CN110726398B - Method for positioning remote sensing mapping image of natural resource - Google Patents
Method for positioning remote sensing mapping image of natural resource Download PDFInfo
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- CN110726398B CN110726398B CN201911008089.5A CN201911008089A CN110726398B CN 110726398 B CN110726398 B CN 110726398B CN 201911008089 A CN201911008089 A CN 201911008089A CN 110726398 B CN110726398 B CN 110726398B
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
Abstract
The invention relates to the technical field of remote sensing mapping image positioning, in particular to a natural resource remote sensing mapping image positioning method, which comprises the following steps of: setting a plurality of datum points in the measuring area; acquiring the positions of a plurality of datum points on a datum acquisition picture, and forming a plurality of datum reference points based on the positions of the datum points on the datum acquisition picture; the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, and forms a plurality of comparison points in the current acquisition picture based on a plurality of reference points in the measurement area; and judging whether the plurality of comparison points in the current acquisition picture coincide with the plurality of reference points on the reference acquisition picture, if so, taking the current acquisition picture as the current acquisition picture, and if not, continuously adjusting the position of the unmanned aerial vehicle until the plurality of comparison points in the current acquisition picture coincide with the plurality of reference points on the reference acquisition picture.
Description
Technical Field
The invention relates to the technical field of remote sensing mapping image positioning, in particular to a natural resource remote sensing mapping image positioning method.
Background
Natural resources refer to substances that are directly available to humans in nature for production and life. The method can be divided into three categories, namely, non-renewable resources, such as various metals, non-Kingchi minerals, fossil fuels and the like, can be formed only after long geological age; renewable resources, namely organisms, water, land resources and the like, can be produced or reproduced circularly in a short time; thirdly, inexhaustible resources, such as wind power, solar energy and the like, can not cause the reduction of the storage capacity after being utilized. The central tasks of natural protection are protection, proliferation (meaning renewable resources) and reasonable utilization of natural resources, so as to improve the regeneration and continuous utilization capability of resources and obtain the unification of environmental benefits and social and economic benefits.
The development of the unified survey of natural resources and the exploration of the home base are the basis of the natural resource capitalization and the premise of the development of the space planning. The spatial distribution of various natural resources is mastered, the boundaries and property rights bodies of various natural resource assets in all the homeland spaces are clearly defined, and the basis is provided for work of uniform right confirmation, supervision on the development and utilization activities of the homeland spaces according to planning and the like.
When natural resource statistics is realized in a remote sensing surveying and mapping mode, generally, an unmanned aerial vehicle is used for shooting high-altitude pictures, and the shot imaging pictures are analyzed, so that boundaries of various natural resource assets in all the territory and earth spaces, definition and supervision of property body and trend analysis statistics of natural resource development are realized, however, in the process of correspondingly comparing and generating conclusions such as design trend analysis statistics, the imaging pictures in the same measuring area under different time dimensions need to be compared and analyzed, and when the unmanned aerial vehicle is used for shooting pictures under control, due to the fact that vegetation form changes or changes of operators and the like along with the lapse of time, the two shot pictures are likely to be greatly different in position or proportion, and accordingly, the analysis results are greatly deviated, and further improvement is needed.
Disclosure of Invention
The invention aims to provide a method for positioning a remote sensing mapping image of natural resources, which is used for performing reference when the same measuring area is mapped for multiple times, so that the shooting deviation of the picture of the same area is reduced, and the accuracy of an analysis result is improved when the picture is shot for multiple times for comparison.
The technical purpose of the invention is realized by the following technical scheme:
a natural resource remote sensing mapping image positioning method comprises the following steps:
setting a plurality of datum points in the measuring area;
acquiring the positions of a plurality of datum points on a datum acquisition picture, and forming a plurality of datum reference points based on the positions of the datum points on the datum acquisition picture;
the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, and forms a plurality of comparison points in the current acquisition picture based on a plurality of reference points in the measurement area;
judging whether a plurality of comparison points in the current acquisition picture are overlapped with a plurality of reference points on the reference acquisition picture,
if so, the current acquisition picture is taken as the current acquisition picture,
if not, the position of the unmanned aerial vehicle is continuously adjusted until a plurality of comparison points in the current acquisition picture coincide with a plurality of reference points on the reference acquisition picture.
According to the technical scheme, the plurality of datum points are arranged in the measuring area, so that the fixed-point operation of the corresponding positions of the unmanned aerial vehicle during multiple times of acquisition of the same surveying and mapping area is realized, the image needing to be compared is used as a reference acquisition picture, and the positions of the plurality of datum points in the reference acquisition picture are used as reference points as the reference acquisition picture is generated based on the measuring area; during collection, the position of the unmanned aerial vehicle is adjusted and determined in the two collection processes through position comparison between the comparison point generated according to the reference point in the current collection picture and the set reference point, so that the deviation of two times of picture shooting in the same area is reduced, and the accuracy of an analysis result is improved when pictures are shot for multiple times for comparison.
The invention is further configured to: and each datum point is correspondingly matched with a serial number.
Through the technical scheme, the reference points are provided with numbers, so that the measurement area can be conveniently determined, and the picture deviation of the measurement area is further reduced.
The invention is further configured to: each datum point is provided with an identification code which is matched with the corresponding number one by one;
when the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, the position of a contrast point in the current acquisition picture acquires a number corresponding to the identification code and displays the number in the current acquisition picture.
Through the technical scheme, the codes of the corresponding reference points are acquired in the picture acquisition and shooting process, so that the corresponding accuracy of the reference points is further improved, and the measurement deviation of a measurement area is reduced. And the identification code is set on the reference point and the number is acquired, so that the purpose of improving the identification precision is achieved compared with the mode of directly acquiring the number from the acquisition picture.
The invention is further configured to: when the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, the method comprises the following steps:
sequentially connecting a plurality of reference points according to the serial number arrangement sequence of the reference points and connecting the reference points end to generate a reference frame diagram;
and connecting a plurality of comparison points in sequence according to the serial number arrangement sequence of the reference points and connecting the comparison points end to generate a comparison reference frame diagram.
Through above-mentioned technical scheme, through the comparison between the reference block diagram of contrast and the benchmark reference block diagram, reference visual angle area is compared in the increase, compares one and matches the corresponding relation between a plurality of contrast points and the benchmark reference point, is convenient for realize looking over of contrast result through the contrast between the figure of closure to be convenient for unmanned aerial vehicle operating personnel obtain the contrast result fast and adjust the unmanned aerial vehicle position correspondingly.
The invention is further configured to: at least three reference points are arranged in the same measuring area.
According to the technical scheme, the reference frame diagram or the comparison reference frame diagram forms a closed graph through the three reference points, and the contrast precision is further improved relative to a straight line formed by one or two reference points.
The invention is further configured to: when the reference frame diagram and the comparison frame diagram are superposed, namely a plurality of comparison points in the current acquisition picture are superposed with a plurality of reference points on the reference acquisition picture, the current acquisition picture is taken as the current acquisition picture.
According to the technical scheme, whether the superposition of the reference frame diagram and the comparison frame diagram is coincident or not is automatically matched, when the reference frame diagram and the comparison frame diagram are coincident, the fact that a plurality of comparison points in a current acquisition picture are coincident with a plurality of reference points on the reference acquisition picture is indicated, at the moment, the unmanned aerial vehicle shooting function is triggered, the current acquisition picture is used as a current acquisition picture, actual control accuracy is improved when the grade acquisition picture is triggered, and the accuracy of analysis results when multiple times of shooting pictures are compared is further improved.
The invention is further configured to: the identification code is also matched with the geographic information bound with the reference points, and when the number corresponding to the identification code is acquired at the position of the contrast point in the current acquisition picture and is displayed in the current acquisition picture, the geographic information of the reference points is simultaneously displayed in the current acquisition picture.
Through the technical scheme, the geographic information is displayed on the acquisition picture, so that the position of the measurement area is further convenient to determine.
In conclusion, the invention has the following beneficial effects:
through set up a plurality of benchmark in the measurement area, realize unmanned aerial vehicle in the fixed point operation of the corresponding position when gathering same survey and drawing area many times, through the contrast point that generates according to the benchmark in the current collection picture with the position contrast between the benchmark reference point of settlement, form the adjustment and the affirmation to the unmanned aerial vehicle position in the collection process twice to reduce the deviation of shooing the two pictures in same area, and then reach the analysis result degree of accuracy when improving and carry out the contrast through shooting the picture many times.
Drawings
FIG. 1 is a schematic flow chart of steps S100-S400 in the present embodiment;
fig. 2 is a schematic flow chart of steps S310-S320 in this embodiment.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A natural resource remote sensing mapping image positioning method is shown in figure 1, and comprises the following steps:
step S100, setting a plurality of datum points in a measuring area;
step S200, acquiring the positions of a plurality of datum points on a datum acquisition picture, and forming a plurality of datum reference points based on the positions of the datum points on the datum acquisition picture;
step S300, the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, and forms a plurality of comparison points in the current acquisition picture based on a plurality of reference points in the measurement area;
step S400, judging whether a plurality of contrast points in the current collection picture are overlapped with a plurality of reference points on the reference collection picture,
if so, the current acquisition picture is taken as the current acquisition picture,
if not, the position of the unmanned aerial vehicle is continuously adjusted until a plurality of comparison points in the current acquisition picture coincide with a plurality of reference points on the reference acquisition picture.
The reference point can be a distinguishing object which is distinguished from the surrounding environment, such as a vertical pile, a buoy and the like according to different terrain conditions. In order to facilitate the determination of the measurement area, each reference point is correspondingly matched with a serial number, and the reference point is provided with the serial number, so that the picture deviation of the measurement area is further reduced. And each datum point is provided with an identification code which is matched with the corresponding number one by one, when the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, the position of a contrast point in the current acquisition picture acquires the number corresponding to the identification code and displays the number in the current acquisition picture.
By acquiring the codes of the corresponding reference points in the picture acquisition and shooting process, the corresponding accuracy of the reference points is further improved, and the measurement deviation of the measurement area is reduced. Meanwhile, the identification code is arranged on the datum point and the number is acquired, so that the purpose of improving the identification precision is achieved compared with the mode of directly acquiring the number from the acquisition picture. Wherein, the identification code can be a two-dimensional code or a bar code.
The identification code is also matched with and bound with the geographic information of the reference point, the geographic information can be longitude and latitude coordinate information of the reference point, when the number corresponding to the identification code is acquired at the position of a contrast point in the current acquisition picture and is displayed in the current acquisition picture, the geographic information of a plurality of reference points is displayed in the current acquisition picture at the same time. By displaying the geographical information on the acquisition picture, the position determination of the measurement area is further facilitated.
According to the technical scheme defined by the steps S100-S400, the fixed-point operation of the corresponding position of the unmanned aerial vehicle in the process of collecting the same surveying and mapping area for multiple times is realized by arranging a plurality of datum points in the measuring area.
Since the server uses the image to be compared as a reference captured image and the reference captured image is also generated based on the measurement area, the positions of a plurality of reference points in the reference captured image are reference points.
The server receives a current acquisition picture of the unmanned aerial vehicle in real time during acquisition, and the position of a comparison point generated according to the reference point in the current acquisition picture is compared with a set reference point, so that the position of the unmanned aerial vehicle is adjusted and determined in the two acquisition processes, the deviation of two times of picture shooting in the same area is reduced, and the accuracy of an analysis result is improved when the pictures are shot for many times for comparison.
The server is a background server used for engineering construction, mapping and the like, and can be one or more, and the server can include but is not limited to a database server, an application server and a WEB server.
For example, regarding the measurement area No. 001, mapping is performed at 2008.10.1 and 2018.10.1, respectively, due to growth of vegetation or building of a building, the same measurement area No. 001 may be visually recognized to have a large change, and the post of a worker may also have a large change in ten years, so that the reference calibration and adjustment during the unmanned aerial vehicle image acquisition are performed through a plurality of reference points arranged in the measurement area No. 001.
In the process of continuously adjusting the position of the unmanned aerial vehicle, the position of a contrast point formed by the datum point in the current acquisition picture is also continuously adjusted until the plurality of contrast points coincide with the plurality of datum reference points, the unmanned aerial vehicle position is consistent when the current position is acquired by the datum acquisition picture, and the current acquisition picture is intercepted and selected to be used as the current acquisition picture.
When the unmanned aerial vehicle shoots a current acquisition picture over a measurement area, as shown in fig. 2, the method comprises the following steps:
step S310, sequentially connecting a plurality of reference points according to the serial number arrangement sequence of the reference points and connecting the reference points end to generate a reference block diagram;
and step S320, sequentially connecting a plurality of comparison points according to the serial number arrangement sequence of the reference points and connecting the comparison points end to generate a comparison reference block diagram.
And wherein at least three reference points are provided within the same measurement area. The three reference points enable the reference frame diagram or the comparison reference frame diagram to form a closed graph, and the contrast precision is further improved relative to a straight line formed by one or two reference points.
According to the technical scheme defined by the steps S310-S320, the comparison between the comparison reference block diagram and the reference block diagram is adopted, the comparison reference visual angle area is increased, one of the comparison is matched with the corresponding relation between a plurality of comparison points and the reference point, the comparison between closed graphs is convenient to check the comparison result, and therefore the unmanned aerial vehicle operator can conveniently and quickly obtain the comparison result and correspondingly adjust the position of the unmanned aerial vehicle.
Further, when the reference frame diagram and the comparison frame diagram coincide with each other, that is, a plurality of comparison points in the current captured picture coincide with a plurality of reference points on the reference captured picture, the current captured picture is used as the current captured picture.
The server automatically matches whether the superposition of the reference frame diagram and the comparison frame diagram is superposed or not, when the reference frame diagram and the comparison frame diagram are superposed, the fact that a plurality of comparison points in the current acquisition picture are superposed with a plurality of reference points on the reference acquisition picture is indicated, at the moment, the unmanned aerial vehicle shooting function is triggered, the current acquisition picture is used as the current acquisition picture, the grade acquisition picture is improved to trigger actual control and determination, and the accuracy of analysis results when multiple times of shooting pictures are compared is further improved.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (4)
1. A natural resource remote sensing mapping image positioning method is characterized by comprising the following steps:
setting a plurality of datum points in the measuring area;
acquiring the positions of a plurality of datum points on a datum acquisition picture, and forming a plurality of datum reference points based on the positions of the datum points on the datum acquisition picture;
the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, and forms a plurality of comparison points in the current acquisition picture based on a plurality of reference points in the measurement area;
judging whether a plurality of comparison points in the current acquisition picture are overlapped with a plurality of reference points on the reference acquisition picture,
if so, the current acquisition picture is taken as the current acquisition picture,
if not, continuously adjusting the position of the unmanned aerial vehicle until a plurality of comparison points in the current acquisition picture coincide with a plurality of reference points on the reference acquisition picture;
each datum point is correspondingly matched with a serial number;
each datum point is provided with an identification code which is matched with the corresponding number one by one;
when the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, acquiring a number corresponding to the identification code at a comparison point position in the current acquisition picture, and displaying the number in the current acquisition picture;
when the unmanned aerial vehicle shoots a current acquisition picture above a measurement area, the method comprises the following steps:
sequentially connecting a plurality of reference points according to the serial number arrangement sequence of the reference points and connecting the reference points end to generate a reference frame diagram;
and connecting a plurality of comparison points in sequence according to the serial number arrangement sequence of the reference points and connecting the comparison points end to generate a comparison reference frame diagram.
2. The method for locating the remote sensing mapping image of natural resources according to claim 1, wherein: at least three reference points are arranged in the same measuring area.
3. The method for positioning the remote sensing mapping image of natural resources according to claim 2, wherein: when the reference frame diagram and the comparison frame diagram are superposed, namely a plurality of comparison points in the current acquisition picture are superposed with a plurality of reference points on the reference acquisition picture, the current acquisition picture is taken as the current acquisition picture.
4. The method for locating the remote sensing mapping image of natural resources according to claim 1, wherein: the identification code is also matched with the geographic information bound with the reference points, and when the number corresponding to the identification code is acquired at the position of the contrast point in the current acquisition picture and is displayed in the current acquisition picture, the geographic information of the reference points is simultaneously displayed in the current acquisition picture.
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