CN114200527A - Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography - Google Patents
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Abstract
The invention discloses an unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography, wherein the method comprises the following steps: acquiring oblique photography data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model; generating a digital elevation model according to the three-dimensional live-action model, displaying the digital elevation model, and receiving position marks related to flight safety; acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle, and generating an initial air route according to the digital elevation model; and determining a waypoint by combining the marked position according to the initial air route and the elevation change rate, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle. The invention realizes centimeter-level high-precision three-dimensional live-action modeling based on oblique photography, thereby guiding the planning of the aeromagnetic survey route of the unmanned aerial vehicle and improving the aeromagnetic survey operation efficiency and safety of the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of aerial geophysical prospecting, and particularly relates to an unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
With the rapid progress and application and popularization of the unmanned aerial vehicle aeromagnetic measurement technology, the unmanned aerial vehicle aeromagnetic measurement technology is more and more widely applied to various geological survey tasks, a conventional unmanned aerial vehicle aeromagnetic measurement air route plans a multi-reference satellite Digital Elevation Model (DEM), but the satellite digital elevation model has low precision, no surface buildings and vegetation condition marks exist, the conventional unmanned aerial vehicle aeromagnetic measurement air route is generally a product for a long time, the timeliness is poor, the surface condition of an actual operation field is possibly greatly changed, and a large safety risk is caused.
In addition, the unmanned aerial vehicle aeromagnetic measurement data interpretation process needs to be subjected to abnormity identification, and reasons causing abnormity are judged, and complicated interference factors such as terrain, ground buildings, factory and mining enterprises, large construction sites, signal towers and wind driven generators are more, so that aeromagnetic data processing interpretation is greatly influenced.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography, centimeter-level high-precision three-dimensional live-action modeling is realized based on oblique photography, so that planning of an aeromagnetic measurement route of the unmanned aerial vehicle is guided, and the aeromagnetic measurement operation efficiency and safety of the unmanned aerial vehicle are improved.
In order to achieve the above object, one or more embodiments of the present invention provide the following technical solutions:
an unmanned aerial vehicle aeromagnetic measurement method based on oblique photography is characterized by comprising the following steps:
acquiring oblique photography data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
generating a digital elevation model according to the three-dimensional live-action model, displaying the digital elevation model, and receiving position marks related to flight safety;
acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle, and generating an initial air route according to the digital elevation model;
and determining a waypoint by combining the marked position according to the initial air route and the elevation change rate, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
Further, the method further comprises:
acquiring aeromagnetic measurement data sent by an unmanned aerial vehicle, and generating an aeromagnetic measurement result diagram;
and superposing the aeromagnetic measurement result image and the three-dimensional real scene model for the user to check.
Further, generating the initial route includes:
and generating an initial route according to the equal ground clearance according to the flight starting point, the flight ending point and the flight height.
Further, determining the aeromagnetic survey flight path comprises:
carrying out equidistant sampling on the initial route according to a preset initial density to obtain an initial waypoint set;
and projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes.
Further, determining the aeromagnetic survey flight path further comprises:
if the initial route passes through the marked position, bringing the marked position into a waypoint set, improving the waypoint height, determining a waypoint starting to climb and a waypoint starting to descend according to the climbing angle requirement of the unmanned aerial vehicle and the interference influence range of the magnetic field of the obstacle, and adding the waypoint starting to climb and the waypoint starting to descend into the waypoint set.
Further, determining the aeromagnetic survey flight path further comprises:
and calculating the altitude change rate of the position of each waypoint, lifting the height of the waypoint for the waypoint with the altitude change rate exceeding a third set threshold value, and determining the flight route at the waypoint based on a set dangerous area.
Further, after acquiring aeromagnetic measurement data, preprocessing is also performed:
and acquiring the track of the unmanned aerial vehicle, matching the track coordinate of the unmanned aerial vehicle with the coordinate of the waypoint, and reserving aeromagnetic measurement data between the waypoints.
One or more embodiments provide a tilt photography based unmanned aerial vehicle aeromagnetic measurement system, comprising:
the model reconstruction module is used for acquiring oblique photography data and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
the marking module is used for generating a digital elevation model according to the three-dimensional real scene model, displaying the digital elevation model and receiving position marks related to flight safety;
the initial route planning module is used for acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
and the air route optimization module is used for determining an air point according to the initial air route and the elevation change rate by combining the marked position, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
One or more embodiments provide an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the oblique photography based drone aeromagnetic measurement method when executing the program.
One or more embodiments provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the oblique photography-based drone aeromagnetic measurement method.
The above one or more technical solutions have the following beneficial effects:
centimeter-level high-precision three-dimensional live-action modeling is realized based on oblique photography, so that planning of an aeromagnetic survey route of the unmanned aerial vehicle is guided, and the aeromagnetic survey operation efficiency and safety of the unmanned aerial vehicle are improved.
When the waypoints are selected, the initial waypoints which are uniformly distributed are added and deleted according to the elevation change, the waypoints are added among the waypoints with high change rate, and the waypoints are reduced among the flat waypoints, so that the waypoint density self-adaptive adjustment combined with the terrain is realized.
In addition, at the mark position that shows barrier etc. has the potential safety hazard, through improving the waypoint height, increase and begin to climb the waypoint and begin to descend the waypoint, realized the automatic detour of barrier, guaranteed unmanned aerial vehicle's flight safety and stability.
Realize unmanned aerial vehicle at the level and smooth flight of high change rate waypoint through improving the waypoint height and setting for the danger area, need not to slow down or shut down by a wide margin, on the one hand, guaranteed unmanned aerial vehicle's flight safety and stability, on the other hand has saved the consumption.
The three-dimensional live-action model guides planning of an aeromagnetic survey route of the unmanned aerial vehicle, is used for being superposed with an aeromagnetic survey result map after being mapped based on aeromagnetic survey data for a user to check, the user can visually check the corresponding relation between magnetic anomaly and terrain, and false anomaly caused by man-made ground objects and human interference is screened out; in addition, the magnetic anomaly identification method is beneficial to realizing the magnetic anomaly identification based on artificial intelligence subsequently by collecting the corresponding relation between the magnetic anomaly data and the terrain.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a flowchart of a method for aeromagnetic surveying of an unmanned aerial vehicle based on oblique photography according to one or more embodiments of the present invention.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
Example one
The embodiment discloses an unmanned aerial vehicle aeromagnetic measurement method based on oblique photography, which comprises the following steps:
step 1: and acquiring oblique photography data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model.
The step 1 specifically comprises:
step 1.1: determining a measuring area range, designing an unmanned aerial vehicle oblique photography route, determining flight parameters, finishing oblique photography work in the measuring area, and collecting oblique photography image data and corresponding GPS information in the measuring area range;
step 1.2: processing the live-action photo by resolving to generate a centimeter-level three-dimensional live-action model of the measuring area;
step 2: and generating a measuring area digital elevation model according to the three-dimensional live-action model, displaying the measuring area digital elevation model, and receiving position marks related to flight safety.
The step 2 specifically comprises:
step 2.1: extracting and displaying a centimeter-level precision digital elevation model of a measuring area; specifically, squares are created on a plane, and a height value corresponding to each square is given according to height data of the three-dimensional real scene model, so that a digital elevation model is obtained;
step 2.2: and receiving position marks of the user for possibly influencing the flight safety of the unmanned aerial vehicle, such as marking obstacles influencing the flight safety. Preferably, the magnetic field disturbance influence radius of the obstacle is also labeled.
And step 3: and acquiring a flight starting point, a terminal and a flight height of the unmanned aerial vehicle, and generating an initial air route according to the digital elevation model.
In this embodiment, according to the preset unmanned aerial vehicle flight height, an initial route is generated according to the equal ground clearance.
And 4, step 4: and determining a waypoint by combining the marked position according to the initial air route and the elevation change rate to obtain an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
The step 4 specifically includes:
step 4.1: carrying out equidistant sampling on the initial route according to a preset initial density to obtain an initial waypoint set;
step 4.2: projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes;
specifically, acquiring an elevation difference between adjacent initial waypoints, and if the elevation difference exceeds a first set threshold, adding waypoints between the adjacent initial waypoints according to a preset elevation difference and sampling density mapping relation; if the elevation differences among the plurality of continuous initial waypoints are smaller than a second set threshold, deleting one or more initial waypoints; the process is repeated until the elevation difference between adjacent waypoints is between the first set threshold and the second set threshold.
Step 4.3: and if the initial route passes through the marked position, automatically planning the route to detour. Specifically, the marked positions are brought into a waypoint set, the waypoint height is increased, a waypoint starting to climb and a waypoint starting to descend are determined according to the climbing angle requirement of the unmanned aerial vehicle and the influence range of the magnetic field interference of the obstacle, and the waypoint starting to climb and the waypoint starting to descend are added into the waypoint set.
Step 4.4: and calculating the altitude change rate of the position of each waypoint, lifting the height of the waypoint for the waypoint with the altitude change rate exceeding a third set threshold value, and determining the flight route at the waypoint based on a set dangerous area.
For guaranteeing unmanned aerial vehicle safety and stability's flight for unmanned aerial vehicle no matter can not bump under any gesture, will guarantee to have safe distance between unmanned aerial vehicle and ground or the barrier, set for the initial radius of maneuver for the waypoint in this embodiment, use the waypoint is the centre of a circle, initial radius of maneuver is the spherical region of radius promptly as danger area. In the step 4.4, in order to guarantee the stability and safety of the unmanned aerial vehicle flight, the flying spot height is lifted by a maneuvering radius, and meanwhile, the maneuvering radius of the flying spot is enlarged, namely the range of a dangerous area is enlarged.
Under the normal condition, among the measurement process, unmanned aerial vehicle flies at the uniform velocity in flat area, need slow down by a wide margin or even shut down and measure at the big measurement station of elevation change rate, and the loss is great, and this embodiment is through setting for danger zone and lifting flying height for unmanned aerial vehicle can fly through the waypoint that the elevation change rate is big smoothly, need not to slow down by a wide margin or shut down, has guaranteed the stability and the security that unmanned aerial vehicle flies.
Step 4.5: and obtaining a flight path according to the obtained waypoint set, the corresponding flight height of each waypoint and the flight route, and sending the flight path to the unmanned aerial vehicle.
The unmanned aerial vehicle finishes the aeromagnetic measurement operation of the unmanned aerial vehicle according to the received flight path and acquires aeromagnetic measurement data.
And 5: acquiring aeromagnetic measurement data sent by the unmanned aerial vehicle, and generating an aeromagnetic measurement result diagram.
Step 5.1: acquiring aeromagnetic measurement data and flight paths, preprocessing the aeromagnetic measurement data and eliminating measurement data outside the boundary of take-off, landing, turning and measurement areas.
The pretreatment comprises the following steps: acquiring parameters such as a measuring area inflection point coordinate range, magnetic daily variation data, a scale, a coordinate system, gridding parameters, a filter combination, a color gradation model and the like, completing measuring line segmentation by utilizing a human-computer interaction calculation program, and removing measurement data outside the boundary of take-off, landing, turning and the measuring area. Specifically, the track coordinates of the unmanned aerial vehicle are matched with the coordinates of the waypoints, data before the first waypoint and data after the last waypoint are deleted, and only aeromagnetic measurement data between the waypoints are reserved.
Step 5.2: and sequentially carrying out coordinate system conversion, daily change correction, normal field correction, delta T magnetic anomaly meshing, pole changing, vertical 1-order derivation calculation and horizontal 1-order X, Y-direction derivation calculation processing, and generating an unmanned aerial vehicle aeromagnetic survey line distribution diagram, a delta T magnetic anomaly section plane diagram, a delta T magnetic anomaly isoline plane diagram, a delta T polar magnetic anomaly isoline plane diagram, a vertical 1-order derivation isoline plane diagram and a horizontal 1-order X, Y-direction derivation isoline plane diagram. In this embodiment, the aeromagnetic measurement data is converted into a coordinate system identical to the three-dimensional real scene model.
Step 5.3: a user's delineation with respect to magnetic anomaly identification and fracture configuration is received. Specifically, according to a magnetic method data interpretation principle and a reference model, preliminary survey area magnetic anomaly delineation and fracture structure inference are carried out.
Step 6: and superposing the aeromagnetic measurement result image and the three-dimensional real scene model for the user to check.
And (3) corresponding the circled magnetic anomaly and the inference structure with the real-scene model ground feature and the topographic features, screening out false anomalies caused by artificial ground features and human interference, labeling, corresponding the residual magnetic anomaly with the topographic features, and performing inference interpretation by combining geological data to improve the efficiency and accuracy of inference interpretation.
Example two
The purpose of this embodiment is to provide an unmanned aerial vehicle aeromagnetic measurement system based on oblique photography, the system includes:
the model reconstruction module is used for acquiring oblique photography data and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
the marking module is used for generating a digital elevation model according to the three-dimensional real scene model, displaying the digital elevation model and receiving position marks related to flight safety;
the initial route planning module is used for acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
and the air route optimization module is used for determining an air point according to the initial air route and the elevation change rate by combining the marked position, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
EXAMPLE III
The embodiment aims at providing an electronic device.
An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method as described in embodiment one when executing the program.
Example four
An object of the present embodiment is to provide a computer-readable storage medium.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method as set forth in the first embodiment.
The steps involved in the second to fourth embodiments correspond to the first embodiment of the method, and the detailed description thereof can be found in the relevant description of the first embodiment. The term "computer-readable storage medium" should be taken to include a single medium or multiple media containing one or more sets of instructions; it should also be understood to include any medium that is capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any of the methods of the present invention.
The above one or more embodiments perform centimeter-level high-precision three-dimensional live-action modeling based on oblique photography, so as to guide planning of the aeromagnetic survey route of the unmanned aerial vehicle, and improve the aeromagnetic survey operation efficiency and safety of the unmanned aerial vehicle. After the chart is formed based on the aeromagnetic measurement data, the three-dimensional live-action model is also used for being superposed with the aeromagnetic measurement result chart for the user to check, the user can visually check the corresponding relation between the magnetic anomaly and the terrain, and the false anomaly caused by man-made ground objects and human interference is screened out; in addition, the magnetic anomaly identification method is beneficial to realizing the magnetic anomaly identification based on artificial intelligence subsequently by collecting the corresponding relation between the magnetic anomaly data and the terrain.
Those skilled in the art will appreciate that the modules or steps of the present invention described above can be implemented using general purpose computer means, or alternatively, they can be implemented using program code that is executable by computing means, such that they are stored in memory means for execution by the computing means, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps of them are fabricated into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. An unmanned aerial vehicle aeromagnetic measurement method based on oblique photography is characterized by comprising the following steps:
acquiring oblique photography data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
generating a digital elevation model according to the three-dimensional live-action model, displaying the digital elevation model, and receiving position marks related to flight safety;
acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle, and generating an initial air route according to the digital elevation model;
and determining a waypoint by combining the marked position according to the initial air route and the elevation change rate, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
2. The oblique photography based drone aeromagnetic measurement method of claim 1, the method further comprising:
acquiring aeromagnetic measurement data sent by an unmanned aerial vehicle, and generating an aeromagnetic measurement result diagram;
and superposing the aeromagnetic measurement result image and the three-dimensional real scene model for the user to check.
3. The oblique photography based drone aeromagnetic measurement method of claim 1, wherein generating an initial course comprises:
and generating an initial route according to the equal ground clearance according to the flight starting point, the flight ending point and the flight height.
4. The tilt photography-based drone aeromagnetic measurement method of claim 1, wherein determining an aeromagnetic measurement flight path comprises:
carrying out equidistant sampling on the initial route according to a preset initial density to obtain an initial waypoint set;
and projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes.
5. The tilt photography-based drone aeromagnetic measurement method of claim 4, wherein determining an aeromagnetic measurement flight path further comprises:
if the initial route passes through the marked position, bringing the marked position into a waypoint set, improving the waypoint height, determining a waypoint starting to climb and a waypoint starting to descend according to the climbing angle requirement of the unmanned aerial vehicle and the interference influence range of the magnetic field of the obstacle, and adding the waypoint starting to climb and the waypoint starting to descend into the waypoint set.
6. The tilt photography-based drone aeromagnetic measurement method of claim 4, wherein determining an aeromagnetic measurement flight path further comprises:
and calculating the altitude change rate of the position of each waypoint, lifting the height of the waypoint for the waypoint with the altitude change rate exceeding a third set threshold value, and determining the flight route at the waypoint based on a set dangerous area.
7. The unmanned aerial vehicle aeromagnetic measurement method based on oblique photography of claim 2, wherein after acquiring aeromagnetic measurement data, preprocessing is further performed:
and acquiring the track of the unmanned aerial vehicle, matching the track coordinate of the unmanned aerial vehicle with the coordinate of the waypoint, and reserving aeromagnetic measurement data between the waypoints.
8. An unmanned aerial vehicle aeromagnetic measurement system based on oblique photography, its characterized in that includes:
the model reconstruction module is used for acquiring oblique photography data and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
the marking module is used for generating a digital elevation model according to the three-dimensional real scene model, displaying the digital elevation model and receiving position marks related to flight safety;
the initial route planning module is used for acquiring a flight starting point, a flight destination and a flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
and the air route optimization module is used for determining an air point according to the initial air route and the elevation change rate by combining the marked position, determining an aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the oblique photography based drone aeromagnetic surveying method according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out the oblique photography based drone aeromagnetic measurement method according to any one of claims 1 to 7.
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| CN202111249153.6A CN114200527B (en) | 2021-10-26 | 2021-10-26 | Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography |
| ZA2021/08816A ZA202108816B (en) | 2021-10-26 | 2021-11-09 | Method and system for unmanned aerial vehicle (uav) aeromagnetic measurement based on tilt photography |
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