CN114739361A - Earth observation method, device, electronic device and storage medium - Google Patents
Earth observation method, device, electronic device and storage medium Download PDFInfo
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- CN114739361A CN114739361A CN202210178781.8A CN202210178781A CN114739361A CN 114739361 A CN114739361 A CN 114739361A CN 202210178781 A CN202210178781 A CN 202210178781A CN 114739361 A CN114739361 A CN 114739361A
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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- 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
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The invention provides a ground observation method, a ground observation device, electronic equipment and a storage medium, wherein firstly, based on the field angle of a camera on a holder, the working angle of the holder is determined, and the holder is controlled to point at the working angle; the cradle head is carried on the air facing platform; and then, under the condition that the holder points at the working angle, controlling the camera to shoot images of the ground area corresponding to the working angle. The method realizes large-range fixed-point observation of the ground by driving the camera through the cloud deck carried on the sky-facing platform, and can realize repeated observation of the same area on the ground for many times by combining the camera on the cloud deck because the sky-facing platform can stay at the same position for a long time, namely, the long-sequence ground observation is realized, and the method has higher revisit rate compared with a satellite platform or an airplane platform. Moreover, because the height of the sky-facing platform is lower than that of the satellite platform, images with higher resolution can be obtained compared with the satellite platform.
Description
Technical Field
The invention relates to the technical field of remote sensing observation, in particular to a method and a device for earth observation, electronic equipment and a storage medium.
Background
In order to sufficiently grasp the use information or information change situation of the ground area, it is generally necessary to perform ground observation. The traditional earth observation method is usually realized by various optical observation systems with different spatial resolution and spectral resolution or radar systems with different wave bands on a satellite or an airborne vehicle.
But it is difficult to achieve high resolution and high revisit rate earth observation based on satellite platform, and to achieve long sequence and high revisit rate earth observation based on airplane platform. For this reason, it is urgently needed to provide a long-sequence, high-resolution and high-revisitation-rate earth observation method.
Disclosure of Invention
The invention provides a ground observation method, a ground observation device, electronic equipment and a storage medium, which are used for overcoming the defects in the prior art.
The invention provides a ground observation method, which comprises the following steps:
determining a working angle of the holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform;
and if the holder points at the working angle, controlling a camera to shoot images of the ground area corresponding to the working angle.
According to the ground observation method provided by the invention, the shooting mode of the camera in a first ground area driven by the cloud deck is a sweep shooting mode, and the shooting mode of the camera in a second ground area outside the first ground area driven by the cloud deck is a rotation shooting mode;
wherein the first ground area is located within a preset range right below the sky-facing platform.
According to the earth observation method provided by the invention, in the sweep shooting mode, the working angle comprises a downward-looking sweep angle; accordingly, the number of the first and second electrodes,
the determining the working angle of the holder based on the angle of view of the camera on the holder comprises:
determining the downswing sweep angle based on a field angle overlap constraint and a field angle of the camera.
According to the earth observation method provided by the invention, in the rotation shooting mode, the working angle comprises a pitch angle and a rotation angle; accordingly, the number of the first and second electrodes,
the determining the working angle of the holder based on the angle of field of the camera on the holder comprises:
determining the number of the rotation circumferences and the pitch angle step length of the holder based on the view angle overlapping degree constraint, the view angle of the camera and the maximum side view observation angle of the ground target, and determining the pitch angle of the holder on each rotation circumference based on the pitch angle step length;
determining far-side field angles of images shot by the camera on each rotation circumference based on the pitching angles of the holder on each rotation circumference and the parameters of the camera, and determining the rotation angle step length of the holder on each rotation circumference based on each far-side field angle and the field angle overlapping degree constraint;
and determining the rotation angle of the holder on each rotation circle based on the rotation angle step length of the holder on each rotation circle.
According to the earth observation method provided by the invention, the control camera shoots the ground area corresponding to the working angle, and then the method comprises the following steps:
calculating the time interval between the current time and the starting time of the last observation;
and if the time interval reaches the repeated observation time interval, continuing to perform earth observation.
According to the earth observation method provided by the invention, the control camera takes a picture of the ground area corresponding to the working angle, and then the method comprises the following steps:
determining the position and orientation information of the holder;
and determining the ground coverage range of the shot image by adopting a sight tracking algorithm based on the ground elevation information and the pose information.
According to the earth observation method provided by the invention, the field angle of the camera is calculated based on the following method:
determining a course field angle of the camera based on the length information of the imaging surface of the camera and the focal length of the camera;
and determining the side field angle of the camera based on the width information of the imaging surface of the camera and the focal length of the camera.
The present invention also provides a ground observation apparatus, comprising:
the platform control module is used for determining the working angle of the holder based on the field angle of a camera on the holder and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform;
and the ground observation module is used for controlling a camera to shoot images of the ground area corresponding to the working angle if the holder points to the working angle.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the earth observation method.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a method of earth observation as described in any of the above.
The invention also provides a computer program product comprising a computer program which, when executed by a processor, implements a method of earth observation as described in any one of the above.
According to the earth observation method, the earth observation device, the electronic equipment and the storage medium, firstly, the working angle of the holder is determined based on the field angle of the camera on the holder, and the holder is controlled to point at the working angle; the cradle head is carried on the air facing platform; and then, under the condition that the holder points at the working angle, controlling the camera to shoot images of the ground area corresponding to the working angle. The method realizes large-range fixed-point observation on the ground by driving the camera through the cradle head carried on the sky facing platform, and can realize repeated observation on the same area on the ground by combining the camera on the cradle head because the sky facing platform can stay at the same position for a long time, and has higher revisit rate compared with a satellite platform or an airplane platform.
Drawings
In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic flow chart of a method for observing earth provided by the present invention;
FIG. 2 is a schematic diagram of an image captured in a grid-based sweep photography mode in the earth observation method provided by the present invention;
FIG. 3 is a schematic diagram of an image captured in a rotation capture mode in the earth observation method according to the present invention;
FIG. 4 is a diagram of an image coverage effect obtained in the earth observation method provided by the present invention;
FIG. 5 is a schematic structural diagram of a ground observation device provided by the present invention;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The earth observation method in the prior art is usually implemented by various satellite-borne or airborne optical observation systems with different spatial resolutions and spectral resolutions or radar systems with different wave bands.
However, the satellite-based platform is difficult to realize high-resolution and high-revisit-rate earth observation, and the aircraft-based platform cannot realize long-sequence and high-revisit-rate earth observation. Therefore, the embodiment of the invention provides a ground observation method with long sequence, high resolution and high revisitation rate.
Fig. 1 is a schematic flow chart of a method for observing the earth provided in an embodiment of the present invention, as shown in fig. 1, the method includes:
s1, determining the working angle of the holder based on the angle of field of the camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform;
and S2, if the holder points to the working angle, controlling the camera to shoot images of the ground area corresponding to the working angle.
Specifically, the execution subject of the earth observation method provided in the embodiment of the present invention is a control system, the control system may be located on the ground, and the control system may be configured in a local server. The control system can also be configured in the cloud server. The local server may be a computer, a tablet computer, or the like, which is not limited in the embodiment of the present invention.
The earth observation method provided by the embodiment of the invention can be realized by an earth observation system for realizing earth observation, and the earth observation system can comprise a control system, a camera and a holder. It can be understood that the control system is an execution main body in the embodiment of the present invention, and the control system may be used to implement control over the camera and the pan/tilt head. When the control system realizes the control function, the control system can receive user input and generate a control instruction for the camera and a control instruction for the holder according to the user input so as to respectively realize the control functions for the camera and the holder.
The control system can comprise a monitoring module and a data transmission module, wherein the monitoring module is used for monitoring image information such as image quick views or original images and the like shot by a camera in near real time, the data transmission module can comprise a ground end and an air end, and the ground end is used for sending a control instruction to the air end, receiving a state instruction sent by the air end and receiving the image information sent by the air end; the aerial terminal is used for receiving a control command sent by the ground terminal, receiving state information of the pan-tilt and the camera, receiving image information such as a fast view image or an original image obtained by shooting of the camera, and sending the state information and the image information to the ground terminal.
The camera can receive the control command sent by the control system and control the camera to take pictures according to the control command. The control instructions received by the camera may be used to set parameters such as camera aperture, shutter speed, and ISO. Here, the camera is an area-array camera, and the area-array camera may be a Charge Coupled Device (CCD) camera.
The camera can be fixedly arranged on a holder, and the holder is a supporting platform of the camera and can have three rotational degrees of freedom. The holder can realize 360-degree rotation, namely the value range of yaw angle or azimuth angle (yaw, heading) is 0-360 degrees; the pitch angle (i.e. heading pitch) ranges from-90 degrees to +90 degrees; the roll angle (roll) ranges from-90 degrees to 90 degrees.
Here, the pan/tilt coordinate system may be constructed with the center of the pan/tilt as the center O, the front direction of the pan/tilt in the horizontal plane as the OX axis, the right direction of the pan/tilt in the horizontal plane as the OY axis, and the lower direction of the pan/tilt perpendicular to the XOY plane as the OZ axis. The holder coordinate system is a three-dimensional orthogonal rectangular coordinate system which is fixed on the holder and follows the right-hand rule. The rotating angle of the cradle head around the OX axis is a roll angle, the rotating angle of the cradle head around the OY axis is a pitch angle, and the rotating angle of the cradle head around the OZ axis is a yaw angle.
The cradle head can be carried on an air platform, and the air platform can be an airship, a balloon and the like. The sky facing platform with the holder has the characteristic of gazing observation, can be parked in the air for a long time, and can be basically static to the air to perform gazing observation or large-range monitoring observation on the ground.
In the embodiment of the invention, the control system can send the control instruction to the holder, so that the holder can adjust the pointing direction and the motion state according to the control instruction. When the control system controls the direction of the holder to meet the requirement of the control instruction, the camera can be controlled to shoot images.
Based on this, the earth observation method implemented based on the above-mentioned earth observation system provided in the embodiment of the present invention is described in detail below.
Step S1 is executed first, and the operating angle of the pan/tilt head is determined by the angle of field of the camera on the pan/tilt head. Because the cloud platform can have three rotational degrees of freedom, consequently can confirm the work angle that the cloud platform pointed to the camera and can shoot according to the angle of field of camera.
The field angle of the camera may be calculated from size information of an imaging plane of the camera, and the imaging plane of the camera may be a light sensing plane of the camera. The dimension information of the imaging plane may include length information (i.e., heading width) and width information (i.e., side width) of the imaging plane. The field angles of the camera may include a heading field angle α and a side-by field angle β. Since the angle of view of the camera is correlated with the size information of the imaging plane, the angle of view of the camera can be determined in combination with the size information of the imaging plane. For example, the heading angle of view of the camera can be determined by the length information of the imaging plane, and the side angle of view of the camera can be determined by the width information of the imaging plane.
Here, the working angle of the pan/tilt head, that is, the working angle of the pan/tilt head in each rotational degree of freedom, can be calculated according to the field angle of the camera and in combination with the field angle overlap constraint. The view angle overlapping degree constraint may be that the view angle overlapping degree corresponding to two adjacent images captured by the camera is greater than or equal to an overlapping degree threshold, and the overlapping degree threshold may be set as needed, which is not specifically limited herein.
On this basis, can also combine the shooting mode that the cloud platform that sets up in advance drove the camera and form, calculate the working angle of cloud platform. The shooting mode that the cloud platform drove the camera to form can be divided into to sweep shooting mode and rotatory shooting mode.
The sweep shooting mode may be a grid-based sweep shooting mode. In the sweep shooting mode, the working angle of the holder can comprise a course downward-looking sweep angle and a side-down downward-looking sweep angle, the course downward-looking sweep angle is a pitching angle, and the side-down downward-looking sweep angle is a side rolling angle.
In the rotation shooting mode, the working angle of the pan/tilt head may include a pitch angle and a rotation angle. The pitching angle is the angle of the side swing of the holder, and the rotating angle is the yaw angle. The number of the rotation circumferences in the rotation shooting mode can be determined according to the field angle of the camera, the field angle overlapping degree constraint and the size information of the ground area to be observed, the pitch angles of all positions on the same rotation circumference are the same when the holder rotates for multiple circles, and the pitch angles corresponding to different rotation circumferences can be determined according to the pitch angle step length between the adjacent rotation circumferences. The pitch angle step can be determined according to the number of the rotating circles and the size information of the ground area to be observed.
The size information of the ground area to be observed can be determined through user input information received by the control system, the size information of the ground area to be observed can be represented through the maximum side-view observation angle of the ground target, and the user input information can be the observation radius of the ground target or the maximum side-view observation angle of the ground target. When the user input information is the observation radius of the ground target, the maximum side-looking observation angle of the ground target can be determined through the height information of the temporary platform.
It can be understood that the observation radius of the ground target is the radius of the ground area to be observed, and the maximum side-view observation angle of the ground target is the cut-off angle of the maximum external visual field of the camera.
The rotation angle may be determined according to a rotation angle step length on the same rotation circle, and the rotation angle step length may be determined by combining the size information of the imaging plane of the camera, the focal length of the camera, the image overlap constraint, and the pitch angle, which are not specifically limited herein.
And then the control system controls the holder to point to the working angle.
And finally, executing step S2, and controlling the camera to shoot an image of the ground area corresponding to the working angle when the holder points to the working angle. The ground area corresponding to the working angle, namely the ground area over against the camera, is shot to obtain images, and the ground observation can be realized. It can be understood that, since the above-identified working angles are plural, the ground area observed with respect to the ground at this time is a union of the ground coverage areas of all the images obtained by capturing.
The ground observation method provided by the embodiment of the invention comprises the steps of firstly determining the working angle of a holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform; and then, under the condition that the holder points at the working angle, controlling the camera to shoot images of the ground area corresponding to the working angle. The method realizes fixed-point observation of the ground by driving the camera through the cradle head carried on the sky facing platform, and can realize repeated observation of the same area on the ground by combining the camera on the cradle head because the sky facing platform can stay at the same position for a long time, and has higher revisit rate compared with a satellite platform or an airplane platform.
On the basis of the above embodiment, in the ground observation method provided in the embodiment of the present invention, the pan-tilt drives the camera to have a sweep shooting mode in a first ground area, and the pan-tilt drives the camera to have a rotation shooting mode in a second ground area outside the first ground area;
wherein the first ground area is located within a preset range right below the sky-facing platform.
Specifically, in the embodiment of the present invention, the shooting mode formed by the platform driving the camera may include a sweep shooting mode and a rotation shooting mode, and the shooting mode formed by the platform driving the camera may be a shooting track and a shooting rule when the platform driving the camera to shoot. In order to improve the earth observation efficiency, the working angle of the platform can be controlled to enable the shooting mode corresponding to the first ground area in the preset range right below the sky platform to be the sweep shooting mode, and the shooting mode corresponding to the second ground area outside the first ground area to be the rotation shooting mode. It can be understood that a preset range right below the sky platform can be set as required, the size of the first ground area in the preset range can be set as required, the number of images shot in the sweep shooting mode can also be used for representing, and the union of the ground areas covered by all the images shot in the sweep shooting mode is the first ground area.
It can be understood that, in the sweep shooting mode, the number of sweeps in each direction, the course sweep angle step length in multiple sweeps, and the side sweep angle step length can be set as required, and are not specifically limited herein. In order to ensure that the overlapping rate of two adjacent images shot in each direction is the same, the course sweeping angle step length and the side direction sweeping angle step length can be adjusted in real time. For example, as shown in FIG. 2, the number of images captured in the grid-based sweep capture mode may be 3 × 5, with 5 images captured sideways corresponding to 3 images captured with a heading corresponding to 1-15, respectively. This is because the navigation direction corresponds to the length of the image and the side direction corresponds to the width of the image in the present application, but the length of the image is generally greater than the width of the image, so that 3 × 5 images can approximately cover a square area of the ground, that is, it can be ensured that the first ground area is approximately a square area, and the image information obtained by observation is more normalized. In order to ensure the reliability of the ground observation and the integrity of the image information, a certain degree of overlap is required between the images captured in the sweep shooting mode, and the degree of image overlap can be characterized by the degree of field angle overlap. Under the condition that the parameters of the camera are fixed, the sweeping angle of the holder can be determined through the angle of view overlapping degree.
Due to the fact that the sweep shooting mode is low in efficiency, in order to improve the ground observation efficiency, the rotary shooting mode can be adopted for shooting in a second ground area outside the first ground area. In order to ensure the overlapping degree of the shot images, the first image in the rotation shooting mode can be an external image in the appointed direction in the swing and sweep mode, and the external image refers to an image in the appointed direction shot by the camera after a swing step length in the appointed direction is added in the swing and sweep mode. The designated direction may be set as needed, and is not particularly limited herein. For example, as shown in FIG. 3, the designated direction is a zero degree azimuthal heading and the circumscribed image is 30.
In the embodiment of the invention, the swing scanning shooting mode is adopted in the first ground area, the rotating shooting mode is adopted in the second ground area, and the ground area is shot, so that the ground observation is realized, the image shooting efficiency can be greatly improved, and the high efficiency of the ground observation is realized.
On the basis of the above embodiments, in the ground observation method provided in the embodiments of the present invention, the field angle of the camera is determined based on the following method:
determining a course field angle of the camera based on the length information of the imaging surface of the camera and the focal length of the camera;
and determining the side field angle of the camera based on the width information of the imaging surface of the camera and the focal length of the camera.
Specifically, in the embodiment of the present invention, when the field angle of the camera is calculated, the calculation may be performed by using the size information of the imaging plane of the camera. Because the size information comprises the length information of the imaging surface and the width information of the imaging surface, the heading angle of view of the camera can be determined according to the length information of the imaging surface and the focal length of the camera. Namely the following formula:
α＝2*atan(lx/2/f)
wherein, alpha is the course field angle, lx is the length information of the imaging plane, i.e. the course width, and f is the focal length of the camera.
In a similar way, the side field angle of the camera can be determined according to the width information of the imaging surface and the focal length of the camera. Namely the following formula:
β＝2*atan(ly/2/f)
wherein, beta is a side view angle, ly is width information of an imaging surface, namely side width, and f is the focal length of the camera.
Taking a certain camera with a focal length of 300mm as an example, if the width information of an imaging plane of the camera is 40.0mm and the length information of the imaging plane is 53.4mm, the course field angle is 10.17 degrees; the side field angle was 7.62 degrees.
In the embodiment of the invention, the field angle of the camera is calculated by combining the size information of the imaging surface of the camera and the focal length of the camera, and the course field angle and the side field angle of the camera can be respectively obtained from different directions, thereby providing a basis for subsequently determining the working angle of the holder.
On the basis of the above embodiment, in the ground observation method provided in the embodiment of the present invention, in the sweep shooting mode, the working angle includes a downward-looking sweep angle; accordingly, the number of the first and second switches is increased,
the determining the working angle of the holder based on the angle of field of the camera on the holder comprises:
determining the downswing sweep angle based on a field angle overlap constraint and a field angle of the camera.
Specifically, in the embodiment of the present invention, in the grid-based sweep shooting mode, the working angle of the pan-tilt may be a downward-looking sweep angle of the pan-tilt, including a heading downward-looking sweep angle and a side-down-looking sweep angle. Therefore, when the working angle of the holder is determined, the downward-looking sweeping angle of the holder during the first sweeping can be determined directly according to the view angle overlapping degree constraint and the view angle of the camera. The view angle overlapping degree constraint is a constraint condition for ensuring that the captured images have an overlapping degree, and the view angle overlapping degree constraint may be that the overlap degree of the view angles corresponding to two adjacent images captured by the camera is equal to or greater than an overlapping degree threshold, and the overlapping degree threshold may be predetermined, and may be 20% for example. Since the field angles of the camera include a heading field angle and a side-looking field angle, the pan tilt during the first sweep is expressed as (1-20%) x β in heading down sweep angle and (1-20%) x α in side-looking down sweep angle.
And then, determining the course downward-looking sweeping angle step length and the side downward-looking sweeping angle step length by combining the characteristics of the grids, namely determining the course downward-looking sweeping angle and the side downward-looking sweeping angle during each subsequent sweeping according to the course downward-looking sweeping angle step length and the side downward-looking sweeping angle step length.
The working angles of the pan-tilt heads corresponding to the images numbered 1-7 and 9-15 in fig. 2 can be determined by the above method, and particularly, the working angle of the pan-tilt head corresponding to the image numbered 8 in fig. 2 is 0, that is, the image numbered 8 is the image shot by the camera when the pan-tilt head points to the right lower side.
In the embodiment of the invention, in the scanning shooting mode, when the working angle of the near-empty platform is determined, the overlapping degree of the field angle is introduced, so that the images obtained in the scanning shooting mode have the corresponding image overlapping degree, and the reliability of earth observation and the integrity of image information are ensured.
On the basis of the foregoing embodiment, in the ground observation method provided in the embodiment of the present invention, in the rotation shooting mode, the working angle includes a pitch angle and a rotation angle;
the determining the working angle of the holder based on the angle of field of the camera on the holder comprises:
determining the number of the rotation circumferences and the pitch angle step length of the holder based on the view angle overlapping degree constraint, the view angle of the camera and the maximum side view observation angle of the ground target, and determining the pitch angle of the holder on each rotation circumference based on the pitch angle step length;
determining far-side field angles of images shot by the camera on each rotation circumference based on the pitching angles of the holder on each rotation circumference and the parameters of the camera, and determining the rotation angle step length of the holder on each rotation circumference based on each far-side field angle and the field angle overlapping degree constraint;
and determining the rotation angle of the holder on each rotation circle based on the rotation angle step length of the holder on each rotation circle.
Specifically, in the embodiment of the present invention, in the rotation shooting mode, the working angle of the pan/tilt head may include a pitch angle and a rotation angle. Therefore, when the working angle of the pan-tilt is determined, the number of the rotation circumferences and the pitch angle step length of the pan-tilt can be determined according to the view angle overlapping degree constraint, the view angle of the camera and the maximum side view observation angle of the ground target.
Because the holder rotates according to the fixed circumference on the XOY plane in the rotating shooting mode, the rotating circumference number and the pitch angle step length of the air-facing platform can be determined only according to the view angle overlapping degree constraint, the heading view angle of the camera and the maximum side-looking observation angle of the ground target.
Namely, the method comprises the following steps:
wherein N isPThe number of the rotation circles is delta, delta is the maximum side-view observation angle of the ground target, alpha is the heading angle of view of the camera, epsilon is the threshold value of the overlapping degree, and deltaPFor pitch angle step size, Int is the rounding function of the number after the decimal point is cut.
And then, determining the pitch angle of the holder on each rotating circumference according to the pitch angle step length. It will be appreciated that for each circle of rotation, the pitch angles of the head at various positions on the circle of rotation are the same, with pitch angles on adjacent circles differing by a pitch angle step.
Further, the far-side field angle of the image shot by the camera on each rotation circle can be determined through the pitching angle of the holder on each rotation circle and the parameters of the camera, that is, the following are provided:
where γ is a far-side field angle of an image captured by the camera on a certain rotation circle, that is, a field angle corresponding to a side of the image captured by the camera on the rotation circle, which is far away from the camera, ix is length information of an imaging plane of the camera, ly is width information of the imaging plane of the camera, pitch is a pitch angle of the pan/tilt head on the rotation circle, and parameters of the camera may include a focal length f of the camera and the aforementioned ix and ly.
And then, according to the angle of view of each far side and the angle of view overlapping degree constraint, determining the rotation angle step of the holder on each rotation circle. That is, if the far-side angle of view of the image captured by the camera on the rotation circle maintains the overlap threshold e for each rotation circle, the near-side angle of view of the image captured by the camera on the rotation circle must be larger than the overlap threshold e. Therefore, when the pan/tilt head performs angular rotation on the rotation circle, the step of the rotation angle is calculated as follows:
Δγ＝γ(1-ε)
here, the overlap threshold of the far-side viewing angle may be set to 20% or may be set as necessary.
Preferably, for uniform distribution of the circumference, the number of images captured by the camera on the rotation circumference can be calculated by the following formula:
then, the step length of the rotation angle of the holder during the angular rotation on the rotation circle can be obtained through the number of the images as follows:
2π/n
and finally, determining the rotation angle of each photo of the tripod head on each rotation circumference as i x 2 pi/n by combining the rotation angle step length of the tripod head on each rotation circumference, wherein the value of i is 0 to n-1.
In the embodiment of the invention, the number of the rotation circumferences and the pitch angle step length of the holder are determined by combining the view angle overlapping degree constraint, the view angle of the camera and the maximum side-view observation angle of the ground target, and the pitch angle of the holder on each rotation circumference is determined by combining the pitch angle step length, so that the pitch angle can be determined to meet the requirements of users. In addition, the far-side field of view of the image shot by the camera on each rotating circumference is determined through the pitching angle of the holder on each rotating circumference and the parameters of the camera, the rotating angle step length of the holder on each rotating circumference is determined through the far-side field of view and the overlapping degree constraint of the field of view, the rotating angle of each photo of the holder on each rotating circumference is determined through the rotating angle step length of the holder on each rotating circumference, and the accuracy of the rotating angle is guaranteed. Moreover, when the pitching angle and the rotating angle are determined, the view angle overlapping degree constraint is adopted, so that the appointed overlapping degree between images obtained by shooting the camera at all working angles of the holder can be ensured, and the integrity and the accuracy of earth observation are ensured.
On the basis of the foregoing embodiment, in the ground observation method provided in the embodiment of the present invention, the controlling the camera to take a picture of the ground area corresponding to the working angle, and then includes:
calculating the time interval between the current time and the starting time of the last observation;
and if the time interval reaches the repeated observation time interval, continuing to perform earth observation.
Specifically, the earth observation method provided in the embodiment of the present invention may be repeatedly executed by setting a repeated observation time interval. That is, the control system may first determine the starting time of the previous observation and the current time, and may calculate the time interval between the current time and the starting time of the previous observation. Then, it is determined whether the time interval reaches the repetitive observation time interval, and if the time interval reaches the repetitive observation time interval, the earth observation is continued, that is, the above-described steps S1-S2 are repeatedly performed.
The starting time of the previous observation may be a time when the previous observation starts to capture the first image by the camera, or may be a time when preparation work is performed when the previous observation starts, and is not particularly limited herein. The repetitive observation time interval may be set by the user in the control system as desired.
In the embodiment of the invention, by setting the repeated observation time interval, the fixed-point and point-to-ground observation can be repeatedly carried out under the condition that the time is met, so that a feasible scheme can be provided for the time sequence data acquisition of the same place.
On the basis of the foregoing embodiment, in the ground observation method provided in the embodiment of the present invention, the controlling the camera to take a picture of the ground area corresponding to the working angle, and then includes:
determining pose information of the holder;
and determining the ground coverage range of the shot image by adopting a sight tracking algorithm based on the ground elevation information and the pose information.
Specifically, in the embodiment of the present invention, after the camera is controlled to capture the ground area corresponding to the working angle each time to obtain the image, the pose information, the roll angle, the pitch angle, and the heading angle (i.e., roll, pitch, heading, respectively) of the pan/tilt head, the three-axis attitude angle, the longitude, the latitude, and the height information may be determined first. Then, the ground coverage range of the shot image can be determined by adopting a sight tracking algorithm according to the ground elevation information and the pose information. In the process, the position of the camera, namely the position of the sky facing platform, can be introduced, and the ground coverage range of the image can be obtained according to a collinear equation, based on the ground elevation information and the position and attitude information of the holder and a sight tracking algorithm.
Fig. 4 is an imaging effect diagram for completing wide-range observation through the near-empty platform with the holder.
By the method, the ground coverage range of each image obtained by ground observation can be obtained, subsequent image information can be sequentially and specifically applied, and whether the ground area obtained by ground observation meets the requirements of users can be verified.
On the basis of the above embodiment, the height of the platform in the sky is 20km, the image overlapping degree is 20%, and the inclination observation constraint angle, that is, the maximum side-view observation angle to the ground target is 60 degrees, is taken as an example for calculation;
the ground monitoring range is as follows:
the ground coverage radius is: 20 tan60 ═ 34.6 km;
the area of the circle covered by the ground is: 3760km2；
Taking the example that the focal length of a camera on a holder is 600mm, the width information of an imaging plane is 40.0mm, and the length information of the imaging plane is 53.4mm, the total number of photos is 931, namely 931 images can be obtained by executing the ground observation method once;
if the size of each CCD pixel is 3.76 mu m, the ground resolution of the front-view image and the bottom-view image is 12.5 cm;
the resolution of the edge image is 21.6 cm;
setting the rotating shooting time of each navigation plate as 2-second interval; the total shooting time is 1862 seconds, about 30 minutes; 931 seconds can be finished if the interval is 1 second, and about 15 minutes;
about half an hour, the reaction can be completed by 3760km2The monitoring of the range of (2) can complete repeated monitoring of the large range of the detection area at an interval of about half an hour.
As shown in fig. 5, on the basis of the above embodiment, an earth observation device is provided in an embodiment of the present invention, and includes:
the platform control module 51 is configured to determine a working angle of the pan/tilt head based on a field angle of a camera on the pan/tilt head, and control the pan/tilt head to point at the working angle; the cradle head is carried on the air facing platform;
and a ground observation module 52, configured to control the camera to shoot an image of the ground area corresponding to the working angle if the holder points to the working angle.
On the basis of the above embodiment, in the ground observation device provided in the embodiment of the present invention, the pan-tilt drives the camera to have a sweep shooting mode in a first ground area, and the pan-tilt drives the camera to have a rotation shooting mode in a second ground area outside the first ground area;
wherein the first ground area is located within a preset range right below the sky-facing platform.
On the basis of the above embodiment, in the ground observation device provided in the embodiment of the present invention, in the sweep shooting mode, the working angle includes a downward-looking sweep angle; accordingly, the number of the first and second electrodes,
the platform control module is used for:
determining the downswing sweep angle based on a field angle overlap constraint and a field angle of the camera.
On the basis of the above embodiment, in the ground observation device provided in the embodiment of the present invention, in the rotation shooting mode, the working angle includes a pitch angle and a rotation angle;
accordingly, the platform control module is further configured to:
determining the number of the rotation circumferences and the pitch angle step length of the holder based on the view angle overlapping degree constraint, the view angle of the camera and the maximum side view observation angle of the ground target, and determining the pitch angle of the holder on each rotation circumference based on the pitch angle step length;
determining far-side field angles of images shot by the camera on each rotation circumference based on the pitching angles of the holder on each rotation circumference and the parameters of the camera, and determining the rotation angle step length of the holder on each rotation circumference based on each far-side field angle and the field angle overlapping degree constraint;
and determining the rotating angle of the holder on each rotating circumference based on the rotating angle step length of the holder on each rotating circumference.
On the basis of the above embodiment, the earth observation device provided in the embodiment of the present invention further includes a repetition module, configured to:
calculating the time interval between the current time and the starting time of the last observation;
and if the time interval reaches the repeated observation time interval, continuing to perform earth observation.
On the basis of the foregoing embodiment, the ground observation apparatus provided in the embodiment of the present invention further includes a ground coverage determining module, configured to:
determining pose information of the holder;
and determining the ground coverage range of the shot image by adopting a sight tracking algorithm based on the ground elevation information and the pose information.
On the basis of the foregoing embodiment, the ground observation device provided in the embodiment of the present invention further includes a viewing angle calculation module, configured to:
determining a course field angle of the camera based on the length information of the imaging surface of the camera and the focal length of the camera;
and determining the side field angle of the camera based on the width information of the imaging surface of the camera and the focal length of the camera.
Specifically, the functions of the modules in the earth observation method provided in the embodiment of the present invention correspond to the operation flows of the steps in the method embodiments one to one, and the implementation effects are also consistent, for which reference is specifically made to the embodiments above, which are not described in detail in the embodiment of the present invention.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a Processor (Processor)610, a communication Interface (Communications Interface)620, a Memory (Memory)630 and a communication bus 640, wherein the Processor 610, the communication Interface 620 and the Memory 630 communicate with each other via the communication bus 640. The processor 610 may call logic instructions in the memory 630 to perform the earth observation method provided in the above embodiments, the method including: determining a working angle of the holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform; and if the holder points at the working angle, controlling a camera to shoot images of the ground area corresponding to the working angle.
In addition, the logic instructions in the memory 630 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program, the computer program being storable on a non-transitory computer-readable storage medium, the computer program being capable of executing, when executed by a processor, the earth observation method provided by the above methods, the method including: determining a working angle of the holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform; and if the holder points at the working angle, controlling a camera to shoot images of the ground area corresponding to the working angle.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the earth observation methods provided by the above methods, the method comprising: determining a working angle of a holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform; and if the holder points at the working angle, controlling a camera to shoot images of the ground area corresponding to the working angle.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of observing the earth, comprising:
determining a working angle of the holder based on the field angle of a camera on the holder, and controlling the holder to point at the working angle; the cradle head is carried on the air facing platform;
and if the holder points at the working angle, controlling a camera to shoot images of the ground area corresponding to the working angle.
2. The earth observation method according to claim 1, wherein the shooting mode of the camera driven by the pan-tilt in the first ground area is a sweep shooting mode, and the shooting mode of the camera driven by the pan-tilt in the second ground area outside the first ground area is a rotation shooting mode;
wherein the first ground area is located within a preset range right below the sky-facing platform.
3. The ground observation method according to claim 2, wherein in the sweep shooting mode, the working angle includes a downward-looking sweep angle; accordingly, the number of the first and second electrodes,
the determining the working angle of the holder based on the angle of field of the camera on the holder comprises:
determining the downward view sweep angle based on a field angle overlap constraint and a field angle of the camera.
4. The earth observation method according to claim 2, wherein in the rotation shooting mode, the working angle includes a pitch angle and a rotation angle; accordingly, the number of the first and second electrodes,
the determining the working angle of the holder based on the angle of view of the camera on the holder comprises:
determining the number of the rotation circumferences and the pitch angle step length of the holder based on the view angle overlapping degree constraint, the view angle of the camera and the maximum side view observation angle of the ground target, and determining the pitch angle of the holder on each rotation circumference based on the pitch angle step length;
determining far-side field angles of images shot by the camera on each rotation circumference based on the pitching angles of the holder on each rotation circumference and the parameters of the camera, and determining the rotation angle step length of the holder on each rotation circumference based on each far-side field angle and the field angle overlapping degree constraint;
and determining the rotation angle of the holder on each rotation circle based on the rotation angle step length of the holder on each rotation circle.
5. The earth observation method according to claim 1, wherein the controlling camera takes an image of the ground area corresponding to the working angle, and then comprises:
calculating the time interval between the current time and the starting time of the last observation;
and if the time interval reaches the repeated observation time interval, continuing to perform earth observation.
6. The earth observation method according to claim 1, wherein the controlling camera takes an image of the ground area corresponding to the working angle, and then comprises:
determining pose information of the holder;
and determining the ground coverage range of the shot image by adopting a sight tracking algorithm based on the ground elevation information and the pose information.
7. An earth observation method according to any one of claims 1-6, wherein the field angle of the camera is calculated based on the following method:
determining a course field angle of the camera based on the length information of the imaging surface of the camera and the focal length of the camera;
and determining the side field angle of the camera based on the width information of the imaging surface of the camera and the focal length of the camera.
8. An earth observation device, comprising:
the platform control module is used for determining the working angle of the holder based on the field angle of a camera on the holder and controlling the holder to point at the working angle; the cradle head is mounted on the air platform;
and the ground observation module is used for controlling a camera to shoot images of the ground area corresponding to the working angle if the holder points to the working angle.
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 implements the earth observation method according to any one of claims 1 to 7 when executing the program.
10. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the earth observation method of any one of claims 1 to 7.
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