CN112781563A - Distribution network oblique photography high-precision point cloud acquisition method - Google Patents
Distribution network oblique photography high-precision point cloud acquisition method Download PDFInfo
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- 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
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Abstract
The invention discloses a distribution network oblique photography high-precision point cloud acquisition method, which comprises the following steps: analyzing the survey area through a topographic map or a satellite image map, and making a flight route; receiving input image acquisition technical parameters, and determining flight parameters corresponding to the flight routes through calculation; carrying out flight according to the flight route and the flight parameters, and acquiring image data of the survey area; and converting the image data into point cloud data to generate a three-dimensional model of the measuring region. According to the invention, a proper flight route is formulated before aerial photography is executed, and flight parameters in the flight route are determined through calculation, so that flight route optimization is realized, the problems that the prior art does not meet diversified acquisition requirements, the overlap rate of flight routes is high, and the acquisition precision is low are solved, and the point cloud acquisition precision and the distribution network modeling capability are improved.
Description
Technical Field
The invention relates to the technical field of building surveying and mapping, in particular to a distribution network oblique photography high-precision point cloud acquisition method.
Background
The oblique image is an image obtained by an aerial camera with a certain inclination angle. The oblique photography technology is a high and new technology developed in the international surveying and mapping remote sensing field in recent years, and acquires more complete and accurate information of ground objects by carrying a plurality of sensors on the same flight platform (manned airplane or unmanned aerial vehicle) and acquiring images from different angles such as verticality and inclination.
The commonly used oblique photography techniques mainly include a combination of three-camera and five-camera, and five-camera is currently the mainstream scheme (there are also few schemes using two-camera or single-camera, but usually at the cost of reduced acquisition efficiency). In the five-camera scheme, one of the cameras acquires a vertical image, and the other four cameras simultaneously acquire side-view images of the ground object from four directions, namely front, back, left and right. The inclination angle of the camera is between 40 degrees and 60 degrees, so that the contour and texture information of the side surface of the ground feature can be acquired more completely, and the method is one of important choices for large scene three-dimensional modeling.
At present, the flight paths of the existing oblique photography technology in any survey area are fixed, the overlap rate of the flight paths is high, and the oblique photography requirement of an irregular area can only be met, but the oblique photography requirement of a ground object high concentration area is often difficult to meet, and the acquisition precision is low.
Disclosure of Invention
The invention provides a distribution network oblique photography high-precision point cloud acquisition method, which aims to overcome the defects of the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a distribution network oblique photography high-precision point cloud acquisition method comprises the following steps:
analyzing the survey area through a topographic map or a satellite image map, and making a flight route;
receiving input image acquisition technical parameters, and determining flight parameters corresponding to the flight routes through calculation;
carrying out flight according to the flight route and the flight parameters, and acquiring image data of the survey area;
and converting the image data into point cloud data to generate a three-dimensional model of the measuring region.
Further, in the distribution network oblique photography high-precision point cloud acquisition method, the flight routes comprise a broken line flight route and a surrounding flight route;
the image acquisition technical parameters comprise ground sampling distance, course overlapping rate, side overlapping rate and allowable image shift value;
the flight parameters include flight height, photographic baseline length, course spacing length, maximum flight speed, and task execution time.
Further, in the distribution network oblique photography high-precision point cloud acquisition method, the step of analyzing the survey area through a topographic map or a satellite image map and formulating a flight path comprises the following steps:
analyzing the survey area through a topographic map or a satellite image map;
for the irregular area in the measuring area, the flight route is set to be a broken line flight route;
and for the high-concentration area of the ground objects in the survey area, setting the flight route as a surrounding flight route.
Further, in the distribution network oblique photography high-precision point cloud collection method, when the flight path is a broken line flight path, the step of receiving the input image collection technical parameters and determining the flight parameters corresponding to the flight path through calculation comprises the following steps:
receiving input image acquisition technical parameters;
when the broken line flight path is a fixed-height flight path, calculating and determining the flight height H corresponding to the broken line flight path by the following formulaFixed height：
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; p is a radical of1The number of long-edge pixels is the parameter of the camera photosensitive element; the FOV is a lens visual angle in the horizontal direction, and a lens fixed parameter; GSD is the ground sampling distance;
when the broken line flight path is a high-altitude flight path, calculating and determining the altitude H corresponding to the broken line flight path according to the following formulaBecomes high：
HBecomes high＝L·tanα+D·cosα；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; alpha is a slope angle; l is the length of the fairway;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax：
Bx＝(1-Ox)·GSD·px；
Wherein, OxThe course overlapping rate is obtained; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formulay：
By＝(1-Oy)·GSD·py；
Wherein, OyIs the lateral overlap ratio; p is a radical ofyThe number of the side direction picture elements is the number of the picture elements in the vertical direction of the camera pixel and the air route;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre：
Further, in the distribution network oblique photography high-precision point cloud collection method, when the flight route is a surrounding flight route, the step of receiving the input image collection technical parameters and determining the flight parameters corresponding to the flight route through calculation comprises the following steps:
receiving input image acquisition technical parameters;
calculating and determining the flight height H corresponding to the surrounding flight route by the following formulaSurrounding ringAnd a surrounding radius RSurround the：
HSurround the＝D·cosθpitch；
RSurround the＝D·cosθpitch；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; thetapitchThe camera depression angle is derived from a camera tripod head;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax：
Bx＝(1-Ox)·GSD·px；
Wherein, OxThe course overlapping rate is obtained; GSD is the ground sampling distance; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formulay：
By＝(1-Oy)·GSD·py；
Wherein, OyIs the lateral overlap ratio; p is a radical ofyThe number of the side direction picture elements is the number of the picture elements in the vertical direction of the camera pixel and the air route;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre：
Further, in the distribution network oblique photography high-precision point cloud acquisition method, after the step of receiving the input image acquisition technical parameters, the method further comprises the following steps:
according to the relationship between the takeoff point and the acquisition area, the preset overlapping rate is adjusted in the following mode:
if the flying point is on the ground of the measuring area and the acquisition area is flat and wide, the preset overlapping rate does not need to be adjusted;
if the flying point is on the ground of the survey area and the urban area with dense high buildings is collected, the preset overlap ratio 0 is adjusted to be:
wherein, O is the overlapping rate, H is the altitude, H is the fixed height, and O is the lateral overlapping degree;
if the takeoff point is higher than the ground of the survey area and a flat area is collected, the preset overlapping rate does not need to be adjusted;
if the flying point is lower than the ground of the measuring area and a flat area is collected, the preset overlap ratio 0 is adjusted to be:
wherein, O is the overlapping rate, S1 is the distance between two adjacent waypoints, L is the length of the flight line, H is the flight height, and L is the distance between the flight lines.
According to the distribution network oblique photography high-precision point cloud acquisition method provided by the invention, a proper flight route is formulated before aerial photography is executed, and flight parameters in the flight route are determined through calculation, so that flight route optimization is realized, the problems that the prior art cannot meet diversified acquisition requirements, the flight zone overlapping rate is high, and the acquisition precision is low can be solved, and the point cloud acquisition precision and the distribution network modeling capability are improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a flowchart of a method for acquiring a distribution network oblique photography high-precision point cloud in an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Referring to fig. 1, fig. 1 is a schematic flow chart of a distribution network oblique photography high-precision point cloud collection method according to an embodiment of the present invention, and the method is suitable for a scene in which an unmanned aerial vehicle or a manned aircraft is used for aerial photography. The method specifically comprises the following steps:
s101, analyzing the survey area through a topographic map or a satellite image map, and making a flight path.
The flight paths comprise broken line flight paths and surrounding flight paths.
Before each aerial photography, the survey area is analyzed in more detail by reference materials such as a topographic map and a satellite image map, for example, the geographic position of the survey area, ground objects of the survey area, and the like, and the survey area is conducted on the spot if necessary, so that the information of the survey area is comprehensively known.
S102, receiving input image acquisition technical parameters, and determining flight parameters corresponding to the flight routes through calculation.
The image acquisition technical parameters comprise ground sampling distance, course overlapping rate, side overlapping rate and allowable image shift value;
the flight parameters include flight height, photographic baseline length, course spacing length, maximum flight speed, and task execution time.
Specifically, the ground sampling distance GSD: the pixel size expressed by ground distance unit in the digital image, i.e. ground resolution, is unit of meter/pixel, which is an important index for measuring image resolution. The most direct relationship between the GSD and the course parameters is the course height, which determines the exposure height of the camera and the pixel of the acquired image, i.e. the GSD. In the unmanned aerial vehicle oblique image acquisition, calculating based on the GSD of the orthoimage;
course overlap ratio Ox: the proportion (%) of the adjacent images overlapped in the flying direction of the unmanned aerial vehicle is used for calculating the length B of the photographing base linex；
Side overlap ratio Oy: the ratio (%) of the image overlap between adjacent routes is used to calculate the route interval length By；
Allowable image shift value deltamax: the maximum value of the lens imaging in the focal plane during the exposure time is the ratio of the pixel size to the pixel size (unitless). The parameter describes the dynamic blurring degree of the image, and the maximum cruising speed of the unmanned aerial vehicle is calculated through the unmanned aerial vehicle parameter and the camera parameter.
These parameters are key indicators affecting the image acquisition accuracy, and are usually manually specified before the task is performed. In course planning, flight height H and shooting baseline length BxLane spacing length ByMaximum flying speed VmaxTask execution time TpreEtc. are calculated and determined based on these parameters.
S103, flying is carried out according to the flight route and the flight parameters, and image data of the survey area are collected.
And S104, converting the image data into point cloud data to generate a three-dimensional model of the measuring area.
In this embodiment, to irregular area and high-concentration district of ground object, two kinds of flight routes of unmanned aerial vehicle have been designed: broken line flight paths and circular flight paths. The survey area broken line flight routes are simultaneously suitable for vertical and oblique photography in irregular areas, a navigation point is set at the starting point and the stopping point of each route, and the unmanned aerial vehicle acquires images according to shooting intervals preset by aerial photography parameters in the flight process until all routes finish flying; for the inclined image of the ground feature high concentration area, the unmanned aerial vehicle flies around the flight route at a specific height and a fixed radius of a fixed point, image acquisition is carried out according to shooting intervals preset by task parameters, the flight height is sequentially subjected to equal-difference lifting until all image data of a survey area are acquired, and an independent route can be set for acquiring the top information of the ground feature.
Preferably, the step S101 further includes:
analyzing the survey area through a topographic map or a satellite image map;
for the irregular area in the measuring area, the flight route is set to be a broken line flight route;
and for the high-concentration region of the ground objects in the survey area or the independent ground objects such as a high-rise region, a large statue, a mountain top and the like, setting the flight route as a surrounding flight route.
Preferably, when the flight path is a broken-line flight path, the step S102 further includes:
receiving input image acquisition technical parameters;
in the actual image acquisition, the actual conditions of the ground of the survey area, such as the horizontal ground and the slope ground, are different from each other in the relationship between the relative flight height and the photographic object distance D.
When the broken line flight path is a fixed-height flight path, calculating and determining the flight height H corresponding to the broken line flight path by the following formulaFixed height：
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; p is a radical of1The number of long-edge pixels is the parameter of the camera photosensitive element; the FOV is a lens visual angle in the horizontal direction, and a lens fixed parameter; GSD is the ground sampling distance;
when the broken line flight path is a high-altitude flight path, the ground of the survey area has a certain slope, the main optical axis of the unmanned aerial vehicle camera is perpendicular to the ground, and the flight height H corresponding to the broken line flight path is determined through calculation according to the following formulaBecomes high：
HBecomes high＝L·tanα+D·cosα；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; alpha is a slope angle, if the main optical axis is nearly perpendicular to the slope surface, then
L is the length of the fairway;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax(photographing base length BxFor determining flight on one flight path, the unmanned aerial vehicle acquires the flight distance of two adjacent images, thereby determining the exposure time of the camera):
Bx＝(1-Ox)·GS D·px；
wherein, OxThe course overlapping rate is obtained; GSD is the ground sampling distance; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formulay(lane spacing length By is used to determine the spacing distance between two adjacent lanes, and thus the number of zones):
By＝(1-Oy)·GSD·py；
wherein, OyIs the lateral overlap ratio; p is a radical ofyThe number of the side direction picture elements is the number of the picture elements in the vertical direction of the camera pixel and the air route;
according to the relation between the flight height and the ground sampling distance GSD, the flight height H (H represents H)Fixed heightOr HBecomes high) Relation to the photographing base length Bx:
if the unmanned aerial vehicle camera adopts the mode of equal time interval to collect images, only the length B of the photographing base line needs to be countedxThe ratio of the speed v to the speed within the range allowed by the unmanned aerial vehicle, and the exposure time interval T of the cameraintevalThe relationship between the heading height H and the heading overlap rate Ox is as follows:
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
the maximum exposure time of the camera (shutter safe speed) and the flight speed threshold of the unmanned aerial vehicle have the following relationship:
in the formula (I), the compound is shown in the specification,
maximum flying speed VmaxThis is the hardware parameter of the drone for the maximum speed that the drone can reach.
Through synthesizing unmanned aerial vehicle hardware parameter and camera hardware parameter, can find the equilibrium value between airspeed and the shutter speed, through setting up the exposure time threshold value, the effectual image motion value of avoiding transfinites.
Calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre(in the course planning, the task execution time T is calculatedpreThe task execution can be reasonably arranged. This parameter can be obtained by dividing the flight line length by the maximum allowable flight speed of the drone):
the navigation line length L can obtain the navigation line length of a straight line/broken line type by calling the API of a geographic base map such as a Goodpasture map SDK and a Baidu map SDK;
preferably, when the flight path is a surrounding flight path, the step S102 further includes:
receiving input image acquisition technical parameters;
calculating and determining the flight height H corresponding to the surrounding flight route by the following formulaSurrounding ringAnd a surrounding radius RSurround the：
HSurround the＝D·Cosθpitch；
RSurround the＝D·cos θpitch；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; thetapitchThe camera depression angle is derived from a camera tripod head;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax：
Bx＝(1-Ox)·GSD·px；
Wherein, OxThe course overlapping rate is obtained; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
the following formula is used for calculating and determining the flight path of the broken lineLine-to-line course spacing length By：
By＝(1-Oy)·GSD·pr；
Wherein, OyIs the lateral overlap ratio; p is a radical ofyThe number of the side direction picture elements is the number of the picture elements in the vertical direction of the camera pixel and the air route;
according to the relation between the flight height and the ground sampling distance GSD, the flight height H (H represents H)Surround the) Relation to the photographing base length Bx:
if the unmanned aerial vehicle camera adopts the mode of equal time interval to collect images, only the length B of the photographing base line needs to be countedxThe ratio of the speed v to the speed within the range allowed by the unmanned aerial vehicle, and the exposure time interval T of the cameraintevalH, course overlap ratio O with altitudexThe relationship between them is:
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
the maximum exposure time of the camera (shutter safe speed) and the flight speed threshold of the unmanned aerial vehicle have the following relationship:
in the formula (I), the compound is shown in the specification,
maximum speed of flightDegree VmaxThis is the hardware parameter of the drone for the maximum speed that the drone can reach.
Through synthesizing unmanned aerial vehicle hardware parameter and camera hardware parameter, can find the equilibrium value between airspeed and the shutter speed, through setting up the exposure time threshold value, the effectual image motion value of avoiding transfinites.
Calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre：
In this embodiment, the survey district of unmanned aerial vehicle actual work is complicated changeable usually, survey district probably includes city high building crowd, complicated undulant mountain massif etc. and unmanned aerial vehicle's take-off height also is not flat ground usually, predetermine image overlap rate and actual image overlap rate at this moment and probably be inconsistent, lead to the image overlap rate of gathering not to conform to the quality requirement, can be directed against the actual conditions of survey district and departure point at this moment, overlap rate is predetermine in real-time adjustment, can gather the image that more accords with the quality requirement, can obtain better effect and precision.
Preferably, after the step of receiving the input image acquisition technical parameters, the method further comprises:
according to the relationship between the takeoff point and the acquisition area, the preset overlapping rate is adjusted in the following mode:
if the flying point is on the ground of the measuring area and the collecting area is flat and wide, the preset overlapping rate does not need to be adjusted.
The situation is conventional aerial photography flight, and a flight line can be directly set according to the preset altitude and the preset overlap ratio to finish the flight.
If the flying point is on the ground of the survey area and the urban area with dense high buildings is collected, the preset overlap ratio 0 is adjusted to be:
wherein, O is the overlapping rate, H is the altitude, H is the fixed height, and O is the lateral overlapping degree.
In this case, the overlapping rate is set directly, and the low objects on the ground can satisfy the requirement of the overlapping rate, but the overlapping rate of the roof image is reduced for the high-rise building.
If the takeoff point is higher than the ground of the survey area and a flat area is collected, the preset overlapping rate does not need to be adjusted.
According to
It can be determined that the preset overlap ratio is greater than the overlap ratio to be adjusted, in which case, the preset overlap ratio does not need to be adjusted.
If the flying point is lower than the ground of the measuring area and a flat area is collected, the preset overlap ratio 0 is adjusted to be:
wherein, O is the overlapping rate, S1 is the distance between two adjacent waypoints, L is the length of the flight line, H is the flight height, and L is the distance between the flight lines.
According to the distribution network oblique photography high-precision point cloud acquisition method provided by the embodiment of the invention, a suitable flight path is formulated before aerial photography is executed, and flight parameters in the flight path are determined through calculation, so that flight path optimization is realized, the problems that the prior art does not meet diversified acquisition requirements, the overlap rate of flight paths is high, and the acquisition precision is low are solved, and the point cloud acquisition precision and the distribution network modeling capability are improved.
The above embodiments are merely to illustrate the technical solutions of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. A distribution network oblique photography high-precision point cloud acquisition method is characterized by comprising the following steps:
analyzing the survey area through a topographic map or a satellite image map, and making a flight route;
receiving input image acquisition technical parameters, and determining flight parameters corresponding to the flight routes through calculation;
carrying out flight according to the flight route and the flight parameters, and acquiring image data of the survey area;
and converting the image data into point cloud data to generate a three-dimensional model of the measuring region.
2. The distribution network oblique photography high-precision point cloud acquisition method according to claim 1, wherein the flight paths comprise a broken line flight path and a surrounding flight path;
the image acquisition technical parameters comprise ground sampling distance, course overlapping rate, side overlapping rate and allowable image shift value;
the flight parameters include flight height, photographic baseline length, course spacing length, maximum flight speed, and task execution time.
3. The distribution network oblique photography high-precision point cloud collection method according to claim 2, wherein the step of analyzing a survey area through a topographic map or a satellite image map and formulating a flight path comprises:
analyzing the survey area through a topographic map or a satellite image map;
for the irregular area in the measuring area, the flight route is set to be a broken line flight route;
and for the high-concentration area of the ground objects in the survey area, setting the flight route as a surrounding flight route.
4. The distribution network oblique photography high-precision point cloud collection method according to claim 3, wherein when the flight route is a broken line flight route, the step of receiving input image collection technical parameters and determining the flight parameters corresponding to the flight route through calculation comprises the following steps:
receiving input image acquisition technical parameters;
when the broken line flight path is a fixed-height flight path, calculating and determining the flight height H corresponding to the broken line flight path by the following formulaFixed height：
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; p is a radical of1The number of long-edge pixels is the parameter of the camera photosensitive element; the FOV is a lens visual angle in the horizontal direction, and a lens fixed parameter; GSD is the ground sampling distance;
when the broken line flight path is a high-altitude flight path, calculating and determining the altitude H corresponding to the broken line flight path according to the following formulaBecomes high：
HBecomes high＝L·tanα+D·cosα；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; alpha is a slope angle; l is the length of the fairway;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax：
Bx＝(1-Ox)·GSD·px；
Wherein, OxThe course overlapping rate is obtained; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formulay：
By＝(1-Oy)·GSD·py；
Wherein, OyIs the lateral overlap ratio; p is a radical ofyAs a number of side-way picture elements, i.e.The number of pixels of the camera in the direction vertical to the flight line;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre：
5. The distribution network oblique photography high-precision point cloud collection method according to claim 3, wherein when the flight path is a surrounding flight path, the step of receiving input image collection technical parameters and determining the flight parameters corresponding to the flight path through calculation comprises the following steps:
receiving input image acquisition technical parameters;
calculating and determining the flight height H corresponding to the surrounding flight route by the following formulaSurrounding ringAnd a surrounding radius RSurround the：
HSurround the＝D·cosθpitch；
RSurround the＝D·cosθpitch；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; thetapitchThe camera depression angle is derived from a camera tripod head;
calculating and determining the length B of a photographing base line corresponding to the broken line flight path through the following formulax：
Bx＝(1-Ox)·GSD·px；
Wherein, OxThe course overlapping rate is obtained; GSD is the ground sampling distance; p is a radical ofxThe number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formulay：
By＝(1-Oy)·GSD·py；
Wherein, OyIs the lateral overlap ratio; p is a radical ofyThe number of the side direction picture elements is the number of the picture elements in the vertical direction of the camera pixel and the air route;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formulamax：
Wherein t is exposure time and is derived from a photometric value of a camera; deltamaxIs an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formulapre：
6. The distribution network oblique photography high precision point cloud collection method according to claim 4 or 5, wherein after the step of receiving input image collection technical parameters, the method further comprises:
according to the relationship between the takeoff point and the acquisition area, the preset overlapping rate is adjusted in the following mode:
if the flying point is on the ground of the measuring area and the acquisition area is flat and wide, the preset overlapping rate does not need to be adjusted;
if the flying point is on the ground of the survey area and the urban area with dense high buildings is collected, the preset overlap ratio O is adjusted to be:
wherein, O is the overlapping rate, H is the altitude, H is the fixed height, and O is the lateral overlapping degree;
if the takeoff point is higher than the ground of the survey area and a flat area is collected, the preset overlapping rate does not need to be adjusted;
if the flying point is lower than the ground of the survey area and the flat area is collected, the preset overlap ratio O is adjusted to be:
wherein, O is the overlapping rate, S1 is the distance between two adjacent waypoints, L is the length of the flight line, H is the flight height, and L is the distance between the flight lines.
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| CN113324526A (en) * | 2021-05-27 | 2021-08-31 | 昆明理工大学 | Landslide body-oriented unmanned aerial vehicle elevation route photographic parameter determination method |
| CN114063642A (en) * | 2021-11-01 | 2022-02-18 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle route planning method and device, electronic equipment and storage medium |
| CN115164905A (en) * | 2022-08-15 | 2022-10-11 | 宁波市天一测绘设计研究有限公司 | Aerial survey precision determining method and system |
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