CN112861639A - River channel transition monitoring method based on unmanned aerial vehicle remote sensing - Google Patents
River channel transition monitoring method based on unmanned aerial vehicle remote sensing Download PDFInfo
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Abstract
The invention discloses a river channel transition monitoring method based on unmanned aerial vehicle remote sensing, which comprises the following steps: s1: shooting a river channel by using an unmanned aerial vehicle to obtain unmanned aerial vehicle remote sensing initial data; s2: preprocessing the remote sensing initial data of the unmanned aerial vehicle to obtain remote sensing data of the unmanned aerial vehicle; s3: establishing river channel surface DEM models in different periods according to the unmanned aerial vehicle remote sensing data; s4: and analyzing the displacement trend of the DEM model of the river course surface in different periods by using the remote sensing data of the unmanned aerial vehicle, and finishing river course transition monitoring. By adopting the river channel monitoring method, the river channel transition condition is obtained by utilizing the space remote sensing image, so that the river channel can be conveniently known from multiple angles; the method adopts scientific means to monitor the river channel transition phenomenon, and has positive significance for reasonably developing, utilizing and renovating the river channel.
Description
Technical Field
The invention belongs to the technical field of river channel monitoring, and particularly relates to a river channel transition monitoring method based on unmanned aerial vehicle remote sensing.
Background
River channel transition is a phenomenon caused by the combined action of human factors and natural factors. The yellow river is the second river of China, the fifth river of the world, and is called mother river. However, with the influence of human activities in recent years, the river course lines in the river basin of the yellow river are eroded, and the sign of river course line transition can cause serious harm to embankment engineering and have adverse effects on the ecological environment and production life around the river basin of the yellow river. In the traditional river channel transition observation and monitoring, a three-dimensional laser scanning technology is mainly adopted to carry out river channel transition operation by relying on references such as river channel two-bank station arrangement, targets and the like. Since certain manpower and energy are required for establishing the target, the technology cannot be used as a reasonable means for river channel transition monitoring. Therefore, the phenomenon of river channel transition in the yellow river basin is reasonably monitored by adopting scientific means, and the method has very important significance for reasonably developing, utilizing and remedying river reach and implementing a war of ecological sustainable development around the yellow river basin.
Disclosure of Invention
The invention aims to solve the problem of effectively monitoring river channel transition and provides a river channel transition monitoring method based on unmanned aerial vehicle remote sensing.
The technical scheme of the invention is as follows: a river channel transition monitoring method based on unmanned aerial vehicle remote sensing comprises the following steps:
s1: shooting a river channel by using an unmanned aerial vehicle to obtain unmanned aerial vehicle remote sensing initial data;
s2: preprocessing the remote sensing initial data of the unmanned aerial vehicle to obtain remote sensing data of the unmanned aerial vehicle;
s3: establishing river channel surface DEM models in different periods according to the unmanned aerial vehicle remote sensing data;
s4: and analyzing the displacement trend of the DEM model of the river course surface in different periods by using the remote sensing data of the unmanned aerial vehicle, and finishing river course transition monitoring.
The invention has the beneficial effects that:
(1) by adopting the river channel monitoring method, the river channel transition condition is obtained by utilizing the space remote sensing image, so that the river channel can be conveniently known from multiple angles;
(2) the method adopts scientific means to monitor the river channel transition phenomenon, and has positive significance for reasonably developing, utilizing and renovating the river channel.
Further, step S2 includes the following sub-steps:
s21: converting layer data of the unmanned aerial vehicle remote sensing initial data into an SHP format to complete format conversion;
s22: carrying out affine transformation on the format-converted unmanned aerial vehicle remote sensing initial data to complete coordinate transformation;
s23: denoising the unmanned aerial vehicle remote sensing initial data after coordinate transformation to finish data denoising;
s24: and sequentially performing homochemotaxis processing and dimensionless processing on the unmanned aerial vehicle remote sensing initial data subjected to data denoising to finish the pretreatment of the unmanned aerial vehicle remote sensing data.
The beneficial effects of the further scheme are as follows: in the invention, after format conversion is carried out on the unmanned aerial vehicle remote sensing data, the elevation data in each attribute field can be conveniently extracted, and DEM model establishment is carried out; because the acquired unmanned aerial vehicle data are established in different coordinate systems, all data parameters are subjected to affine transformation in a coordinate transformation mode, so that all the acquired data are unified to the same coordinate system; the data denoising is that the acquired remote sensing image has partial errors due to errors in links such as atmospheric interference, acquisition errors, input and output, data processing and the like in the aerial photographing process of the unmanned aerial vehicle aerial photographing system, so in order to eliminate the errors and improve the accuracy of the remote sensing image, the data denoising processing operation needs to be performed on the original image of the remote sensing image; the data standardization is to standardize the data before the data analysis operation, and the data standardization is divided into two parts: data homoeotaxis processing and data dimensionless processing, wherein the data homochemotaxis processing mainly solves the problems of different properties, so that the results can be correctly obtained only by the homochemotaxis of all index analysis capabilities; the data non-dimensionalization processing mainly solves the data comparability, and after the data are subjected to standardization processing, the original data are converted into non-dimensionalized index mapping evaluation values, namely, the index data are in the same quantity and range, so that comprehensive analysis is convenient to carry out.
Further, step S3 includes the following sub-steps:
s31: establishing a DEM model by using an interpolation method;
s32: importing the remote sensing data of the unmanned aerial vehicle into a DEM model to generate an irregular triangular net;
s33: rasterizing the irregular triangular net by adopting a TIN to aster tool;
s34: and extracting the river surface by adopting an Extract by mask tool according to the rasterized irregular triangular network, and finishing the establishment of the DEM model of the river surface in different periods.
The beneficial effects of the further scheme are as follows: in the present invention, the interpolation method has the advantages that: the surface morphology can be expressed on different levels of resolution, and the DEM model can fully represent the complex terrain with smaller space and shorter time under a specific resolution. The rasterization of the irregular triangulation network has the advantages that: the unmanned aerial vehicle remote sensing data acquired by the aerial photography of the unmanned aerial vehicle is discrete point cloud data, and the irregular triangulation network can accurately fit a complex ground surface by using less time and space. The DEM model of the river channel is established, and the DEM model can be established only by rasterizing the discrete point cloud data.
Further, step S4 includes the following sub-steps:
s41: performing multi-temporal superposition analysis on the whole river channel according to the DEM model of the river channel surface;
s42: extracting river course surface contour lines after multi-temporal superposition analysis according to a river course surface DEM model;
s43: and carrying out coincidence analysis on the contour lines of the river channel surface to complete river channel transition monitoring.
The beneficial effects of the further scheme are as follows: in the invention, firstly, the multi-temporal river channel integral DEM superposition analysis is adopted, and the river channel transition condition is judged by carrying out superposition analysis on different river channel surface DEM models due to different time periods for obtaining the river channel surface DEM models. Secondly, the remote sensing data images of the unmanned aerial vehicle acquired in different periods are different, the generated contour lines are also different, and the contour lines extracted in different periods are subjected to overlapping analysis, so that the river channel transition condition is judged.
Further, step S41 includes the following sub-steps:
s411: performing multi-temporal superposition analysis on the DEM model of the river surface in two adjacent stages to obtain the transition displacement trend of the river;
s412: and calculating the transition deformation quantity of the river channel according to the transition displacement trend of the river channel.
Further, in step S411, the method for performing multi-temporal superposition analysis on the DEM models of the river surfaces in two adjacent periods includes: and mutually overlapping the normals of the DEM models of the river channel surfaces in two adjacent stages to finish matching.
Further, in step S412, the calculation formula of the river channel transition deformation amount D is:
wherein X represents the abscissa of the point of the first-stage river surface, and X1The abscissa of the point of the second-phase river channel surface after deformation is shown, Y represents the ordinate of the point of the first-phase river channel surface, and Y represents the Y1The vertical coordinate of the point of the second-phase river channel surface after deformation is shown, Z is the vertical coordinate of the point of the first-phase river channel surface, and Z1And the vertical coordinate of the point of the second-phase river channel surface after deformation is shown.
The beneficial effects of the further scheme are as follows: in the invention, the DEM model of a certain period T is used as a reference surface, the DEM model of a period T +1 is used as a reference model, and the DEM models of the river channel surfaces of the two periods are mutually superposed, so that the normals of the DEM models of the river channel surfaces of different periods are mutually matched. By analogy, the adjacent two-stage river channel surface DEM models are matched according to the method, and the normal lines of the two-stage river channel surface DEM models are overlapped, so that the displacement trend of the river channel during a certain period is obtained.
Further, step S42 includes the following sub-steps:
s421: judging whether a contour line formed by connecting discrete points with the same elevation intersects with a triangle or not according to the DEM model of the river channel surface and the irregular triangular net, and screening to obtain the triangle with the intersection of the contour line and the triangle side;
s422: tracking all triangles in the irregular triangulation network;
s423: labeling the triangle in which the contour line intersects with the triangle side in the tracking process;
s424: and traversing the contour lines of the labeled triangle to complete the extraction of the contour lines of the river course surface.
The beneficial effects of the further scheme are as follows: in the invention, the intervals of the contour lines can be set according to actual conditions, the contour lines are extracted according to the DEM models of the river channel surfaces at different periods, the contour line distribution change condition of the river channel of the yellow river basin at each period is obtained, and the contour lines at each period are subjected to coincidence analysis, so that the river channel transition condition can be obtained.
Further, in step S421, the calculation formula for determining whether the contour line of each triangle intersects with the triangle edge is:
e＝(HA-HC)·(HB-HC)
wherein HARepresenting the elevation, H, of the first point of any triangle in the Delauany triangulation networkBRepresenting the elevation, H, of the second point of any one triangle in the Delauany triangulation networkCRepresenting the elevation value of a third point of any triangle in the Delauany triangulation network;
if e is less than 0, the contour line intersects with the triangle side; if e is greater than 0, the contour line does not intersect with the triangle edge; if e is 0, the contour line passes through the vertex of the triangle.
The beneficial effects of the further scheme are as follows: in the present invention, a contour is an expression model that can project a three-dimensional solid model onto a two-dimensional plane. A contour line extraction method of a Delaunay triangle based on TIN is adopted, and Delaunay is a method for automatically extracting contour lines from discrete point cloud data.
Further, in step S43, the method for performing overlay analysis on the channel surface contour line includes: if the contour lines of the river channel surface are intersected, the river channel has a transition phenomenon; otherwise, the river channel has no transition phenomenon.
Drawings
Fig. 1 is a flow chart of a river channel transition monitoring method.
Detailed Description
The embodiments of the present invention will be further described with reference to the accompanying drawings.
Before describing specific embodiments of the present invention, in order to make the solution of the present invention more clear and complete, the definitions of the abbreviations and key terms appearing in the present invention will be explained first:
TIN to master tool: means for converting the triangulation network into a grating;
extract by mask tool: the tool is extracted by mask.
As shown in fig. 1, the invention provides a river channel transition monitoring method based on unmanned aerial vehicle remote sensing, which comprises the following steps:
s1: shooting a river channel by using an unmanned aerial vehicle to obtain unmanned aerial vehicle remote sensing initial data;
s2: preprocessing the remote sensing initial data of the unmanned aerial vehicle to obtain remote sensing data of the unmanned aerial vehicle;
s3: establishing river channel surface DEM models in different periods according to the unmanned aerial vehicle remote sensing data;
s4: and analyzing the displacement trend of the DEM model of the river course surface in different periods by using the remote sensing data of the unmanned aerial vehicle, and finishing river course transition monitoring.
In step S1, an unmanned aerial vehicle aerial photography technique is used to perform an unmanned aerial vehicle flight test on a river course of a yellow river basin, and a suitable climate is selected as a flight condition to determine parameters such as an unmanned aerial vehicle flight path, a course overlapping degree, a side overlapping degree, a shooting height, an angle, a course speed and the like. Determining a shooting period, and acquiring unmanned aerial vehicle remote sensing data related to different periods of a certain section of river channel of the yellow river basin.
In the embodiment of the present invention, as shown in fig. 1, step S2 includes the following sub-steps:
s21: converting layer data of the unmanned aerial vehicle remote sensing initial data into an SHP format to complete format conversion;
s22: carrying out affine transformation on the format-converted unmanned aerial vehicle remote sensing initial data to complete coordinate transformation;
s23: denoising the unmanned aerial vehicle remote sensing initial data after coordinate transformation to finish data denoising;
s24: and sequentially performing homochemotaxis processing and dimensionless processing on the unmanned aerial vehicle remote sensing initial data subjected to data denoising to finish the pretreatment of the unmanned aerial vehicle remote sensing data.
In the invention, after format conversion is carried out on the unmanned aerial vehicle remote sensing data, the elevation data in each attribute field can be conveniently extracted, and DEM model establishment is carried out; because the acquired unmanned aerial vehicle data are established in different coordinate systems, all data parameters are subjected to affine transformation in a coordinate transformation mode, so that all the acquired data are unified to the same coordinate system; the data denoising is that the acquired remote sensing image has partial errors due to errors in links such as atmospheric interference, acquisition errors, input and output, data processing and the like in the aerial photographing process of the unmanned aerial vehicle aerial photographing system, so in order to eliminate the errors and improve the accuracy of the remote sensing image, the data denoising processing operation needs to be performed on the original image of the remote sensing image; the data standardization is to standardize the data before the data analysis operation, and the data standardization is divided into two parts: data homoeotaxis processing and data dimensionless processing, wherein the data homochemotaxis processing mainly solves the problems of different properties, so that the results can be correctly obtained only by the homochemotaxis of all index analysis capabilities; the data non-dimensionalization processing mainly solves the data comparability, and after the data are subjected to standardization processing, the original data are converted into non-dimensionalized index mapping evaluation values, namely, the index data are in the same quantity and range, so that comprehensive analysis is convenient to carry out.
In the embodiment of the present invention, as shown in fig. 1, step S3 includes the following sub-steps:
s31: establishing a DEM model by using an interpolation method;
s32: importing the remote sensing data of the unmanned aerial vehicle into a DEM model to generate an irregular triangular net;
s33: rasterizing the irregular triangular net by adopting a TIN to aster tool;
s34: and extracting the river surface by adopting an Extract by mask tool according to the rasterized irregular triangular network, and finishing the establishment of the DEM model of the river surface in different periods.
In the present invention, the interpolation method has the advantages that: the surface morphology can be expressed on different levels of resolution, and the DEM model can fully represent the complex terrain with smaller space and shorter time under a specific resolution. The rasterization of the irregular triangulation network has the advantages that: the unmanned aerial vehicle remote sensing data acquired by the aerial photography of the unmanned aerial vehicle is discrete point cloud data, and the irregular triangulation network can accurately fit a complex ground surface by using less time and space. The DEM model of the river channel is established, and the DEM model can be established only by rasterizing the discrete point cloud data.
In the embodiment of the present invention, as shown in fig. 1, step S4 includes the following sub-steps:
s41: performing multi-temporal superposition analysis on the whole river channel according to the DEM model of the river channel surface;
s42: extracting river course surface contour lines after multi-temporal superposition analysis according to a river course surface DEM model;
s43: and carrying out coincidence analysis on the contour lines of the river channel surface to complete river channel transition monitoring.
In the invention, firstly, the multi-temporal river channel integral DEM superposition analysis is adopted, and the river channel transition condition is judged by carrying out superposition analysis on different river channel surface DEM models due to different time periods for obtaining the river channel surface DEM models. Secondly, the remote sensing data images of the unmanned aerial vehicle acquired in different periods are different, the generated contour lines are also different, and the contour lines extracted in different periods are subjected to overlapping analysis, so that the river channel transition condition is judged.
In the embodiment of the present invention, as shown in fig. 1, step S41 includes the following sub-steps:
s411: performing multi-temporal superposition analysis on the DEM model of the river surface in two adjacent stages to obtain the transition displacement trend of the river;
s412: and calculating the transition deformation quantity of the river channel according to the transition displacement trend of the river channel.
In the embodiment of the present invention, as shown in fig. 1, in step S411, the method for performing multi-temporal superposition analysis on the DEM models of the river surfaces in two adjacent periods includes: and mutually overlapping the normals of the DEM models of the river channel surfaces in two adjacent stages to finish matching.
In the embodiment of the present invention, as shown in fig. 1, in step S412, the calculation formula of the river channel transition deformation amount D is:
wherein X represents the abscissa of the point of the first-stage river surface, and X1The abscissa of the point of the second-phase river channel surface after deformation is shown, Y represents the ordinate of the point of the first-phase river channel surface, and Y represents the Y1The vertical coordinate of the point of the second-phase river channel surface after deformation is shown, Z is the vertical coordinate of the point of the first-phase river channel surface, and Z1And the vertical coordinate of the point of the second-phase river channel surface after deformation is shown.
In the invention, the DEM model of a certain period T is used as a reference surface, the DEM model of a period T +1 is used as a reference model, and the DEM models of the river channel surfaces of the two periods are mutually superposed, so that the normals of the DEM models of the river channel surfaces of different periods are mutually matched. By analogy, the adjacent two-stage river channel surface DEM models are matched according to the method, and the normal lines of the two-stage river channel surface DEM models are overlapped, so that the displacement trend of the river channel during a certain period is obtained.
In the embodiment of the present invention, as shown in fig. 1, step S42 includes the following sub-steps:
s421: judging whether a contour line formed by connecting discrete points with the same elevation intersects with a triangle or not according to the DEM model of the river channel surface and the irregular triangular net, and screening to obtain the triangle with the intersection of the contour line and the triangle side;
s422: tracking all triangles in the irregular triangulation network;
s423: labeling the triangle in which the contour line intersects with the triangle side in the tracking process;
s424: and traversing the contour lines of the labeled triangle to complete the extraction of the contour lines of the river course surface.
In the invention, the intervals of the contour lines can be set according to actual conditions, the contour lines are extracted according to the DEM models of the river channel surfaces at different periods, the contour line distribution change condition of the river channel of the yellow river basin at each period is obtained, and the contour lines at each period are subjected to coincidence analysis, so that the river channel transition condition can be obtained.
In the embodiment of the present invention, as shown in fig. 1, in step S421, the calculation formula for determining whether the contour line of each triangle intersects with the triangle edge is as follows:
e＝(HA-HC)·(HB-HC)
wherein HARepresenting the elevation, H, of the first point of any triangle in the Delauany triangulation networkBRepresenting the elevation, H, of the second point of any one triangle in the Delauany triangulation networkCRepresenting the elevation value of a third point of any triangle in the Delauany triangulation network;
if e is less than 0, the contour line intersects with the triangle side; if e is greater than 0, the contour line does not intersect with the triangle edge; if e is 0, the contour line passes through the vertex of the triangle.
In the present invention, a contour is an expression model that can project a three-dimensional solid model onto a two-dimensional plane. A contour line extraction method of a Delaunay triangle based on TIN is adopted, and Delaunay is a method for automatically extracting contour lines from discrete point cloud data.
In the embodiment of the present invention, as shown in fig. 1, in step S43, the method for performing coincidence analysis on the channel surface contour lines includes: if the contour lines of the river channel surface are intersected, the river channel has a transition phenomenon; otherwise, the river channel has no transition phenomenon.
The working principle and the process of the invention are as follows: the invention discloses a river channel transition monitoring method based on unmanned aerial vehicle remote sensing. The method comprises the steps of firstly, acquiring river channel transition remote sensing data of river basin in different periods mainly through unmanned aerial vehicle aerial photography, and preprocessing the acquired remote sensing data, including format conversion, coordinate conversion, data denoising and data standardization. And then, carrying out three-dimensional model reconstruction on the processed data by combining a TIN interpolation method to obtain a DEM model of the river channel of the yellow river basin in different periods. And finally, mastering the river channel transition condition by utilizing multi-time-phase basin river channel DEM superposition analysis and river channel contour line extraction and coincidence analysis.
The invention has the beneficial effects that:
(1) the river channel monitoring method of the invention utilizes the space remote sensing image to obtain the river channel transition condition,
the river channel can be known from multiple angles conveniently;
(2) the method adopts scientific means to monitor the river channel transition phenomenon, and has positive significance for reasonably developing, utilizing and renovating the river channel.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (10)
1. A river channel transition monitoring method based on unmanned aerial vehicle remote sensing is characterized by comprising the following steps:
s1: shooting a river channel by using an unmanned aerial vehicle to obtain unmanned aerial vehicle remote sensing initial data;
s2: preprocessing the remote sensing initial data of the unmanned aerial vehicle to obtain remote sensing data of the unmanned aerial vehicle;
s3: establishing river channel surface DEM models in different periods according to the unmanned aerial vehicle remote sensing data;
s4: and analyzing the displacement trend of the DEM model of the river course surface in different periods by using the remote sensing data of the unmanned aerial vehicle, and finishing river course transition monitoring.
2. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 1, wherein the step S2 comprises the following substeps:
s21: converting layer data of the unmanned aerial vehicle remote sensing initial data into an SHP format to complete format conversion;
s22: carrying out affine transformation on the format-converted unmanned aerial vehicle remote sensing initial data to complete coordinate transformation;
s23: denoising the unmanned aerial vehicle remote sensing initial data after coordinate transformation to finish data denoising;
s24: and sequentially performing homochemotaxis processing and dimensionless processing on the unmanned aerial vehicle remote sensing initial data subjected to data denoising to finish the pretreatment of the unmanned aerial vehicle remote sensing data.
3. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 1, wherein the step S3 comprises the following substeps:
s31: establishing a DEM model by using an interpolation method;
s32: importing the remote sensing data of the unmanned aerial vehicle into a DEM model to generate an irregular triangular net;
s33: rasterizing the irregular triangular net by adopting a TIN to aster tool;
s34: and extracting the river surface by adopting an Extract by mask tool according to the rasterized irregular triangular network, and finishing the establishment of the DEM model of the river surface in different periods.
4. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 1, wherein the step S4 comprises the following substeps:
s41: performing multi-temporal superposition analysis on the whole river channel according to the DEM model of the river channel surface;
s42: extracting river course surface contour lines after multi-temporal superposition analysis according to a river course surface DEM model;
s43: and carrying out coincidence analysis on the contour lines of the river channel surface to complete river channel transition monitoring.
5. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 4, wherein the step S41 comprises the following substeps:
s411: performing multi-temporal superposition analysis on the DEM model of the river surface in two adjacent stages to obtain the transition displacement trend of the river;
s412: and calculating the transition deformation quantity of the river channel according to the transition displacement trend of the river channel.
6. The river channel transition monitoring method based on unmanned aerial vehicle remote sensing according to claim 5, wherein in step S411, the method for performing multi-temporal superposition analysis on the river channel surface DEM models in two adjacent stages comprises: and mutually overlapping the normals of the DEM models of the river channel surfaces in two adjacent stages to finish matching.
7. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 5, wherein in step S412, a calculation formula of a river channel transition deformation quantity D is as follows:
wherein X represents the abscissa of the point of the first-stage river surface, and X1The abscissa of the point of the second-phase river channel surface after deformation is shown, Y represents the ordinate of the point of the first-phase river channel surface, and Y represents the Y1The vertical coordinate of the point of the second-phase river channel surface after deformation is shown, Z is the vertical coordinate of the point of the first-phase river channel surface, and Z1And the vertical coordinate of the point of the second-phase river channel surface after deformation is shown.
8. The unmanned aerial vehicle remote sensing-based river channel transition monitoring method according to claim 3, wherein the step S42 comprises the following substeps:
s421: judging whether a contour line formed by connecting discrete points with the same elevation intersects with a triangle or not according to the DEM model of the river channel surface and the irregular triangular net, and screening to obtain the triangle with the intersection of the contour line and the triangle side;
s422: tracking all triangles in the irregular triangulation network;
s423: labeling the triangle in which the contour line intersects with the triangle side in the tracking process;
s424: and traversing the contour lines of the labeled triangle to complete the extraction of the contour lines of the river course surface.
9. The method for monitoring river channel transition based on unmanned aerial vehicle remote sensing according to claim 8, wherein in step S421, the calculation formula for determining whether the contour lines of each triangle and the triangle side intersect is as follows:
e＝(HA-HC)·(HB-HC)
wherein HARepresenting the elevation, H, of the first point of any triangle in the Delauany triangulation networkBRepresenting the elevation, H, of the second point of any one triangle in the Delauany triangulation networkCRepresenting the elevation value of a third point of any triangle in the Delauany triangulation network;
if e is less than 0, the contour line intersects with the triangle side; if e is greater than 0, the contour line does not intersect with the triangle edge; if e is 0, the contour line passes through the vertex of the triangle.
10. The river channel transition monitoring method based on unmanned aerial vehicle remote sensing according to claim 4, wherein in step S43, the method for performing coincidence analysis on the river channel surface contour lines comprises: if the contour lines of the river channel surface are intersected, the river channel has a transition phenomenon; otherwise, the river channel has no transition phenomenon.
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