CN111366137B - Unmanned aerial vehicle combined terrain surveying and mapping method - Google Patents
Unmanned aerial vehicle combined terrain surveying and mapping method Download PDFInfo
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- CN111366137B CN111366137B CN202010339827.0A CN202010339827A CN111366137B CN 111366137 B CN111366137 B CN 111366137B CN 202010339827 A CN202010339827 A CN 202010339827A CN 111366137 B CN111366137 B CN 111366137B
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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
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
Abstract
The invention discloses an unmanned aerial vehicle combined topographic mapping method, which is characterized by comprising the following steps: a, carrying an oblique photography camera by adopting a rotor type unmanned aerial vehicle to carry out continuous aerial photography on a land to be measured; the unmanned aerial vehicle has a flight data recording function, a POS data recording function and a GPS recording function, the oblique photography camera has five camera lenses, the total pixel is more than one hundred million, and the exposure time exceeds 0.5 s; thereby obtaining flight data, POS data, GPS data and photographs; b. and inputting the flight data, the POS data, the GPS data and the photo into modeling software to generate a three-dimensional map and a line drawing of the terrain. The invention has the advantages of high working efficiency, wide application range and high surveying and mapping precision.
Description
Technical Field
The invention belongs to the field of topographic mapping, and particularly relates to a method for combining unmanned aerial vehicles with topographic mapping.
Background
The topographic survey and drawing mainly measures the coordinates of boundary points of the territory ownership boundary lines, accurately draws the positions, areas, ownership relations, utilization conditions and other elements of the territory and attachments thereof on a drawing and records the elements in a special table book, and is also called cadastral survey and drawing.
In the traditional cadastral surveying and mapping, a manual point-running operation mode is generally adopted to measure a land parcel, and a total station or an RTK system is used in the measuring process. When the total station is used for measurement, the station moving direction needs to be continuously carried out, and the operation efficiency is low. Taking the case of completing the surveying and mapping of 0.25 square kilometer, surveying and mapping personnel are required to work on the site of the plot for 8-12 days to obtain parameters, and the integration of the parameters into a line drawing requires 7-10 days.
When the RTK system is used for measurement, the RTK system comprises a fixed measuring station and a mobile measuring station, the fixed measuring station transmits an observed value and coordinate information of the measuring station to the mobile measuring station through a data link, and the mobile measuring station not only receives data from the fixed measuring station, but also receives GPS data sent by a satellite, and combines the data with current coordinates of two stations at a mobile side; the PTK system has to use GPS data for measurement, and when the mobile measuring station passes through a place with dense houses or dense trees, the GPS data is difficult to receive, the PTK is difficult to fix, the current coordinate data of the mobile measuring station cannot be obtained through calculation, the land measurement work is difficult to complete, and the application range is narrow.
With the development of the modern unmanned aerial vehicle aerial photography technology, a 1:500 aerial survey technology mainly used for mountain and river surveying and mapping is developed, the surveying and mapping precision of the aerial survey technology is +/-0.7 m and is poor, the requirement on the surveying and mapping precision is high and is less than or equal to 0.1m in the interests of a landform surveying and mapping situation owner, and therefore the existing 1:500 aerial survey technology cannot be used for topographic surveying and mapping.
Therefore, the existing topographic mapping method has the defects of low working efficiency, narrow application range or low mapping precision.
Disclosure of Invention
The invention aims to provide a method for surveying and mapping a terrain by combining an unmanned aerial vehicle. The invention has the advantages of high working efficiency, wide application range and high surveying and mapping precision.
The technical scheme of the invention is as follows: an unmanned aerial vehicle combined terrain surveying and mapping method comprises the following steps,
a. carrying out continuous aerial photography on a land to be measured by adopting a rotor type unmanned aerial vehicle carrying an oblique photography camera; the unmanned aerial vehicle has a flight data recording function, a POS data recording function and a GPS recording function, the oblique photography camera has five camera lenses, the total pixel is more than one hundred million, and the exposure time exceeds 0.5 s; thereby obtaining flight data, POS data, GPS data and photographs;
b. and inputting the flight data, the POS data, the GPS data and the photo into modeling software to generate a three-dimensional map and a line drawing of the terrain.
In the unmanned aerial vehicle combined with the topographic mapping method, in the step a, the height of the aerial photograph is 70-200 m.
In the method for mapping terrain by using the unmanned aerial vehicle, in the step a, the height of the aerial photograph is 90 m.
In the above method for mapping terrain by using an unmanned aerial vehicle, in step a, the focal length in the front view direction and the focal length in the oblique view direction of the five camera lenses are 28mm and 40 mm respectively.
In the unmanned aerial vehicle-combined terrain mapping method, in the step a, the course overlapping rate of the oblique photography camera is set to be more than 83%, the lateral overlapping rate is set to be 72%, and a picture is obtained.
In the method for surveying and mapping the terrain by combining the unmanned aerial vehicle, the model of the unmanned aerial vehicle is P550; the model of the oblique photography camera is DG 3; the modeling software is ContextCapture.
In the unmanned aerial vehicle combined terrain surveying and mapping method, control points are arranged at multiple positions on the edge of a terrain and in the area of the terrain, the control points are measured by PTK (packet transport keying), position parameters of the control points are obtained, the position, flight data, POS (point of sale) data, GPS (global positioning system) data and photos of the control points are input into modeling software, a three-dimensional map and line drawing parameters of the terrain are generated and input into the modeling software, and the three-dimensional map and line drawing of the terrain are generated.
In the unmanned aerial vehicle combines the topography mapping method, unmanned aerial vehicle's top and unmanned aerial vehicle's bottom all are equipped with anti crosswind device, anti crosswind device includes the body of being connected with unmanned aerial vehicle, be equipped with the fan in the body, be equipped with the fresh air inlet on the lateral wall of body, the fresh air inlet is located the below of fan, the top of body is equipped with hollow bull stick, the top of bull stick is equipped with flat square pipe, the top of square pipe is equipped with the aerofoil, the aerofoil passes through support and square union coupling, the below of bull stick is equipped with the balancing weight, one side of balancing weight is equipped with the sensor, be connected with the controller on the sensor, the fan passes through the controller and connects unmanned aerial vehicle.
In the unmanned aerial vehicle combined terrain surveying and mapping method, the rotating rod is connected with the balancing weight through the extension rod.
In the unmanned aerial vehicle combines the topography mapping method, square pipe passes through bull stick and body intercommunication, the top of body is equipped with the shrouding, is equipped with the recess that holds the bull stick on the shrouding, is located respectively to be equipped with the keysets on the lateral wall of the recess at bull stick both ends, and the keysets is connected with the bull stick through the pivot.
Compared with the prior art, the method adopts an aerial photography mode to obtain the drawing required by mapping, the speed of obtaining mapping parameters is high, and the mapping personnel only need to operate on site in the plot for 1 day by taking the mapping of 0.25 square kilometer as an example; the invention adopts modeling software to automatically generate a three-dimensional graph and a line drawing graph, and parameters are integrated into the line drawing graph and the three-dimensional graph which are usually not longer than 2 days; the working efficiency is high.
The unmanned aerial vehicle is not limited by terrain, various data, signals and the like cannot be lost in the measuring process, and the control points are selected to be in open areas by combining the terrain of the land parcel, so that the positions of the control points can be easily measured, and the unmanned aerial vehicle can be used for surveying and mapping under complex terrain, and is wide in application range.
The method selects a specific unmanned aerial vehicle to combine with a specific oblique photography camera on the basis of the aerial photography technology of the modern unmanned aerial vehicle, uses a specific parameter mode to obtain various data, integrates the data into modeling software to generate a three-dimensional graph and a line drawing graph, and compares the positions of control points in the process of generating the three-dimensional graph and the line drawing graph by the modeling software, so that the three-dimensional graph and the line drawing graph have high precision, the surveying and mapping precision is less than or equal to 0.1m, and the surveying and mapping requirements are met.
According to the long-term research of the applicant, the important reason that the 1:500 aerial survey technology for mountain and river surveying and mapping is low in surveying and mapping precision is that the unmanned aerial vehicle is poor in crosswind resistance and deviates from a route during aerial photography, so that an obtained photo is distorted, and the crosswind resisting device can enable the influence of crosswind on the unmanned aerial vehicle to be small, so that the unmanned aerial vehicle does not deviate or slightly deviates from the route, the distortion of the photo is reduced, and the surveying and mapping precision is further improved.
Therefore, the invention has the advantages of high working efficiency, wide application range and high surveying and mapping precision.
Drawings
FIG. 1 is a plot of control points on a plot.
FIG. 2 is a portion of a three-dimensional map of the output of the modeling software.
FIG. 3 is a portion of a line drawing of the modeling software output.
Fig. 4 is a front view of the drone.
Fig. 5 is a front view of the anti-crosswind device.
Fig. 6 is a perspective view of the swivel lever in a bottom view.
Fig. 7 is a perspective view of the crosswind resistance device in a top view.
The labels in the figures are: the device comprises a pipe body 1, a fan 2, an air inlet 3, a rotating rod 4, a square pipe 5, a wind plate 6, a support 7, a balancing weight 8, a sensor 9, a controller 10, an extension rod 11, a sealing plate 12, a switching plate 13 and a rotating shaft 14.
Detailed Description
The invention is further illustrated by the following figures and examples, which are not to be construed as limiting the invention.
Examples are given. An unmanned aerial vehicle combined terrain surveying and mapping method is used for surveying and mapping residential areas of spring river streets and riverside villages in the sunny areas of Hangzhou cities, geographic coordinates are 119 degrees to 25 degrees and 120 degrees of 19.5 degrees of east longitude, 29 degrees of north latitude, 44 degrees, 45 degrees to 30 degrees, 11 degrees, 58.5 degrees of north latitude, the area of a land is about 0.4 square kilometer, the residential areas are located in the central part of the riverside villages, houses are concentrated, most of the houses are 3 to 5 layers of single buildings or connected buildings in pieces, and rooms of the connected in pieces are connected by streets. The measurement comprises the following steps of,
a. a P550 type unmanned aerial vehicle (with 6 rotors and with a flight data recording function, a POS data recording function and a GPS recording function) for Huazhong is adopted to carry a Rui platinum DG3 type oblique photography camera (with five camera lenses, 1.2 hundred million total pixels and 0.6s of exposure time) to carry out continuous aerial photography on a land to be measured, wherein the aerial photography height is 70, 90 or 200m, and the optimal aerial photography height is 90 m; during aerial photography, the course of the oblique photography camera is set to be more than 83 percent of overlapping rate, the side overlapping rate is 72 percent, and the front view direction focal length and the oblique view direction focal length of the lens of the oblique photography camera are 28mm and 40 respectively; thereby obtaining flight data, POS data, GPS data and photographs;
b. and inputting the flight data, the POS data, the GPS data and the photo into ContextCapture modeling software to generate a three-dimensional map and a line drawing of the terrain.
In the step a, as shown in fig. 1, control points are arranged at a plurality of positions at the edge of a land and in a land area, the control points avoid places with dense houses and dense trees so as to receive GPS signals, and the control points obtain position parameters of the control points by PTK measurement (which means accurate measurement by an existing PTK system). In the step b, the position of the control point, the flight data, the POS data, the GPS data and the photo are input into modeling software, and the generated three-dimensional map of the terrain and the line drawing parameters are input into the modeling software to generate the three-dimensional map of the terrain and the line drawing.
Unmanned aerial vehicle's top and unmanned aerial vehicle's bottom all are equipped with anti crosswind device, anti crosswind device includes the body 1 of being connected with unmanned aerial vehicle, be equipped with fan 2 in the body 1, be equipped with fresh air inlet 3 on the lateral wall of body 1, fresh air inlet 3 is located the below of fan 2, the top of body 1 is equipped with hollow bull stick 4, the top of bull stick 4 is equipped with flat square pipe 5, square pipe 5's top is equipped with aerofoil 6, aerofoil 6 is connected with square pipe 5 through support 7, the below of bull stick 4 is equipped with balancing weight 8, one side of balancing weight 8 is equipped with sensor 9, be connected with controller 10 on the sensor 9, unmanned aerial vehicle's power is connected through controller 10 to fan 2.
The rotating rod 4 is connected with a balancing weight 8 through an extension rod 11.
Square pipe 5 is through bull stick 4 and body 1 intercommunication, the top of body 1 is equipped with shrouding 12, is equipped with the recess that holds bull stick 4 on the shrouding 12, is located respectively and is equipped with keysets 13 on the lateral wall of the recess at 4 both ends of bull stick, and keysets 13 is connected with bull stick 4 through pivot 14.
The working principle of the crosswind resisting device is as follows: when there is no crosswind, under the effect of balancing weight 8, aerofoil 6 is in vertical upward state, and aerofoil 6 is parallel with unmanned aerial vehicle's direction of advance. When starting the crosswind, aerofoil 6 is blown to one side slope by the crosswind, aerofoil 6 loops through support 7 and square pipe 5 and drives bull stick 4 and rotate, bull stick 4 drives balancing weight 8 through extension rod 11 and removes, sensor 9 produces signal transmission to controller 10, controller 10 starts fan 2, the air current enters into body 1 through fresh air inlet 3, spout from square pipe 5 through bull stick 4, produce the thrust reversal, the crosswind force is overcome to this thrust reversal, make unmanned aerial vehicle not influenced by the crosswind or less, keep on the navigation line. The distance between balancing weight 8 and the sensor 9 is different, and the signal strength that sensor 9 produced is different, and the corresponding change of rotational speed of controller 10 control fan 2 makes the thrust of square 5 blowout air currents productions be close the effort of crosswind to unmanned aerial vehicle all the time.
The invention has the advantages of high working efficiency, wide application range and high surveying and mapping precision.
Claims (8)
1. An unmanned aerial vehicle combined terrain surveying and mapping method is characterized in that: comprises the following steps of (a) carrying out,
a. carrying out continuous aerial photography on a land to be measured by adopting a rotor type unmanned aerial vehicle carrying an oblique photography camera; the unmanned aerial vehicle has a flight data recording function, a POS data recording function and a GPS recording function, the oblique photography camera has five camera lenses, the total pixel is more than one hundred million, and the exposure time exceeds 0.5 s; thereby obtaining flight data, POS data, GPS data and photographs;
b. inputting flight data, POS data, GPS data and photos into modeling software to generate a three-dimensional map and a line drawing map of a terrain;
the model of the unmanned aerial vehicle is P550; the model of the oblique photography camera is DG 3; the modeling software is ContextCapture;
unmanned aerial vehicle's top and unmanned aerial vehicle's bottom all are equipped with anti crosswind device, anti crosswind device includes body (1) of being connected with unmanned aerial vehicle, be equipped with fan (2) in body (1), be equipped with fresh air inlet (3) on the lateral wall of body (1), fresh air inlet (3) are located the below of fan (2), the top of body (1) is equipped with hollow bull stick (4), the top of bull stick (4) is equipped with flat side's pipe (5), the top of side's pipe (5) is equipped with aerofoil (6), aerofoil (6) are connected with side's pipe (5) through support (7), the below of bull stick (4) is equipped with balancing weight (8), one side of balancing weight (8) is equipped with sensor (9), be connected with controller (10) on sensor (9), unmanned aerial vehicle is connected through controller (10) in fan (2).
2. The drone combined terrain mapping method of claim 1, wherein: in the step a, the height of the aerial photo is 70-200 m.
3. The drone combined terrain mapping method of claim 2, wherein: in the step a, the height of the aerial photo is 90 m.
4. The drone combined terrain mapping method of claim 3, wherein: in the step a, the front view direction focal length and the squint direction focal length of the five camera lenses are 28mm and 40 respectively.
5. The drone combined terrain mapping method of claim 4, wherein: in the step a, the course overlapping rate of the oblique photography camera is set to be more than 83 percent, the side overlapping rate is set to be 72 percent, and the picture is obtained.
6. The drone combined terrain mapping method of claim 1, wherein: the method comprises the steps of setting control points at the edges of a land and at multiple positions in a land area, measuring the control points by PTK, obtaining position parameters of the control points, inputting the positions of the control points, flight data, POS data, GPS data and photos into modeling software, generating a three-dimensional map and line drawing parameters of the terrain, inputting the parameters into the modeling software, and generating the three-dimensional map and line drawing of the terrain.
7. The drone combined terrain mapping method of claim 1, wherein: the rotating rod (4) is connected with a balancing weight (8) through an extension rod (11).
8. The drone combined terrain mapping method of claim 1, wherein: square pipe (5) are through bull stick (4) and body (1) intercommunication, the top of body (1) is equipped with shrouding (12), is equipped with the recess that holds bull stick (4) on shrouding (12), is located respectively to be equipped with keysets (13) on the lateral wall of the recess at bull stick (4) both ends, and keysets (13) are connected with bull stick (4) through pivot (14).
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| CN112781550A (en) * | 2020-12-30 | 2021-05-11 | 镇江市勘察测绘研究院 | Unmanned aerial vehicle-based terrain mapping method for mine pit landform |
| CN113865557B (en) * | 2021-09-08 | 2024-01-16 | 诚邦测绘信息科技(浙江)有限公司 | Mountain environment detection method and system for mapping, storage medium and intelligent terminal |
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