CN114200527B - Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography - Google Patents
Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography Download PDFInfo
- Publication number
- CN114200527B CN114200527B CN202111249153.6A CN202111249153A CN114200527B CN 114200527 B CN114200527 B CN 114200527B CN 202111249153 A CN202111249153 A CN 202111249153A CN 114200527 B CN114200527 B CN 114200527B
- Authority
- CN
- China
- Prior art keywords
- aerial vehicle
- unmanned aerial
- flight
- waypoints
- initial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000691 measurement method Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 72
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000009194 climbing Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 7
- 238000002372 labelling Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 238000005457 optimization Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 claims 2
- 238000012876 topography Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Multimedia (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Navigation (AREA)
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 photographic data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model; generating and displaying a digital elevation model according to the three-dimensional live-action model, and receiving a position mark related to flight safety; acquiring a flight starting point, a flight ending point and a flight height of the unmanned aerial vehicle, and generating an initial route according to the digital elevation model; and determining the waypoints according to the initial route and the elevation change rate and combining the marked positions, determining the aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle. According to the invention, centimeter-level high-precision three-dimensional live-action modeling is realized based on oblique photography, so that the planning of the 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.
Description
Technical Field
The invention belongs to the technical field of aerospace 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.
Along with the rapid progress and application 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 route planning multi-reference satellite Digital Elevation Model (DEM) of conventional unmanned aerial vehicle aeromagnetic measurement is low in satellite digital elevation model precision, and no surface building and vegetation condition label exists, so that the unmanned aerial vehicle aeromagnetic measurement technology is a product in the past for a long time, has poor timeliness, and the surface condition of an actual operation site can be greatly changed, so that a large safety risk is caused.
In addition, the unmanned aerial vehicle aeromagnetic measurement data interpretation process needs to be subjected to anomaly identification, and the cause of the anomaly is judged, so that the aeromagnetic measurement data processing and interpretation are greatly influenced due to more complex interference factors such as topography, ground building, factories and mines, large-scale construction sites, signal towers and wind driven generators, the unmanned aerial vehicle aeromagnetic measurement is manually identified by using satellite images, and if necessary, site verification is combined, so that the timeliness is poor, the efficiency is low, omission easily occurs, the post verification is required, and the workload and the working difficulty of aeromagnetic measurement operation are increased.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography, and centimeter-level high-precision three-dimensional real scene modeling is realized based on oblique photography, so that planning of an unmanned aerial vehicle aeromagnetic measurement route is guided, and the unmanned aerial vehicle aeromagnetic measurement operation efficiency and safety are improved.
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 of:
acquiring oblique photographic data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
Generating and displaying a digital elevation model according to the three-dimensional live-action model, and receiving a position mark related to flight safety;
acquiring a flight starting point, a flight ending point and a flight height of the unmanned aerial vehicle, and generating an initial route according to the digital elevation model;
And determining the waypoints according to the initial route and the elevation change rate and combining the marked positions, determining the 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 graph;
and superposing the aeromagnetic measurement result graph and the three-dimensional live-action model for comparison and viewing of a user.
Further, generating the initial route includes:
and generating an initial route according to the plasma altitude according to the flight starting point, the flight ending point and the flight altitude.
Further, determining the aeromagnetic survey flight path includes:
equidistant sampling is carried out on the initial route according to preset initial density, and an initial navigation point set is obtained;
And projecting the initial route to the digital elevation model, and adding or deleting the waypoints according to elevation changes.
Further, determining the aeromagnetic survey flight path further comprises:
If the initial route passes through the marking position, the marking position is included in the waypoint set, the waypoint height is increased, the starting climbing waypoint and the starting descending waypoint are determined according to the requirements of the unmanned aerial vehicle climbing angle and the influence range of the obstacle magnetic field interference, and the starting climbing waypoint and the starting descending waypoint are added into the waypoint set.
Further, determining the aeromagnetic survey flight path further comprises:
And calculating the elevation change rate of the position of each waypoint, for the waypoints with the elevation change rate exceeding a third set threshold value, lifting the altitude of the waypoint, and determining the flight route at the waypoint based on the set dangerous area.
Further, after the aeromagnetic measurement data are acquired, pretreatment is further performed:
And acquiring the unmanned aerial vehicle flight path, matching the unmanned aerial vehicle flight path coordinates with the waypoint coordinates, and reserving aeromagnetic measurement data among the waypoints.
One or more embodiments provide an unmanned aerial vehicle aeromagnetic measurement system based on oblique photography, comprising:
the model reconstruction module is used for acquiring oblique photographic data and carrying out three-dimensional reconstruction to obtain a three-dimensional live-action model;
The labeling module is used for generating and displaying a digital elevation model according to the three-dimensional live-action model and receiving position labels related to flight safety;
The initial route planning module is used for acquiring the flight starting point, the flight ending point and the flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
and the route optimization module is used for determining the waypoints according to the initial route and the elevation change rate and combining the marked positions, determining the 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, which when executed implements the tilt-photography based unmanned aerial vehicle aeromagnetic measurement method.
One or more embodiments provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the tilt-photography based unmanned aerial vehicle aeromagnetic measurement method.
The one or more of the above technical solutions have the following beneficial effects:
And the high-precision three-dimensional live-action modeling of the centimeter level is realized based on oblique photography, so that the planning of the 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.
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 between the waypoints with high change rate, and the waypoints are reduced between the flat waypoints, so that the self-adaptive adjustment of the waypoint density combined with the terrain is realized.
In addition, in the marked positions with potential safety hazards such as representing the obstacles, the starting climbing waypoints and the starting descending waypoints are increased by increasing the waypoint heights, so that the automatic detouring of the obstacles is realized, and the flight safety and stability of the unmanned aerial vehicle are ensured.
Smooth flight of the unmanned aerial vehicle at the high-change-rate waypoints is realized by improving the waypoint height and setting the dangerous area, and large-scale deceleration or shutdown is not needed, so that on one hand, the flight safety and stability of the unmanned aerial vehicle are ensured, and on the other hand, the power consumption is saved.
The three-dimensional live-action model is used for overlaying the aeromagnetic measurement result graph for a user to check, and the user can visually check the corresponding relation between the magnetic anomaly and the topography and screen false anomaly caused by artificial ground objects and human interference besides guiding the planning of the aeromagnetic measurement route of the unmanned aerial vehicle; in addition, by collecting the correspondence between the magnetic anomaly data and the topography, the subsequent realization of magnetic anomaly identification based on artificial intelligence is facilitated.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a flowchart of an unmanned aerial vehicle aeromagnetic measurement method based on oblique photography in one or more embodiments of the invention.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. 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 present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The embodiment discloses an unmanned aerial vehicle aeromagnetic measurement method based on oblique photography, which comprises the following steps:
step 1: and acquiring oblique photographic data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model.
The step 1 specifically includes:
Step 1.1: determining a range of a measurement area, designing an unmanned aerial vehicle oblique photography route, determining flight parameters, completing oblique photography work in the measurement area, and collecting oblique photography image data and corresponding GPS information in the range of the measurement area;
Step 1.2: generating a three-dimensional real-scene model of a measured area centimeter level by resolving the real-scene photo;
step 2: and generating and displaying a digital elevation model of the measuring area according to the three-dimensional live-action model, and receiving a position mark related to flight safety.
The step 2 specifically includes:
step 2.1: extracting and displaying a digital elevation model with the centimeter-level precision in the measuring area; specifically, square grids are created on a plane, and a corresponding height value of each square grid is given according to the height data of the three-dimensional live-action model, so that a digital elevation model is obtained;
Step 2.2: a user is received for a location callout that may affect the flight safety of the drone, such as marking an obstacle that affects the flight safety. Preferably, the radius of influence of the magnetic field disturbance of the obstacle is also noted.
Step 3: and acquiring the flight starting point, the terminal and the flight height of the unmanned aerial vehicle, and generating an initial route according to the digital elevation model.
In this embodiment, according to the preset flight altitude of the unmanned aerial vehicle, an initial route is generated according to the plasma altitude.
Step 4: and determining the waypoints according to the initial route and the elevation change rate and combining the marked positions 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: equidistant sampling is carried out on the initial route according to preset initial density, and an initial navigation point set is obtained;
step 4.2: projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes;
Specifically, acquiring the elevation difference between adjacent initial waypoints, and if the elevation difference exceeds a first set threshold value, adding the waypoints between the adjacent initial waypoints according to a preset elevation difference and sampling density mapping relation; if the height Cheng Chajun between the continuous plurality of initial waypoints is less than the second set threshold, deleting one or more of the 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 route detouring. Specifically, the marked position is included in a waypoint set, the waypoint height is increased, the starting climbing waypoint and the starting descending waypoint are determined according to the requirements of the climbing angle of the unmanned aerial vehicle and the interference influence range of the obstacle magnetic field, and the starting climbing waypoint and the starting descending waypoint are added into the waypoint set.
Step 4.4: and calculating the elevation change rate of the position of each waypoint, for the waypoints with the elevation change rate exceeding a third set threshold value, lifting the altitude of the waypoint, and determining the flight route at the waypoint based on the set dangerous area.
In order to ensure safe and stable flight of the unmanned aerial vehicle, no collision can occur under any gesture of the unmanned aerial vehicle, and a safe distance between the unmanned aerial vehicle and the ground or an obstacle is ensured, an initial maneuvering radius is set for a waypoint in the embodiment, the waypoint is used as a circle center, and a spherical area with the initial maneuvering radius being the radius is a dangerous area. In step 4.4, in order to ensure the stability and safety of the unmanned aerial vehicle, the waypoint is lifted by one maneuver radius, and meanwhile, the maneuver radius of the waypoint is enlarged, namely the range of the dangerous area is enlarged.
Under normal conditions, in the measurement process, the unmanned aerial vehicle flies at a uniform speed in a flat area, the measurement point with a large elevation change rate needs to be greatly decelerated and even stopped for measurement, the loss is large, and the unmanned aerial vehicle can smoothly fly through the navigation point with a large elevation change rate by setting a dangerous area and lifting the flight height, so that the unmanned aerial vehicle does not need to be greatly decelerated or stopped, and the flight stability and safety of the unmanned aerial vehicle are ensured.
Step 4.5: and obtaining a flight path according to the obtained navigation point set, the corresponding flight height and flight route of each navigation point, and sending the flight path to the unmanned aerial vehicle.
And the unmanned aerial vehicle completes unmanned aerial vehicle aeromagnetic measurement operation according to the received flight path, and collects aeromagnetic measurement data.
Step 5: and acquiring aeromagnetic measurement data sent by the unmanned aerial vehicle, and generating an aeromagnetic measurement result graph.
Step 5.1: and acquiring aeromagnetic measurement data and tracks, preprocessing and removing measurement data of take-off, landing, turning and outside the boundary of the area.
The pretreatment comprises the following steps: parameters such as a coordinate range of inflection points of a measuring area, magnetic daily variable data, a scale, a coordinate system, grid parameters, a filter combination, a color level model and the like are obtained, a man-machine interaction calculation program is utilized to complete line segmentation, and measurement data outside take-off, landing, turning and the boundary of the measuring area are removed. Specifically, matching the unmanned aerial vehicle track coordinates with the waypoint coordinates, deleting data before the first waypoint and after the last waypoint, and only retaining aeromagnetic measurement data between the waypoints.
Step 5.2: and carrying out coordinate system conversion, daily variable correction, normal field correction, delta T magnetic anomaly gridding, pole formation, vertical 1-order derivative calculation and horizontal 1-order X, Y-direction derivative calculation in sequence, and generating an unmanned aerial vehicle aeromagnetic survey line distribution map, a delta T magnetic anomaly section plane graph, a delta T magnetic anomaly contour line plane graph, a delta T pole magnetic anomaly contour line plane graph, a vertical 1-order derivative contour line plane graph and a horizontal 1-order X, Y-direction derivative contour line plane graph. In this embodiment, the aeromagnetic measurement data is converted to the same coordinate system as the three-dimensional live-action model.
Step 5.3: the user's delineation about the magnetic anomaly identification and fracture configuration is received. Specifically, preliminary magnetic anomaly delineation and fracture structure inference are performed according to a magnetic data interpretation principle and a reference model.
Step 6: and superposing the aeromagnetic measurement result graph and the three-dimensional live-action model for comparison and viewing of a user.
The circled magnetic anomalies and the deduction structure are corresponding to the features of the real model ground and the topography, the false anomalies caused by the interference of the artificial ground and the humanoid are screened out for marking, the residual magnetic anomalies are corresponding to the topography, the deduction interpretation is carried out by combining with the geological data, and the efficiency and the accuracy of the deduction interpretation are improved.
Example two
It is an object of the present embodiment to provide an unmanned aerial vehicle aeromagnetic measurement system based on oblique photography, the system comprising:
the model reconstruction module is used for acquiring oblique photographic data and carrying out three-dimensional reconstruction to obtain a three-dimensional live-action model;
The labeling module is used for generating and displaying a digital elevation model according to the three-dimensional live-action model and receiving position labels related to flight safety;
The initial route planning module is used for acquiring the flight starting point, the flight ending point and the flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
and the route optimization module is used for determining the waypoints according to the initial route and the elevation change rate and combining the marked positions, determining the aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle.
Example III
An object of the present embodiment is to provide an electronic apparatus.
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 in embodiment one when executing the program.
Example IV
An object of the present embodiment is to provide a computer-readable storage medium.
A computer readable storage medium having stored thereon a computer program which when executed by a processor implements the method as described in embodiment one.
The steps involved in the second to fourth embodiments correspond to the first embodiment of the method, and the detailed description of the second embodiment refers to the relevant description of the first embodiment. The term "computer-readable storage medium" should be taken to include a single medium or multiple media including one or more sets of instructions; it should also be understood to include any medium capable of storing, encoding or carrying a set of instructions for execution by a processor and that cause the processor to perform any one of the methods of the present invention.
The embodiment or the embodiments are based on oblique photography to perform centimeter-level high-precision three-dimensional real scene modeling, so that the planning of the unmanned aerial vehicle aeromagnetic measurement route is guided, and the unmanned aerial vehicle aeromagnetic measurement operation efficiency and safety are improved. After the image is formed based on the aeromagnetic measurement data, the three-dimensional real-scene model is further used for being overlapped with the aeromagnetic measurement result image for comparison and viewing by a user, the user can intuitively view the corresponding relation between the magnetic anomaly and the topography, and the false anomaly caused by the artificial ground object and the human interference is screened out; in addition, by collecting the correspondence between the magnetic anomaly data and the topography, the subsequent realization of magnetic anomaly identification based on artificial intelligence is facilitated.
It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented by general-purpose computer means, alternatively they may be implemented by program code executable by computing means, whereby they may be stored in storage means for execution by computing means, or they may be made into individual integrated circuit modules separately, or a plurality of modules or steps in them may be made into a single integrated circuit module. The present invention is not limited to any specific combination of hardware and software.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (6)
1. An unmanned aerial vehicle aeromagnetic measurement method based on oblique photography is characterized by comprising the following steps of:
acquiring oblique photographic data, and performing three-dimensional reconstruction to obtain a three-dimensional live-action model;
Generating and displaying a digital elevation model according to the three-dimensional live-action model, and receiving a position mark related to flight safety; marking the influence radius of the magnetic field interference of the obstacle;
acquiring a flight starting point, a flight ending point and a flight height of the unmanned aerial vehicle, and generating an initial route according to the digital elevation model;
Determining the waypoint according to the initial route and the elevation change rate and combining the marked position, determining the aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned aerial vehicle, wherein the determining the aeromagnetic measurement flight path comprises the following steps:
equidistant sampling is carried out on the initial route according to preset initial density, and an initial navigation point set is obtained;
Projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes; specifically, acquiring the elevation difference between adjacent initial waypoints, and if the elevation difference exceeds a first set threshold value, adding the waypoints between the adjacent initial waypoints according to a preset elevation difference and sampling density mapping relation; if the height Cheng Chajun between the continuous plurality of initial waypoints is less than the second set threshold, deleting one or more of the initial waypoints; repeating the process until the elevation difference between the adjacent waypoints is between a first set threshold value and a second set threshold value;
Determining the aeromagnetic survey flight path further comprises: if the initial route passes through the marking position, the marking position is included in a navigation point set, the navigation point height of the marking position is improved, the starting climbing navigation point and the starting descending navigation point are determined according to the climbing angle requirement of the unmanned aerial vehicle and the interference influence range of the barrier magnetic field, and the starting climbing navigation point and the starting descending navigation point are added into the navigation point set; calculating the elevation change rate of the position of each waypoint, for the waypoints with the elevation change rate exceeding a third set threshold value, lifting the altitude of the waypoint, and determining the flight route at the waypoint based on a set dangerous area; according to the obtained waypoint set, the corresponding flight height and flight route of each waypoint, obtaining a flight path and sending the flight path to the unmanned aerial vehicle;
the unmanned aerial vehicle completes unmanned aerial vehicle aeromagnetic measurement operation according to the received flight path, and aeromagnetic measurement data are collected;
acquiring aeromagnetic measurement data sent by an unmanned aerial vehicle, and generating an aeromagnetic measurement result graph; and superposing the aeromagnetic measurement result graph and the three-dimensional live-action model for comparison and viewing of a user.
2. The oblique photography-based unmanned aerial vehicle aeromagnetic measurement method of claim 1, wherein generating the initial course comprises:
and generating an initial route according to the plasma altitude according to the flight starting point, the flight ending point and the flight altitude.
3. 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 unmanned aerial vehicle flight path, matching the unmanned aerial vehicle flight path coordinates with the waypoint coordinates, and reserving aeromagnetic measurement data among the waypoints.
4. Unmanned aerial vehicle aeromagnetic measurement system based on oblique photography, characterized by comprising:
The model reconstruction module is used for acquiring oblique photographic data and carrying out three-dimensional reconstruction to obtain a three-dimensional live-action model; the labeling module is used for generating and displaying a digital elevation model according to the three-dimensional live-action model and receiving position labels related to flight safety; marking the influence radius of the magnetic field interference of the obstacle;
The initial route planning module is used for acquiring the flight starting point, the flight ending point and the flight height of the unmanned aerial vehicle and generating an initial route according to the digital elevation model;
The route optimization module is used for determining the waypoints according to the initial route and the elevation change rate and combining the marked positions, determining the aeromagnetic measurement flight path and sending the aeromagnetic measurement flight path to the unmanned plane, and specifically, determining the aeromagnetic measurement flight path comprises:
equidistant sampling is carried out on the initial route according to preset initial density, and an initial navigation point set is obtained;
Projecting the initial route to the digital elevation model, and adding or deleting waypoints according to elevation changes; specifically, acquiring the elevation difference between adjacent initial waypoints, and if the elevation difference exceeds a first set threshold value, adding the waypoints between the adjacent initial waypoints according to a preset elevation difference and sampling density mapping relation; if the height Cheng Chajun between the continuous plurality of initial waypoints is less than the second set threshold, deleting one or more of the initial waypoints; repeating the process until the elevation difference between the adjacent waypoints is between a first set threshold value and a second set threshold value;
Determining the aeromagnetic survey flight path further comprises: if the initial route passes through the marking position, the marking position is included in a navigation point set, the navigation point height of the marking position is improved, the starting climbing navigation point and the starting descending navigation point are determined according to the climbing angle requirement of the unmanned aerial vehicle and the interference influence range of the barrier magnetic field, and the starting climbing navigation point and the starting descending navigation point are added into the navigation point set; calculating the elevation change rate of the position of each waypoint, for the waypoints with the elevation change rate exceeding a third set threshold value, lifting the altitude of the waypoint, and determining the flight route at the waypoint based on a set dangerous area; according to the obtained waypoint set, the corresponding flight height and flight route of each waypoint, obtaining a flight path and sending the flight path to the unmanned aerial vehicle;
the unmanned aerial vehicle completes unmanned aerial vehicle aeromagnetic measurement operation according to the received flight path, and aeromagnetic measurement data are collected;
acquiring aeromagnetic measurement data sent by an unmanned aerial vehicle, and generating an aeromagnetic measurement result graph; and superposing the aeromagnetic measurement result graph and the three-dimensional live-action model for comparison and viewing of a user.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the tilt-photography based unmanned aerial vehicle aeromagnetic measurement method of any of claims 1-3 when the computer program is executed by the processor.
6. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, implements the tilt-photography based unmanned aerial vehicle aeromagnetic measurement method according to any of claims 1 to 3.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111249153.6A CN114200527B (en) | 2021-10-26 | 2021-10-26 | Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114200527A CN114200527A (en) | 2022-03-18 |
| CN114200527B true CN114200527B (en) | 2024-04-26 |
Family
ID=80646314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111249153.6A Active CN114200527B (en) | 2021-10-26 | 2021-10-26 | Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114200527B (en) |
| ZA (1) | ZA202108816B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117906616B (en) * | 2024-03-19 | 2024-06-07 | 北京自动化控制设备研究所 | Continuous tracking route planning method for dynamic magnetic anomaly signals by magnetic detection unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013083114A2 (en) * | 2011-12-09 | 2013-06-13 | Bochmann Benjamin | Processing device for measurement data of geophysical exploration methods, method for processing measurement data of geophysical exploration methods and geophysical survey system |
| CN109375636A (en) * | 2018-12-13 | 2019-02-22 | 广州极飞科技有限公司 | Generation method, device, unmanned plane and the storage medium in unmanned plane course line |
| CN111538106A (en) * | 2020-06-24 | 2020-08-14 | 山东省物化探勘查院 | Unmanned archaeological exploration method suitable for ultra-shallow water area |
| CN112166394A (en) * | 2019-10-31 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Air route planning method, equipment, system and storage medium |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7630797B2 (en) * | 2006-01-10 | 2009-12-08 | Harris Corporation | Accuracy enhancing system for geospatial collection value of an image sensor aboard an airborne platform and associated methods |
-
2021
- 2021-10-26 CN CN202111249153.6A patent/CN114200527B/en active Active
- 2021-11-09 ZA ZA2021/08816A patent/ZA202108816B/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013083114A2 (en) * | 2011-12-09 | 2013-06-13 | Bochmann Benjamin | Processing device for measurement data of geophysical exploration methods, method for processing measurement data of geophysical exploration methods and geophysical survey system |
| CN109375636A (en) * | 2018-12-13 | 2019-02-22 | 广州极飞科技有限公司 | Generation method, device, unmanned plane and the storage medium in unmanned plane course line |
| CN112166394A (en) * | 2019-10-31 | 2021-01-01 | 深圳市大疆创新科技有限公司 | Air route planning method, equipment, system and storage medium |
| WO2021163881A1 (en) * | 2020-02-18 | 2021-08-26 | 深圳市大疆创新科技有限公司 | Data processing method and system, device, and readable storage medium |
| CN111538106A (en) * | 2020-06-24 | 2020-08-14 | 山东省物化探勘查院 | Unmanned archaeological exploration method suitable for ultra-shallow water area |
Non-Patent Citations (1)
| Title |
|---|
| Integrating 3D photogeology with aeromagnetic data as a tool for base-metal exploration in East Greenland;A. Brethes et al.;《Geological Survey of Denmark and Greenland Bulletin》;第31卷;第71-74页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114200527A (en) | 2022-03-18 |
| ZA202108816B (en) | 2022-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10962650B2 (en) | Polyhedral geofences | |
| CN108181635B (en) | Laser point cloud classification method for cross crossing analysis of power transmission line | |
| EP3343503B1 (en) | High-precision map data processing method and apparatus, storage medium and device | |
| CN112033414A (en) | Unmanned aerial vehicle inspection route generation method, device, equipment and medium | |
| CN107167139A (en) | A kind of Intelligent Mobile Robot vision positioning air navigation aid and system | |
| CN110196454B (en) | Geological survey integrated system based on unmanned aerial vehicle | |
| CN104238377B (en) | Low-altitude flight simulation method for airborne geophysical prospecting of unmanned aerial vehicle | |
| CN106774410A (en) | Unmanned plane automatic detecting method and apparatus | |
| CN103529455A (en) | Three-dimensional investigation method for dangerous falling rock based on air-borne laser radar | |
| CN104406589B (en) | Flight method of aircraft passing through radar area | |
| CN111339876B (en) | Method and device for identifying types of areas in scene | |
| CN112215805A (en) | Unmanned aerial vehicle inspection method and system for highway bridge slope maintenance | |
| CN111444872A (en) | Danxia landform parameter measuring method | |
| CN109764869A (en) | A kind of positioning of autonomous crusing robot and the three-dimensional map construction method of binocular camera and inertial navigation fusion | |
| CN114114314A (en) | Power transmission line inspection detection system and detection method based on laser point cloud | |
| CN113899360B (en) | Generation and precision evaluation method and device for port automatic driving high-precision map | |
| CN105738909B (en) | One kind being suitable for low latitude plant protection unmanned helicopter operation boundary extraction method | |
| CN113674355A (en) | Target identification and positioning method based on camera and laser radar | |
| CN114200527B (en) | Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography | |
| CN116958472A (en) | Transmission line crossing detection analysis method | |
| CN117406771B (en) | Efficient autonomous exploration method, system and equipment based on four-rotor unmanned aerial vehicle | |
| CN114187357A (en) | High-precision map production method and device, electronic equipment and storage medium | |
| CN112987781A (en) | Unmanned aerial vehicle route generation method and device | |
| CN112346481A (en) | Method and system for unmanned aerial vehicle power inspection operation | |
| CN116052023A (en) | Three-dimensional point cloud-based electric power inspection ground object classification method and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |