 30
The longitude and latitude on boundary.
S2: multiple tile U are marked off；The present embodiment is construction tile pyramid, specifically by the meter in Cloud Server 30
It calculates module and target shooting area A is divided by multiple tiles according to required precision and level of zoom, each tile has corresponding
Tile grid data can correspond to and be expressed as n-th layer, X row, Y column.
Specifically, in embodiments of the present invention, tile pyramid model is a kind of multiresolution hierarchical model, from tile gold
For the bottom of word tower to top layer, resolution ratio is lower and lower, but the geographic range indicated is constant.Determine that map service platform is wanted first
The quantity N of the level of zoom of offer, level of zoom is minimum, the maximum map picture of map scale is as pyramidal bottom
Layer, i.e., the 0th layer, and piecemeal is carried out to it, since the upper left corner of map picture, cut from left to right, from top to bottom, point
It is cut into the square map tile of same size (such as 256x256 pixel), forms the 0th layer of tile matrix；In the 0th layer of Map
On the basis of piece, the 1st layer of map picture is generated by the method that every 2x2 pixel synthesizes a pixel, and piecemeal is carried out to it, point
It is cut into the square map tile with next layer of same size, forms the 1st layer of tile matrix；The 2nd is generated using same method
Layer tile matrix；…；So go down, until N-1 layers, constitutes entire tile pyramid.
Such as the entire earth is the 0th layer, the size of the 23rd layer of each tile is 2.5 meters * 2.5 meters.
More and more Map Services use tile technology now, such as present China carries out the day Map Services of publication just
Map tile technology is used.Map tile after being sliced in fact is grating image, does not have location information, but is sliced
After having used related slices algorithm, the position specifically positioned can be calculated.It is space for example, by using WGS84 earth coordinates
With reference to map is sliced, and divides to form map watt using certain Slicing Algorithm, such as with longitude and latitude step-length equal proportion
Piece can calculate specific location according to longitude and latitude step-length when needing to position a specific place, be reached with this
The function of positioning.
In embodiments of the present invention, target shooting area A is divided into multiple mutually independent tile U according to tile technology,
As shown in figure 4, being a certain layer tile matrix, the picture of each tile U in every layer is obtained and update is completely independent.And it is each
Tile all has positioning function, that is, has corresponding geographical location.
S3: the longitude and latitude of the central point of each tile U is calculated.Here according to the geographical location of each tile U, still by cloud
The computing module of server 30 calculates the longitude and latitude of the central point of each tile U of each layer of tile matrix.
S4: a whole picture of each tile U is obtained.Here server is according to each watt of each layer of tile matrix
The position of the central point of piece U exports control signal by earth station system to control the picture that unmanned plane shooting has presumptive area.
Unmanned plane can acquire oneself and fly through region by video camera or other suitable image capture devices in the sky
Image.The specific course line of unmanned plane or all running track can be determined by earth station system and server, be in earth station
Under the control of system and server.The type of image data in the present embodiment is photo.
As shown in figure 5, obtaining the whole picture tool of each tile U of each layer of tile matrix in above-mentioned steps S4
Body includes:
S4 ': a photo is shot in the position central point O of each tile U, as shown in Figure 6.Here with unmanned plane every
The position central point O of a tile U shoots photo, and the shooting speed of unmanned plane is fast, and flying speed is fast, and picture renewal speed is also fast,
Several milliseconds or so may be updated entire target shooting area A, the technical field fast suitable for more new demand, such as traffic control area
Domain.
In another preferred embodiment, as shown in fig. 7, obtaining each tile U of each layer of tile matrix in step S4
A whole picture specifically include:
S41: multiple overlapped pictures are shot in equally distributed multiple positions of each tile U, as shown in Figure 8.
It uniformly chooses 4 points (O1, O2, O3, O4) and shoots 4 overlapped photos, naturally it is also possible to be other, such as 9 or more
It is more, any restrictions are not done here, depend primarily on required precision.
S42: multiple the overlapped pictures that will be shot in multiple positions of each tile U utilize the portion for comparing coincidence
Point, by finding similitude, synthesize a whole picture of each tile U.And the synthesis of each tile U is handled, phase
Mutual complete independently, without mutually waiting.
During mapping, for the reliability for ensuring data, multiple positions of the same area are acquired respectively,
During carrying out Duplication judgement, the predetermined threshold of judgement can be to be determined according to the actual situation, for example, 85% or
It is higher/lower, the control strategy of server is depended on, is allowed with such Duplication between at least two width consecutive images
A few width picture catchings finally synthesize the entirety of each tile of each layer of tile matrix to the similitude for the tile to be shot
One photo.
In above-mentioned steps using a frame unmanned plane or multiple UAVs around the central point of each tile U, find uniform
Multiple point positions of distribution shoot photo, synthesize a photo, make up map automatic Mosaic by the splicing of similitude and entangle
Inclined accuracy, precision is high, can guarantee its accuracy and precision in the case where GPS is disturbed, and it is high to be suitable for precision
Technical field, such as earthquake fire rescue the regional area for having survival personnel.
S5: processing is corrected to the picture of each tile；
During mapping, shooting picture may be because of factors such as sensor accuracy, environment, and the photo of shooting can be wrong
Difference not necessarily shoots photo in strict accordance with preset condition, but by correction and need to cut according to target cut size to accord with
Close preset picture.It here is the processing such as to carry out independent correction to the picture of each tile, cut, without mutually waiting,
In, the parameter that correction and cutting are related to includes holder drift angle information, GPS information, the speed of unmanned plane, height and Image Acquisition
The shooting angle etc. of device.
Specifically, according to GPS sensor data, and the information such as angle of shooting photo, picture is rectified a deviation.Including step
It is rapid as follows:
S51, photo should meet condition: be parallel to plane XOZ；
S52, photo should meet condition: perpendicular to plane ZOY；
S53, photo should meet condition: perpendicular to plane XOY；
S54, according to the location information of photograph taking point, by the physical location of tile central point (GPS central point) in photo
In be identified；
S55, excess margins are subtracted according to tile size section.
Specific code is as follows:
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S6: being put into cloud for the picture of calibrated processing, directly generates tile map, and combination forms target shooting area
Newest picture.
The process of emergence is needed not move through in this step, and the picture after directly cutting correction is put into cloud, directly generates
Tile map, the corresponding photo of each tile U, forms the newest picture of target shooting area A after combination.
The embodiment of the present invention also provides a kind of system of tile center point-rendering Real-time scape map, which includes above
Unmanned plane 10, earth station system 20, Cloud Server 30 and the network.It specifically, include calculating mould by Cloud Server 30
Block, computing module are specifically used for executing following steps:
Obtain the longitude and latitude on the boundary of target shooting area A；
Multiple tiles are marked off by tile technology, construct tile pyramid model；
Calculate the longitude and latitude of the central point of each tile.
Cloud Server 30 further includes communication module, and communication module is used for and earth station system 20 in a preferred embodiment
The longitude and latitude of the central point of each tile is transmitted to earth station system 20 by communication, and earth station system 20 passes through these geographical positions
Data output control signal is set to control unmanned plane in center position one picture of shooting of each tile and be returned to ground
These data are transferred to Cloud Server 30 again by system of standing 20, earth station system 20.
Cloud Server 30 further includes image processing module, such as rectify a deviation for the independent correction of photo progress to each tile,
The processing such as cutting, without mutually waiting.Picture after processing is put into cloud by Cloud Server 30, directly generates tile map.
In another preferred embodiment, for communicating with earth station system 20, earth station system 20 exports communication module
Control signal shoots multiple phase mutual respects to control the multiple points of the uniform design around the center position of each tile of unmanned plane 10
Folded photo.Using intersection is compared, by searching similitude, synthesize a whole photo of each tile U, nobody
A whole photo for each tile is returned to Cloud Server 30 by machine.Real-time Transmission after Cloud Server 30 is integrated, spliced
To cloud, tile map is directly generated.The corresponding photo of each tile, forms the newest figure of target shooting area after combination
Piece.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (3)
1. a kind of method of tile center point-rendering Real-time scape map characterized by comprising
S1: the longitude and latitude on the boundary of target shooting area is obtained；
S2: multiple tiles are marked off；
S3: the longitude and latitude of the central point of each tile is calculated；
S4: a whole picture for each tile is obtained；
S5: processing is corrected to the picture of each tile；
S6: generating target area map,
The step S2 is specifically included:
To target shooting area create pyramid model tile map, since the target shooting area upper left corner, from left to right, from
Top to bottm is cut, and is divided into the map tile of the square of same size, the 0th layer of tile matrix is formed, in the 0th layer of map
On the basis of picture, the 1st layer of map picture is generated according to the method that every 2 ﹡, 2 pixel synthesizes a pixel, and piecemeal is carried out to it,
It is divided into the square map picture with next layer of same size, the 1st layer of tile matrix is formed, so recycles, until N-1
Layer forms each layer of tile matrix,
The step S4 is specifically included:
The center position of each tile is defined, the picture that unmanned plane is shot in the center position of each tile is received.
2. a kind of system of tile center point-rendering Real-time scape map characterized by comprising unmanned plane, earth station system,
Server and network, in which: earth station system and server are connect with unmanned plane by network communication respectively, the server
Connect cloud；
The server includes computing module, and the computing module is used to obtain the longitude and latitude on the boundary of target shooting area, is led to
It crosses tile technology and marks off multiple tiles, construct tile pyramid model, and calculate the longitude and latitude of the central point of each tile
Degree；
The server further includes communication module, for control instruction to be in communication with each other and transmitted with earth station system to described
Earth station system is shot with controlling unmanned plane, finally obtains a whole picture for each tile；
The server further includes image processing module, is corrected for the picture to each tile, and the server will be through
Treated, and picture is put into cloud, forms the newest picture of target shooting area.
3. the system of point-rendering Real-time scape map in tile center according to claim 2, which is characterized in that the service
A whole picture for each tile that device obtains is the figure shot by unmanned plane in the center position of each tile
Piece.
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