CN112781563B - Distribution network oblique photography high-precision point cloud acquisition method - Google Patents
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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 mapping remote sensing field in recent years, and acquires more complete and accurate information of a ground object by carrying a plurality of sensors on the same flight platform (a manned airplane or an unmanned aerial vehicle) and acquiring images from different angles such as verticality and inclination.
The common oblique photography technology mainly comprises a combination of a three-camera and a five-camera, and the current mainstream scheme adopts the five-camera (there are also a few schemes adopting two cameras or a single camera, but the acquisition efficiency is usually reduced). 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 and 60 degrees, so that the contour and texture information of the side surface of the ground object can be acquired more completely, and the method is one of important choices for three-dimensional modeling of a large scene.
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 path;
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 measuring area;
and converting the image data into point cloud data to generate a three-dimensional model of the measuring area.
Further, in the distribution network oblique photography high-precision point cloud collection method, the flight routes comprise a broken line flight route and a surrounding flight route;
the image acquisition technical parameters comprise a ground sampling distance, a course overlapping rate, a side overlapping rate and an 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 route is a broken line flight route, the steps of receiving the input image collection technical parameters and determining the flight parameters corresponding to the flight route through calculation comprise:
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 formula Fixed 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 of formula 1 The 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 the parameters of the lens are fixed; 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 formula Become high ：
H Becomes 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 formula x ：
B x ＝(1-O x )·GSD·p x ；
Wherein, O x The course overlapping rate is; p is a radical of formula x The number of course pixels is the number of pixels of the camera in the direction parallel to the flight path;
calculating and determining the flight corresponding to the broken line flight route by the following formulaLength of line space B y ：
B y ＝(1-O y )·GSD·p y ；
Wherein, O y Is the lateral overlap ratio; p is a radical of y The number of the sidewise pixels is the number of the pixels of the camera in the direction vertical to the flight path;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta max Is an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formula pre ：
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 altitude H corresponding to the surrounding flight route by the following formula Surrounding ring And a surrounding radius R Surround the ：
H Surround the ＝D·cosθ pitch ；
R Surround the ＝D·cosθ pitch ；
Wherein D is the distance between the object to be shot, namely the distance between the camera and the ground object; theta pitch The camera depression angle is derived from a camera tripod head;
the shooting base corresponding to the broken line flight path is determined through calculation according to the following formulaLine length B x ：
B x ＝(1-O x )·GSD·p x ；
Wherein, O x The course overlapping rate is; GSD is the ground sampling distance; p is a radical of formula x The 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 formula y ：
B y ＝(1-O y )·GSD·p y ；
Wherein, O y Is the lateral overlap ratio; p is a radical of y The number of the sidewise pixels is the number of the pixels of the camera in the direction vertical to the flight path;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta. For the preparation of a coating max Is an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formula pre ：
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 dense urban area of the high-rise building 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 space 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 structures related to the present invention are shown in the drawings, not all of them.
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 using reference data 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 if necessary, the survey is performed on the spot, 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 O x : the proportion (%) of the adjacent images of the unmanned aerial vehicle in the flight direction is used for calculating the length B of the shooting baseline x ；
Side overlap ratio O y : the ratio (%) of the image overlap between adjacent routes is used to calculate the route interval length B y ；
Allowable image shift value delta max : the maximum value of the lens image 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 specified manually before the task is executed. In course planning, flight height H and shooting baseline length B x Lane spacing length B y Maximum flying speed V max Task execution time T pre Etc. 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 line 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; to the slope image of ground feature height concentration area, unmanned aerial vehicle uses the fixed radius flight at specific height and fixed point around the flight route, carries out image acquisition according to the shooting interval that task parameter was preset to the promotion of equidifferent is high in proper order, and until gathering the whole image data in survey area, to the top information of ground feature, can set up an independent route and gather.
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 formula Fixed 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 of 1 The 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 the parameters of the lens are fixed; GSD is the ground sampling distance;
when the broken line flight path is a high-altitude flight path, the ground of the measuring area has a certain gradient, 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 calculated and determined through the following formula Becomes high ：
H Becomes high ＝L·tanα+D·cosα；
Wherein D is the distance between the object to be shot, namely the distance between the camera and the ground object; 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 photographic base line corresponding to the broken-line flight path through the following formula x (photographing base length B x For 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):
B x ＝(1-O x )·GS D·p x ；
wherein, O x The course overlapping rate is obtained; GSD is the ground sampling distance; p is a radical of formula x The 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 formula y (lane spacing length By is used to determine the spacing distance between two adjacent lanes, and thus the number of zones):
B y ＝(1-O y )·GSD·p y ；
wherein, O y Is the side lap ratio; p is a radical of formula y The 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 height Or H Becomes 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 counted x The 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 camera inteval And the relation 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 formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta max Is 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 V max This is the hardware parameter of the drone for the maximum speed that the drone can achieve.
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 that avoids transfinites.
Calculating and determining the task execution time T corresponding to the broken line flight route through the following formula pre (in the course planning, the task execution time T is calculated pre The task execution can be reasonably arranged. This parameter can be obtained by dividing the fairway length by the allowable maximum flying 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 altitude H corresponding to the surrounding flight route by the following formula Surrounding ring And a surrounding radius R Surround the ：
H Surround the ＝D·Cosθ pitch ；
R Surround the ＝D·cos θ pitch ；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; theta pitch The 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 formula x ：
B x ＝(1-O x )·GSD·p x ；
Wherein, O x The course overlapping rate is obtained; p is a radical of x The 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 formula y ：
B y ＝(1-O y )·GSD·p r ；
Wherein, O y Is the side lap ratio; p is a radical of formula y The 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 counted x The 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 camera inteval H, course overlap ratio O with altitude x The relationship between them is:
calculating and determining the maximum flight speed V corresponding to the broken line flight path by the following formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta. For the preparation of a coating max Is 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 V max This 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 path through the following formula pre ：
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 inter-route distance.
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 only used to illustrate the technical solution 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 (3)
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;
converting the image data into point cloud data to generate a three-dimensional model of the measuring area;
when the flight route is a broken-line flight route, the steps of receiving the input image acquisition technical parameters and determining the flight parameters corresponding to the flight route through calculation comprise:
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 formula Fixed height ：
Wherein D is the distance between the object to be shot, namely the distance between the camera and the ground object; p is a radical of 1 The number of long-edge pixels is the parameter of a 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 formula Becomes high ：
H Becomes 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 formula x ：
B x ＝(1-O x )·GSD·p x ；
Wherein, O x The course overlapping rate is obtained; p is a radical of x The number of course pixels is the number of pixels in the direction parallel to the flight path of the camera;
calculating and determining the route interval length B corresponding to the broken line flight route by the following formula y ：
B y ＝(1-O y )·GSD·p y ；
Wherein, O y Is the lateral overlap ratio; p is a radical of y The number of the side pixels is the number of the pixels in the direction perpendicular to the camera pixel and the flight line;
the maximum flying speed V corresponding to the broken line flight route is calculated and determined by the following formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta max Is an allowable image shift value;
calculating and determining the task execution time T corresponding to the broken line flight route through the following formula pre ：
Or, when the flight route is a surrounding flight route, the step of receiving the input image acquisition 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 formula Surround the And a surrounding radius R Surround the ：
H Surround the ＝D·cosθ pitch ；
R Surround the ＝D·cosθ pitch ；
Wherein D is the distance between the object to be photographed, namely the distance between the camera and the ground and ground objects; theta pitch The camera depression angle is derived from a camera tripod head;
calculating and determining the length B of a photographing base line corresponding to the surrounding flight route by the following formula x ：
B x ＝(1-O x )·GSD·p x ；
Wherein, O x The course overlapping rate is; GSD is the ground sampling distance; px is the number of course pixels, namely the number of pixels in the direction parallel to the route of the camera;
calculating and determining the route interval length B corresponding to the surrounding flight route by the following formula y ：
B y ＝(1-O y )·GSD·p y ；
Wherein, O y Is a lateral gravityThe folding rate; p is a radical of y The number of the side direction image elements is the number of the image elements in the direction vertical to the route of the camera;
calculating and determining the maximum flying speed V corresponding to the surrounding flight route by the following formula max ：
Wherein t is exposure time and is derived from a photometric value of a camera; delta max Is an allowable image shift value;
calculating and determining the task execution time T corresponding to the surrounding flight route through the following formula pre ：
2. The distribution network oblique photography high-precision point cloud collection method according to claim 1, 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.
3. The method of high-precision point cloud acquisition for distribution network oblique photography according to claim 1, wherein after the step of receiving 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 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 dense urban area of the high-rise buildings is collected, the preset overlap rate O is adjusted to be as follows:
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 waypoint, H is the flight height,lis the lane spacing.
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