CN114485572A - Unmanned aerial vehicle mapping system for reducing errors - Google Patents
Unmanned aerial vehicle mapping system for reducing errors Download PDFInfo
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- CN114485572A CN114485572A CN202210174144.3A CN202210174144A CN114485572A CN 114485572 A CN114485572 A CN 114485572A CN 202210174144 A CN202210174144 A CN 202210174144A CN 114485572 A CN114485572 A CN 114485572A
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- 238000013507 mapping Methods 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 33
- 238000012544 monitoring process Methods 0.000 claims description 16
- 238000004458 analytical method Methods 0.000 claims description 13
- 238000012545 processing Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 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
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- 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
Abstract
The invention discloses an error-reducing unmanned aerial vehicle surveying and mapping system, which comprises a central control module, a rough measurement module, a fine measurement module and a drawing module, wherein the central control module controls the operation of other modules, the rough measurement module carries out preliminary shooting on a position to be surveyed, roughly judges the terrain, the fine measurement module carries out shooting again on the position to be surveyed by selecting a proper angle to determine a needed picture, and the drawing module draws a corresponding picture according to the shot picture. And the subsequent drawing is convenient.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to an unmanned aerial vehicle surveying and mapping system for reducing errors.
Background
The unmanned aerial vehicle aerial survey is a powerful supplement of the traditional aerial photogrammetry means, has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range, short production period and the like, has obvious advantages in the aspect of rapidly acquiring high-resolution images in small areas and areas with difficult flight, has unique advantages along with the development of unmanned aerial vehicles and digital camera technologies, and is combined with the aerial photogrammetry so that the unmanned aerial vehicle digital low-altitude remote sensing becomes a brand-new development direction in the field of aerial remote sensing;
however, in the current unmanned aerial vehicle surveying and mapping, aerial images are more, repeated and unclear useless images easily exist, the definition, height, angle and zoom ratio of aerial shooting all have differences, and the later-stage drawing and sorting workload is larger.
Disclosure of Invention
The invention provides an error-reducing unmanned aerial vehicle surveying and mapping system, which can effectively solve the problems that in the conventional unmanned aerial vehicle surveying and mapping, aerial pictures are more, repeated and unclear useless pictures are easy to exist, the definition, height, angle and scaling of aerial shooting are different, and the later-stage drawing and finishing workload is large.
In order to achieve the purpose, the invention provides the following technical scheme: an unmanned aerial vehicle surveying and mapping system capable of reducing errors comprises a central control module, a rough measurement module, a precise measurement module and a drawing module, wherein the central control module controls the operation of other modules, the rough measurement module performs preliminary shooting on a position to be surveyed, roughly judges the terrain, the precise measurement module selects a proper angle to shoot the position to be surveyed again, a needed picture is determined, and the drawing module draws a corresponding graph according to the shot picture;
the rough measurement module comprises a position determination unit, a flight setting unit and a shooting setting unit;
the precision measurement module comprises a rough measurement analysis unit, a coordinate setting unit, a machine body monitoring unit, a lens adjusting unit and a clock unit;
the drawing module comprises a picture sorting unit, a proportion setting unit and a picture drawing unit.
According to the technical scheme, the position determining unit determines the farthest position needing to be shot when the unmanned aerial vehicle flies for the first time;
the flight setting unit sets a flight route according to the determined flight position;
the shooting setting unit determines the position to be shot, the shooting height and the shooting direction according to the flight path.
According to the technical scheme, when the shooting setting unit sets the shooting position, the shooting range is determined firstly, the shooting interval distance is determined in the shooting range, and the interval distance between every two shooting positions is equal in the shooting range;
and setting a shooting angle for each shooting position, and starting from the angle of the vertical horizontal plane, upwards adjusting for 15 degrees each time to be used as the next shooting angle.
According to the technical scheme, the rough side analysis unit of the precision measurement module analyzes the picture shot by the rough measurement module and marks the position where the picture cannot be shot clearly;
the coordinate setting unit determines a shooting coordinate and a shooting angle according to the analysis condition of the rough-measured picture;
the body monitoring unit monitors the flying height and the inclination angle of the body of the unmanned aerial vehicle when the unmanned aerial vehicle flies, and flies to a coordinate position to be shot;
the lens adjusting unit adjusts the angle of the lens according to the determined shooting angle, and a clear picture is shot;
the clock unit records the shooting time at each shooting.
According to the technical scheme, in the coordinate setting unit, the starting point position of the ground of the unmanned aerial vehicle is taken as a zero coordinate point, the line vertical to the zero coordinate point is taken as an axis Y, the line between the projection of the farthest flight position and the zero coordinate is taken as an axis X, and the line horizontal to the axis X is taken as an axis Z;
according to the established space coordinate system, the coordinate position needing to be shot is determined through the combination of the roughly measured picture;
the coordinate setting unit determines a shooting angle under the condition that the unmanned aerial vehicle flies horizontally after determining the coordinates.
According to the technical scheme, the airframe monitoring unit monitors airframe data when the unmanned aerial vehicle flies;
the monitoring content comprises power supply data, internal temperature and a machine body inclination angle;
the inclination angle of the machine body is calculated by the inclination angle between the lens and the horizontal position.
According to the technical scheme, after the unmanned aerial vehicle flies to a shooting designated coordinate position, the lens adjusting unit determines the inclination angle of the unmanned aerial vehicle according to monitoring data;
when the unmanned aerial vehicle flies horizontally, the lens is directly adjusted to reach the required shooting angle;
when the unmanned aerial vehicle fuselage inclines, adjust the camera lens perpendicular to horizontal plane earlier, reach the shooting angle that needs at the adjustment camera lens.
According to the technical scheme, the clock unit sets a time period for shooting, when the shooting time is reached, the clock unit sends a prompt, the lens adjusting unit starts to adjust the lens, the shooting angle is adjusted within the specified time period, shooting is carried out, and the specific shooting time is recorded.
According to the technical scheme, the picture arranging unit receives shot picture data, sorts shot pictures according to shooting time and classifies the shot pictures according to the shot pictures;
when the shot pictures are classified, objects in the pictures are extracted firstly, the objects are numbered, the numbers are 1, 2 and 3 … n, the pictures with the same objects are searched according to the objects in the pictures, the pictures with the same objects are classified into one type, and one shot picture can belong to a plurality of types.
According to the technical scheme, the proportion of each picture is calculated through a proportion setting unit according to the coordinate of the shooting position, then a proper drawing proportion is selected, and the shot pictures are zoomed to the same proportion;
and the picture drawing unit arranges the zoomed pictures for drawing.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up the position determination unit, the flight sets up the unit, shoot setting up unit and rough survey analysis unit cooperation survey and drawing, through rough flight route, confirm the range of flight, confirm the spacing distance of shooting in the range of flight, even shooting gathers the picture, the scope that makes first collection is extensive, the picture information of collection is more, the repeated unclear picture is difficult for appearing, the condition through rough survey analysis unit analysis rough survey provides the shooting reference for follow-up accurate survey and drawing, the picture that makes the survey and drawing is shot efficiently, avoid a large amount of shootings, it is more to cause the repeated picture.
2. Through setting up the coordinate setting unit, according to the rough survey condition, confirm the coordinate and carry out the secondary to the position that needs the accurate shooting and shoot, have corresponding more and shoot, make the picture of shooing more accord with the requirement, more clear, and can confirm the concrete position of shooing, make things convenient for the later stage to the processing of picture, the scaling of proportion saves the time of follow-up processing, improves data processing's efficiency.
3. Through setting up fuselage monitoring unit and camera lens adjustment unit, self situation when flying to the fuselage monitors, carries out real-time supervision to the inclination of fuselage, when shooing, through the adjustment to the camera lens angle, reaches suitable shooting angle to shoot required picture, make the camera lens when shooting the picture, the error between the shooting angle of setting and the actual shooting angle reduces, thereby make the error of whole survey and drawing reduce, make the result of survey and drawing more close with actual.
4. Through setting up the clock unit, set up the time quantum for the shooting in every position, carry out suitable shooting in the time quantum to when reaching the shooting time, carry out the adjustment preparation of shooting angle, adjust the angle in the specified time quantum and accomplish the shooting, make the time of shooting controllable, make things convenient for remote control, make the mapping process more orderly controllable.
5. Through setting up picture arrangement unit, proportion setting unit and picture drawing unit, will shoot the picture and arrange in order according to shooting time earlier, classify according to the object of shooting again, make things convenient for the follow-up drawing to actual object, according to the coordinate of shooting position and the angle of shooting again, calculate the picture with actual proportion, select suitable drawing proportion, will shoot the unified proportion of picture, make things convenient for subsequent drawing.
To sum up, through the combination of rough survey and accurate survey, after the condition preliminary analysis understanding of shooting position, set up the specific position that the secondary was shot again, confirm the angle of shooting, the specific time of control shooting makes subsequent shooting orderly controllable, and the definition of shooting is high, reduces the number of times of repeated shooting, makes the efficiency of survey and drawing improve, after the completion of shooing, to the picture classification, the uniform ratio makes things convenient for subsequent drawing.
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 principles of the invention and not to limit the invention.
In the drawings:
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a schematic illustration of the position coordinates of the present invention;
fig. 3 is a diagram illustrating classification of photographed pictures according to the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-3, the invention provides a technical scheme, an error-reducing unmanned aerial vehicle surveying and mapping system, which comprises a central control module, a rough measurement module, a precise measurement module and a drawing module, wherein the central control module controls the operation of other modules, the rough measurement module performs preliminary shooting on a position to be surveyed, roughly judges a terrain, the precise measurement module selects a proper angle to shoot the position to be surveyed again, determines a needed picture, and the drawing module draws a corresponding graph according to the shot picture;
the rough measurement module comprises a position determination unit, a flight setting unit and a shooting setting unit;
the precise measurement module comprises a rough measurement analysis unit, a coordinate setting unit, a machine body monitoring unit, a lens adjusting unit and a clock unit;
the drawing module comprises a picture arranging unit, a proportion setting unit and a picture drawing unit.
According to the technical scheme, the position determining unit determines the farthest position to be shot when the unmanned aerial vehicle flies for the first time;
the flight setting unit sets a flight route according to the determined flight position;
the shooting setting unit determines the position to be shot, the shooting height and the shooting direction according to the flight path.
According to the technical scheme, when the shooting setting unit sets the shooting position, the shooting range is determined firstly, the shooting interval distance is determined in the shooting range, and the interval distance between every two shooting positions is equal in the shooting range;
and setting a shooting angle for each shooting position, and starting from the angle of the vertical horizontal plane, upwards adjusting for 15 degrees each time to be used as the next shooting angle.
According to the technical scheme, the rough side analysis unit of the precision measurement module analyzes the picture shot by the rough measurement module and marks the position where the picture cannot be shot clearly;
the coordinate setting unit determines the shooting coordinate and the shooting angle according to the analysis condition of the rough measurement picture;
the unmanned aerial vehicle body monitoring unit monitors the flying height and the inclination angle of the unmanned aerial vehicle body when the unmanned aerial vehicle flies, and flies to a coordinate position needing shooting;
the lens adjusting unit adjusts the angle of the lens according to the determined shooting angle, and a clear picture is shot;
the clock unit records the shooting time at each shooting.
According to the technical scheme, in the coordinate setting unit, the starting point position of the ground of the unmanned aerial vehicle is taken as a zero coordinate point, the line which is vertical to the zero coordinate point longitudinally is taken as an axis Y, the line between the projection of the farthest flight position and the zero coordinate is taken as an axis X, and the line which is horizontal to the axis X is taken as an axis Z;
according to the established space coordinate system, the coordinate position needing to be shot is determined through the combination of the roughly measured picture;
the coordinate setting unit determines a shooting angle under the condition that the unmanned aerial vehicle flies horizontally after determining the coordinates.
According to the technical scheme, the airframe monitoring unit monitors the data of the airframe when the unmanned aerial vehicle flies;
the monitoring content comprises power supply data, internal temperature and a machine body inclination angle;
the inclination angle of the body is calculated by the inclination angle of the lens and the horizontal position.
According to the technical scheme, after the unmanned aerial vehicle flies to a shooting designated coordinate position, the lens adjusting unit determines the inclination angle of the unmanned aerial vehicle according to monitoring data;
when the unmanned aerial vehicle flies horizontally, the lens is directly adjusted to reach the required shooting angle;
when the unmanned aerial vehicle fuselage inclines, adjust the camera lens perpendicular to horizontal plane earlier, reach the shooting angle that needs at the adjustment camera lens.
According to the technical scheme, the clock unit sets a time period for shooting, when the shooting time is reached, the clock unit sends a prompt, the lens adjusting unit starts to adjust the lens, the shooting angle is adjusted within a specified time period, shooting is carried out, and the specific shooting time is recorded.
According to the technical scheme, the picture arranging unit receives shot picture data, sorts shot pictures according to shooting time and classifies the shot pictures according to the shot pictures;
when the shot pictures are classified, objects in the pictures are extracted firstly, the objects are numbered, the numbers are 1, 2 and 3 … n, the pictures with the same objects are searched according to the objects in the pictures, the pictures with the same objects are classified into one type, and one shot picture can belong to a plurality of types.
According to the technical scheme, the proportion of each picture is calculated through the proportion setting unit according to the coordinates of the shooting position, and then the proper drawing proportion is selected to zoom the shot picture to the same proportion;
and the picture drawing unit arranges the zoomed pictures for drawing.
The working principle and the using process of the invention are as follows:
finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides an unmanned aerial vehicle mapping system who falls error which characterized in that: the system comprises a central control module, a rough measurement module, a precise measurement module and a drawing module, wherein the central control module controls the operation of other modules, the rough measurement module performs preliminary shooting on a position to be surveyed, roughly judges the terrain, the precise measurement module selects a proper angle to shoot the position to be surveyed again, a needed picture is determined, and the drawing module draws a corresponding graph according to the shot picture;
the rough measurement module comprises a position determination unit, a flight setting unit and a shooting setting unit;
the precision measurement module comprises a rough measurement analysis unit, a coordinate setting unit, a machine body monitoring unit, a lens adjusting unit and a clock unit;
the drawing module comprises a picture arranging unit, a proportion setting unit and a picture drawing unit.
2. The unmanned aerial vehicle surveying and mapping system for landing errors of claim 1, wherein the position determining unit determines a farthest position to be photographed when the unmanned aerial vehicle flies for the first time;
the flight setting unit sets a flight route according to the determined flight position;
the shooting setting unit determines the position to be shot, the shooting height and the shooting direction according to the flight path.
3. The unmanned aerial vehicle surveying and mapping system with reduced error of claim 1, wherein the shooting setting unit determines a shooting range in which a shooting distance is equal when setting the shooting position, and determines a shooting interval distance in the shooting range;
and setting a shooting angle for each shooting position, and starting from the angle of the vertical horizontal plane, upwards adjusting for 15 degrees each time to be used as the next shooting angle.
4. The unmanned aerial vehicle surveying and mapping system with reduced error of claim 1, wherein the rough side analysis unit of the fine measurement module analyzes the picture taken by the rough measurement module and marks the position where the picture cannot be clearly taken;
the coordinate setting unit determines the shooting coordinate and the shooting angle according to the analysis condition of the rough measurement picture;
the body monitoring unit monitors the flying height and the inclination angle of the body of the unmanned aerial vehicle when the unmanned aerial vehicle flies, and flies to a coordinate position to be shot;
the lens adjusting unit adjusts the angle of the lens according to the determined shooting angle, and a clear picture is shot;
the clock unit records the shooting time at each shooting.
5. The error-reducing unmanned aerial vehicle surveying and mapping system according to claim 1, wherein in the coordinate setting unit, a starting point position of the ground of the unmanned aerial vehicle is taken as a zero coordinate point, a line vertical to the zero coordinate point is taken as a Y axis, a line between a projection of a farthest flight position and the zero coordinate is taken as an X axis, and a line horizontal to the X axis is taken as a Z axis;
according to the established space coordinate system, the coordinate position needing to be shot is determined through the combination of the roughly measured picture;
the coordinate setting unit determines a shooting angle under the condition of horizontal flight of the unmanned aerial vehicle after determining the coordinates.
6. The unmanned aerial vehicle surveying and mapping system for error reduction according to claim 1, wherein the fuselage monitoring unit monitors data of the fuselage while the unmanned aerial vehicle is flying;
the monitoring content comprises power supply data, internal temperature and a machine body inclination angle;
the inclination angle of the machine body is calculated by the inclination angle between the lens and the horizontal position.
7. The unmanned aerial vehicle surveying and mapping system for reducing errors of claim 1, wherein the lens adjusting unit determines an inclination angle of the unmanned aerial vehicle according to the monitoring data after the unmanned aerial vehicle flies to a shooting designated coordinate position;
when the unmanned aerial vehicle flies horizontally, the lens is directly adjusted to reach the required shooting angle;
when the unmanned aerial vehicle fuselage inclines, adjust the camera lens perpendicular to horizontal plane earlier, reach the shooting angle that needs at the adjustment camera lens.
8. The unmanned aerial vehicle surveying and mapping system with reduced error of claim 1, wherein the clock unit sets a time period for shooting, when the shooting time is reached, the clock unit sends a prompt, the lens adjusting unit starts to adjust the lens, the shooting angle is adjusted within the specified time period, shooting is performed, and the specific time of shooting is recorded.
9. The unmanned aerial vehicle surveying and mapping system with reduced error of claim 1, wherein the frame sorting unit receives the captured frame data, sorts the captured frames according to the capturing time, and classifies the captured frames according to the captured frames;
when the shot pictures are classified, objects in the pictures are extracted firstly, the objects are numbered, the numbers are 1, 2 and 3 … n, the pictures with the same objects are searched according to the objects in the pictures, the pictures with the same objects are classified into one type, and one shot picture can belong to a plurality of types.
10. The unmanned aerial vehicle surveying and mapping system with reduced error of claim 1, wherein the proportion of each picture is calculated by the proportion setting unit according to the coordinates of the shooting position, and then the proper drawing proportion is selected to zoom the shot pictures to the same proportion; and the picture drawing unit arranges the zoomed pictures for drawing.
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2022
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Patent Citations (7)
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| US20120309288A1 (en) * | 2011-05-31 | 2012-12-06 | Itt Manufacturing Enterprises, Inc. | System and Method for Allocating Jamming Energy Based on Three-Dimensional Geolocation of Emitters |
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