CN110806199A - Terrain measurement method and system based on laser demarcation device and unmanned aerial vehicle - Google Patents
Terrain measurement method and system based on laser demarcation device and unmanned aerial vehicle Download PDFInfo
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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
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/2433—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures for measuring outlines by shadow casting
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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
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
Abstract
The invention discloses a terrain measurement method and a system based on a laser line projector and an unmanned aerial vehicle, belonging to the field of digital terrain mapping and engineering drawing of unmanned aerial vehicles, the invention is based on the terrain measurement method of the laser line projector and the unmanned aerial vehicle, a surface profile of a terrain to be measured is constructed by the laser line projector, an orthoscopic image of a side slope and a surface laser line thereof is obtained by the unmanned aerial vehicle hovering at a fixed point above the side slope, the acquired orthoscopic image is led into image processing and three-dimensional modeling software, each contour line in the image is extracted and assigned with an elevation value, and a digital elevation model of the terrain of a measured area is established; the invention finds an efficient and economic topographic mapping and modeling method, thereby solving the problems of clumsy, complex, time-consuming and high cost of the traditional method; the method can complete post-processing of data, present complete and accurate topographic mapping data, and solve the defects of difficult acquisition of topographic data, time consumption and labor consumption in engineering application.
Description
Technical Field
The invention belongs to the field of digital terrain surveying and mapping and engineering drawing of unmanned aerial vehicles, and particularly relates to a terrain measuring method and system based on a laser line projector and an unmanned aerial vehicle.
Background
The terrain contour model is one of DEM (grid, contour line and triangulation network) expression modes, is a set of a series of contour lines and corresponding elevation values, is used for describing the ground fluctuation condition, extracting various terrain parameters such as gradient and slope direction and the like, and is widely applied to the design of various line selection (railway, highway and power transmission line) and the calculation of various engineering areas, volumes and gradients.
The current general DEM acquisition mode comprises the following steps: conventional contact measurement and non-contact measurement techniques typified by three-dimensional laser scanning, unmanned aerial vehicle oblique photogrammetry, and the like. The traditional contact type measurement is carried out by depending on equipment such as a total station, a GPS-RTK, a level gauge, a staff gauge and the like in a working mode of manual running ruler, and has the defects of high labor cost, long time consumption, low efficiency and the like. The point cloud data acquired by three-dimensional laser scanning can establish a high-precision high-resolution digital elevation model, but has the defects of large data volume, high instrument cost and low efficiency. The unmanned aerial vehicle oblique photogrammetry is based on an unmanned aerial vehicle air-based platform, a plurality of two-dimensional remote sensing images of the same ground object target are obtained, and after the image space coordinate system and the object space coordinate system are established and converted, three-dimensional point cloud information is finally analyzed and interpreted through air-triple encryption and extracted, but certain technical problems also exist in the process of establishing a terrain model by utilizing an oblique photography technology: one is the problems of ground feature loss and texture deformation caused by improper setting of the overlapping rate or light change; and secondly, when the processed data volume is large, the requirements on computer hardware and software platforms are high, time consumption is long, and the software operation process and three-dimensional model display loading are delayed.
Disclosure of Invention
Aiming at the problems of long time consumption, high cost and complex operation in the prior art, the invention aims to provide a method and a system for measuring the terrain based on a laser line projector and an unmanned aerial vehicle, which solve the defects of difficult acquisition of terrain data, time consumption and labor consumption in engineering application, and provide a new method for engineering surveying and mapping modeling because the imaging characteristic is suitable for night work.
In order to achieve the purpose, the invention provides the following technical scheme:
a terrain measurement method based on a laser line projector and an unmanned aerial vehicle comprises the following steps:
taking a proper area elevation datum plane according to the terrain to be measured, and obtaining the relative height difference delta x of each measurement control point through laser castingiThe distances of the measurement control points projected to the terrain in the reference plane are kept consistent, the actual size of each pixel is obtained through calculation, and then the scales of the pictures and the models are determined;
step 3, projection and aerial photography:
adjust laser demarcation appearance to the datum plane through the tripod, horizontal projection in exposed side slope topography surface, treat the projection stable back, through hovering in the unmanned aerial vehicle aerial photograph of fixed point and acquire the orthographic image of side slope and its surface laser line, adjust the tripod at every turn and rise equal altitude Δ (m) afterwards, the projection laser line elevation that corresponds every measurement control point can be confirmed by the following formula:
in the formula (1), the reaction mixture is,
the elevation of the jth projection line of the ith measuring point is represented, the positions of the unmanned aerial vehicle and the laser projection line instrument are kept unchanged in the projection and aerial photographing processes, and after the photographing of one measuring control point is finished, the steps 2 and 3 are repeated until the next measuring control point is reached;
and extracting laser projection lines of all projection images, endowing the projection lines with corresponding elevation values, and importing the projection lines into corresponding modeling software to establish a Digital Elevation Model (DEM) based on contour lines.
In the preferable scheme, in the step 1, a laser line projector measurement control point and an unmanned aerial vehicle aerial photography suspension point are arranged around the terrain to be measured, and a high-power laser line projector is used for projecting on the surface of the exposed terrain to construct a terrain surface profile; the tripod is used for adjusting the projection height of the laser line projector, horizontal lines with different heights are obtained, and the position of the tripod is kept unchanged in the same measuring point projection aerial photography process.
Preferably, in step 1, the unmanned aerial vehicle is hovered over a point above the terrain to perform upright shooting (keeping the camera vertical), and the fixed-point flying height F of the unmanned aerial vehicle is obtainedHIs determined by the equations (2) to (3):
in the formulae (2) and (3), GDxAnd GDyRespectively representing the maximum length and width of the terrain to be measured, FHTo the flying height, FLIs the focal length, SwAnd SLThe width and the length of the sensor are respectively;
in order to ensure the modeling precision and the imaging quality, the Ground Sampling Distance (GSD) is kept within a reasonable range, and the fixed-point flight height F of the unmanned aerial vehicle is keptHIs determined by equation (4):
in equation (4), GSD represents the ground sampling distance, i.e., image resolution (IFOV), FLDenotes the focal length of the lens, SWIndicates the width of the sensor, PNIndicating the number of pixels per picture width.
In a more preferable scheme, the fixed-point flight height of the unmanned aerial vehicle meets the precision requirements of engineering measurement and three-dimensional terrain modeling on the basis that a lens frame can sufficiently cover all terrain to be measured, and the image resolution (pixel size) is generally required to be less than or equal to 10 centimeters per pixel, namely GSD (total dissolved density) is less than 10 cm/pixel.
Preferably, in the step 2, the known flying height F is obtained from the formula (4)HLens parameters (F)L、SW) And the number of pixels P of the photo widthNUnder the condition (2), the actual size of each pixel can be obtained, and then the scale of the picture and the model is determined.
In the preferred scheme, in the step 4, the orthophoto image is subjected to post-processing, all laser projection lines are collected through corresponding software, and corresponding elevation values are given; in order to ensure sufficient definition of the laser projection in the image, the measurement should be performed in cloudy days or at night.
According to the preferred scheme, the image and the elevation data containing a plurality of horizontal laser projection lines are imported into corresponding modeling software, and a digital elevation model based on a plurality of contour lines is constructed.
The invention also provides a terrain measurement system based on the laser line projector and the unmanned aerial vehicle, which comprises a laser line projection module, an unmanned aerial vehicle orthographic projection module and a three-dimensional terrain modeling module;
the laser line casting module adopts a high-power laser line casting instrument and is used for constructing the surface profile of the terrain to be measured, the high-power laser line casting instrument is used for horizontally projecting on the terrain to be measured, the line casting height is adjusted by a tripod, and equal height distances delta (m) are increased from a reference surface each time until all external profiles are covered;
the unmanned aerial vehicle orthographic projection module is used for acquiring orthographic projection images of the side slope and the surface laser line of the side slope, the flight height is read by a GPS and is determined according to the size of the terrain to be measured and the parameters of a sensor carried by the unmanned aerial vehicle;
the three-dimensional terrain modeling module is used for image data processing and three-dimensional terrain modeling, extracts image projection laser lines by using corresponding image processing software, gives elevation values, and imports terrain modeling software to establish a digital elevation model based on a plurality of climbing lines.
In order to ensure the precision of engineering measurement and terrain modeling, the aircraft should keep hovering at the same point during shooting, so that the measurement work is not suitable for being carried out in windy weather.
The invention relates to a terrain measurement method based on a laser line projector and an unmanned aerial vehicle, which is characterized in that the surface profile of a terrain to be measured is constructed through the laser line projector, an unmanned aerial vehicle hovering at a fixed point above a slope is used for acquiring an orthoscopic image of the slope and the surface laser line thereof, the acquired orthoscopic image is led into image processing and three-dimensional modeling software, all contour lines in the image are extracted and given elevation values, and a Digital Elevation Model (DEM) of the terrain in a measured area is established.
The invention finds an efficient and economic topographic mapping and modeling method, thereby solving the problems of clumsy, complex, time-consuming and high cost of the traditional method; the method can complete post-processing of data, present complete and accurate topographic mapping data, and solve the defects of difficult acquisition of topographic data, time consumption and labor consumption in engineering application.
Compared with the prior art, the invention has the following beneficial technical effects:
1) according to the invention, two low-cost devices, namely the laser line projector and the rotor unmanned aerial vehicle, are adopted to perform horizontal laser projection and fixed-point hovering orthographic photography on the terrain, so that rapid measurement and modeling of the terrain are realized, and the problems of high labor cost, long time consumption, low efficiency and the like of the traditional measurement method are solved.
2) The invention horizontally projects on the terrain surface through the line projector, the effect is visual, the operation is simple and convenient, the high-resolution image obtained by the unmanned aerial vehicle at the fixed point provides precision guarantee for terrain modeling, and meanwhile, a new method is provided for engineering surveying and mapping modeling because the imaging characteristic is suitable for night work.
3) The invention provides a set of convenient rapid measurement and modeling method for a topographic contour line model for line selection design and various engineering calculations.
Drawings
Fig. 1 is a flow chart of the terrain measurement method based on a laser line projector and an unmanned aerial vehicle.
Fig. 2 is a schematic view of the principle of the present invention for topographic measurement.
FIG. 3 is a schematic diagram of fly height, focal length, sensor size versus ground distance.
FIG. 4 is a model of a 1:400 terrain contour modeled by a slope measurement in an embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
The invention will be further illustrated with reference to the following specific examples and the accompanying drawings:
FIG. 1 is a flow chart of a terrain measurement method based on a laser line projector and an unmanned aerial vehicle, wherein a measurement system comprises a laser line projector module, an unmanned aerial vehicle orthographic module and a three-dimensional terrain modeling module; FIG. 2 is a schematic view of the topographic measurement principle of the present invention; FIG. 3 is a schematic diagram of fly height, focal length, sensor size versus ground distance; fig. 4 is a schematic view of a natural irregular slope. The side slope is located in a school area of Changsha city, Hunan province, and through field investigation, the side slope covers herbaceous vegetation, is small in scale, small in maximum length of 20m, 5m in width, 4m in maximum height, gentle in slope, regular in shape, small in elevation change of an area near the side slope, and convenient to measure. The method comprises the steps of measuring the height of a slope in 2019 in one day of 9, arranging 6 height control points near the slope, projecting each measuring point, shooting 5 projected laser lines, obtaining 30 pictures containing the laser lines in total, processing the pictures, modeling, and waiting until the model shown in FIG. 4 is obtained.
The invention relates to a terrain measurement method based on a laser demarcation device and an unmanned aerial vehicle, which is used for measuring a slope and modeling the terrain, and comprises the following steps:
as shown in fig. 4, 6 measurement control points (P1-P6) are arranged around the terrain to be measured, wherein 4 long sides and 2 short sides are arranged, and the parameter of the sensor carried by the known unmanned aerial vehicle is FL/2.8-FL/11 (with auto focus), 4:3 aspect ratio photo pixel 4864x3648, sensor size Sw/2.54-SL/5.84cm；
Unmanned aerial vehicle fixed point flight height FHIs determined by the equations (2) to (3):
in the formulae (2) and (3), GDxAnd GDyRespectively representing the maximum length and width of the terrain to be measured, FHTo the flying height, FLIs the focal length, SwAnd SLThe unmanned aerial vehicle fixed-point flight height F is obtained by the above formula, and is respectively the sensor width, the sensor lengthHThe size is more than or equal to 9.6m so as to ensure that the lens picture can capture all terrain surfaces;
in order to ensure the modeling precision and the imaging quality, the Ground Sampling Distance (GSD) is kept within a reasonable range, and the fixed-point flight height F of the unmanned aerial vehicle is keptHIs determined by equation (4):
in equation (4), GSD represents the ground sampling distance, i.e., image resolution (IFOV), FLDenotes the focal length of the lens, SWIndicates the width of the sensor, PNIndicating the number of pixels per picture width.
The fixed-point flight height of the unmanned aerial vehicle meets the precision requirements of engineering measurement and three-dimensional terrain modeling on the basis that a lens frame can sufficiently cover all terrain to be measured, the image resolution (pixel size) generally requires that the image resolution is less than or equal to 10 centimeters per pixel, the GSD (global position system) is 10cm/pixel as a standard, and F (ground fault detection) can be obtained through calculationHLess than or equal to 21.1mm, and the obtained unmanned aerial vehicle fixed point hovering height range is 9.6m and less than or equal to FH≤21.1m；
controlling the unmanned aerial vehicle to fly to a designated height above the terrain to be measured, adjusting to enable the lens to be vertical, reading GPS data 28 degrees 8 '40.43' N, 112 degrees 58 '34.2' E, FHKeeping the hovering state at 21 m;
the ground part firstly determines the reference point of the area elevation, and the difference of the height between each measuring point and the reference surface is delta x through field measurement1＝0.27m、Δx2＝0.24m、Δx3＝0.18m、Δx4＝0.06m、Δx5＝0.10m、Δx6The distance from each measuring point to a projection line intersection (projection line center) of the terrain to be measured projected in the reference plane is 4 m;
calculating the actual size of each pixel according to the formula (4), and further determining the scale of the picture and the model to be 1: 377;
step 3, projection and aerial photography:
starting laser projection and unmanned aerial vehicle aerial photography from a point P1, and ensuring that each projection line is complete as much as possible and is not shielded by vegetation;
adjust laser demarcation appearance to the reference surface through the tripod, horizontal projection is on exposed side slope topography surface, treat the projection stable back, through hovering in the unmanned aerial vehicle aerial photograph of fixed point and acquireing the orthographic image of side slope and its surface laser line, adjust the tripod at every turn and rise equal altitude Δ ═ 0.5m, notice same control point and measure the shooting in-process and keep the tripod rigidity, later repeated leveling, the projection, the operation of shooting, 5 laser lines of every measurement station co-projection, the projection laser line elevation that corresponds every measurement control point can be confirmed by the following formula:
in the formula (1), the reaction mixture is,
the elevation of the jth projection line of the ith measuring point is represented, the positions of the unmanned aerial vehicle and the laser projector are kept unchanged in the projection and aerial photographing processes, and after the P1 measurement photographing is finished, the steps 2-3 are repeated by switching to P2, P3, … and P6 until the laser projection line covers all the terrain to be measured;
and extracting laser projection lines of all the orthographic images, giving corresponding elevation values, and importing the laser projection lines into corresponding Sketchup to establish a digital elevation model based on contour lines. And (2) performing post-processing on the ortho-images, wherein each ortho-image only has one horizontal laser projection line, synthesizing 30 projection lines on different photos into one photo through corresponding image processing, then importing CAD (computer aided design) to draw each projection line through multiple lines and endowing the projection line with corresponding elevation, and finally importing the contour line containing elevation data into a contour line model of a three-dimensional terrain modeling software Sketchup synthesized terrain, as shown in FIG. 4.
If the traditional total station is adopted, the measurement is carried out in a manual rule running mode, and the consumed time is more than 1 hour; the high-precision high-resolution digital elevation model can be established by point cloud data acquired by three-dimensional laser scanning, but the high-precision high-resolution digital elevation model has the defects of large data volume, high instrument cost and low efficiency. The method provided by the invention overcomes the problems of high labor cost, long time consumption, low efficiency and the like of the traditional measuring method. Through the horizontal projection of the line projector on the terrain surface, the effect is visual, the operation is simple and convenient, and the high-resolution image acquired by the unmanned aerial vehicle at a fixed point provides precision guarantee for terrain modeling. The invention provides a set of convenient rapid measurement and modeling method for a topographic contour line model for line selection design and various engineering calculations.
Example verification shows that the slope terrain simple measurement method based on the combination of the laser projection contour line and the orthographic image belongs to a non-contact measurement method and has the advantages of simple equipment, short time consumption of field work, high efficiency and the like.
Claims (7)
1. A terrain measurement method based on a laser line projector and an unmanned aerial vehicle is characterized by comprising the following steps:
step 1, measurement preparation: arranging a laser line projector and an unmanned aerial vehicle around a terrain to be measured, leveling the laser line projector, arranging projection points so that projection lines can cover all terrains to be measured, keeping a certain overlapping rate of the projection laser lines between adjacent projection points, flying the unmanned aerial vehicle above the terrain, and arranging aerial photography suspension points so that a lens can capture all terrain surfaces in principle;
step 2, determining a reference surface and a scale:
taking a proper area elevation datum plane according to the terrain to be measured, and obtaining the relative height difference delta x of each measurement control point through laser castingiThe distances of the measurement control points projected to the terrain in the reference plane are kept consistent, the actual size of each pixel is obtained through calculation, and then the scales of the pictures and the models are determined;
step 3, projection and aerial photography:
adjust laser demarcation appearance to the datum plane through the tripod, horizontal projection in exposed side slope topography surface, treat the projection stable back, through hovering in the unmanned aerial vehicle aerial photograph of fixed point and acquire the orthographic image of side slope and its surface laser line, adjust the tripod at every turn and rise equal altitude Δ (m) afterwards, the projection laser line elevation that corresponds every measurement control point can be confirmed by the following formula:
in the formula (1), the reaction mixture is,
the elevation of the jth projection line of the ith measuring point is represented, the positions of the unmanned aerial vehicle and the laser projection line instrument are kept unchanged in the projection and aerial photographing processes, and after the photographing of one measuring control point is finished, the steps 2 and 3 are repeated until the next measuring control point is reached;
step 4, image processing and terrain modeling:
and extracting laser projection lines of all the projection images, giving corresponding elevation values, and importing the projection lines into corresponding modeling software to establish a digital elevation model based on contour lines.
2. The method for measuring the terrain based on the laser line projector and the unmanned aerial vehicle according to claim 1, wherein in the step 1, a laser line projector measurement control point and an unmanned aerial vehicle aerial photography suspension point are arranged around the terrain to be measured, and a high-power laser line projector is used for projecting on the exposed terrain surface to construct the terrain surface profile; the tripod is used for adjusting the projection height of the laser line projector, horizontal lines with different heights are obtained, and the position of the tripod is kept unchanged in the same measuring point projection aerial photography process.
3. The method for measuring the terrain based on the laser line projector and the unmanned aerial vehicle according to claim 1, wherein in the step 1, the unmanned aerial vehicle is hovered over a point on the terrain to shoot straightly (the camera is kept vertical), and the fixed-point flying height F of the unmanned aerial vehicle is obtainedHIs determined by the equations (2) to (3):
in the formulae (2) and (3), GDxAnd GDyRespectively representing the maximum length and width of the terrain to be measured, FHTo the flying height, FLIs the focal length, SwAnd SLThe width and the length of the sensor are respectively;
in order to ensure modeling precision and imaging quality, the ground sampling distance is kept within a reasonable range, and the fixed-point flight height F of the unmanned aerial vehicle is keptHIs determined by equation (4):
in equation (4), GSD represents the ground sampling distance, i.e., image resolution (IFOV), FLDenotes the focal length of the lens, SWIndicates the width of the sensor, PNIndicating the number of pixels per picture width.
4. The terrain measurement method based on the laser line projector and the unmanned aerial vehicle as claimed in claim 3, wherein the fixed-point flying height of the unmanned aerial vehicle is required to meet the accuracy requirements of engineering measurement and three-dimensional terrain modeling on the basis that the lens frame is enough to cover all terrain to be measured, and the image resolution is required to be less than or equal to 10 centimeters per pixel, namely GSD is less than 10 cm/pixel.
5. The laser line projector and drone-based terrain surveying method of claim 1, wherein in step 2, as can be seen from equation (4), at a known flying height FHLens parameters (F)L、SW) And the number of pixels P of the photo widthNUnder the condition (2), the actual size of each pixel can be obtained, and then the scale of the picture and the model is determined.
6. The laser demarcation device and unmanned aerial vehicle-based terrain measurement method of claim 1, wherein in the step 4, post-processing is performed on the orthophoto image, and all laser demarcation lines are collected through corresponding software and are endowed with corresponding elevation values; in order to ensure sufficient definition of the laser projection in the image, the measurement should be performed in cloudy days or at night.
7. A terrain measurement system based on a laser line projector and an unmanned aerial vehicle comprises a laser line projector module, an unmanned aerial vehicle orthographic projection module and a three-dimensional terrain modeling module;
the laser line casting module adopts a high-power laser line casting instrument and is used for constructing the surface profile of the terrain to be measured, the high-power laser line casting instrument is used for horizontally projecting on the terrain to be measured, the line casting height is adjusted by a tripod, and equal height distances delta (m) are increased from a reference surface each time until all external profiles are covered;
the unmanned aerial vehicle orthographic projection module is used for acquiring orthographic projection images of the side slope and the surface laser line of the side slope, the flight height is read by a GPS and is determined according to the size of the terrain to be measured and the parameters of a sensor carried by the unmanned aerial vehicle;
the three-dimensional terrain modeling module is used for image data processing and three-dimensional terrain modeling, extracts image projection laser lines by using corresponding image processing software, gives elevation values, and imports terrain modeling software to establish a digital elevation model based on a plurality of climbing lines.
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