CN114739361B - Earth observation method, apparatus, electronic device and storage medium - Google Patents
Earth observation method, apparatus, electronic device and storage medium Download PDFInfo
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- CN114739361B CN114739361B CN202210178781.8A CN202210178781A CN114739361B CN 114739361 B CN114739361 B CN 114739361B CN 202210178781 A CN202210178781 A CN 202210178781A CN 114739361 B CN114739361 B CN 114739361B
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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
Abstract
The invention provides a ground observation method, a device, electronic equipment and a storage medium, wherein the working angle of a cradle head is determined based on the field angle of a camera on the cradle head, and the cradle head is controlled to point to the working angle; wherein the cradle head is carried on an empty platform; and then under the condition that the cradle head points to the working angle, controlling the camera to shoot an image of a ground area corresponding to the working angle. According to the method, the camera is driven by the cradle head carried on the temporary platform to realize large-scale fixed point observation on the ground, and the temporary platform can stay at the same position for a long time, so that the camera on the cradle head is combined to realize repeated observation on the same area on the ground, namely long-sequence earth observation, and compared with a satellite platform or an airplane platform, the method has higher revisitation rate. Moreover, since the height of the empty platform is lower than that of the satellite platform, a higher resolution image can be obtained compared to the satellite platform.
Description
Technical Field
The present invention relates to the field of remote sensing observation technologies, and in particular, to a method and apparatus for earth observation, an electronic device, and a storage medium.
Background
In order to sufficiently grasp the utilization information or the information change condition of the ground area, it is generally necessary to perform earth observation. Conventional earth observation methods are usually implemented by using various optical observation systems with different spatial resolutions and spectral resolutions or radar systems with different wave bands on the satellite or on the vehicle.
But it is difficult to achieve high resolution and high revisit rate earth observation based on satellite platforms, while long sequence and high revisit rate earth observation based on aircraft platforms. For this reason, it is urgently required to provide a method of earth observation of long sequence, high resolution and high revisit rate.
Disclosure of Invention
The invention provides a method and a device for earth observation, electronic equipment and a storage medium, which are used for solving the defects in the prior art.
The invention provides a ground observation method, which comprises the following steps:
determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform;
and if the cradle head points to the working angle, controlling a camera to shoot an image of a ground area corresponding to the working angle.
According to the earth observation method provided by the invention, the shooting mode of the tripod head driving the camera in the first ground area is a sweeping shooting mode, and the shooting mode of the tripod head driving the camera in the second ground area outside the first ground area is a rotating shooting mode;
The first ground area is located in a preset range right below the temporary platform.
According to the earth observation method provided by the invention, in the swing scanning shooting mode, the working angle comprises a lower view swing scanning angle; in response to this, the control unit,
the determining the working angle of the cradle head based on the field angle of the camera on the cradle head comprises the following steps:
the sweep angle is determined 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 rotary shooting mode, the working angle comprises a pitching angle and a rotation angle; in response to this, the control unit,
the determining the working angle of the cradle head based on the field angle of the camera on the cradle head comprises the following steps:
determining the number of rotation circumferences and the pitch angle step length of the cradle head 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 cradle head on each rotation circumference based on the pitch angle step length;
determining a far-edge view angle of an image shot by the camera on each rotating circumference based on the pitching angle of the cradle head on each rotating circumference and the parameters of the camera, and determining a rotating angle step length of the cradle head on each rotating circumference based on the far-edge view angle and the view angle overlapping degree constraint;
And determining the rotation angle of the cradle head on each rotation circumference based on the rotation angle step length of the cradle head on each rotation circumference.
According to the earth observation method provided by the invention, the control camera shoots images of 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 previous observation;
and if the time interval reaches the repeated observation time interval, continuing to observe the earth.
According to the earth observation method provided by the invention, the control camera shoots images of the ground area corresponding to the working angle, and then the method comprises the following steps:
determining pose information of the cradle head;
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 heading view angle of the camera based on length information of an imaging surface of the camera and a focal length of the camera;
a sideways viewing angle of the camera is determined based on width information of an imaging surface of the camera and a focal length of the camera.
The invention also provides a device for earth observation, comprising:
the platform control module is used for determining the working angle of the cradle head based on the field angle of the camera on the cradle head and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform;
and the earth observation module is used for controlling the camera to shoot an image of a ground area corresponding to the working angle if the cradle head 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 executable on the processor, the processor implementing the earth observation method as described in any of the above when executing the program.
The 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 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 cradle head is determined based on the field angle of a camera on the cradle head, and the cradle head is controlled to point to the working angle; wherein the cradle head is carried on an empty platform; and then under the condition that the cradle head points to the working angle, controlling the camera to shoot an image of a ground area corresponding to the working angle. According to the method, the camera is driven by the cradle head carried on the temporary platform to realize large-scale fixed point observation on the ground, and the temporary platform can stay at the same position for a long time, so that the camera on the cradle head is combined to realize repeated observation on the same area on the ground, and compared with a satellite platform or an airplane platform, the method has higher revisitation rate.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort.
FIG. 1 is a schematic flow chart of a method for earth observation provided by the invention;
fig. 2 is a schematic diagram of an image obtained by shooting in a grid-based sweeping shooting mode in the earth observation method provided by the invention;
fig. 3 is a schematic diagram of an image obtained by shooting in a rotation shooting mode in the earth observation method provided by the invention;
FIG. 4 is a graph of the image overlay effect obtained in the earth observation method provided by the invention;
FIG. 5 is a schematic view of the structure of the earth observation device provided by the invention;
fig. 6 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The earth observation method in the prior art is usually realized by adopting various optical observation systems with different spatial resolutions and spectral resolutions or radar systems with different wave bands on the satellite or the vehicle.
However, it is difficult to realize high-resolution and high-revisit-rate earth observation based on a satellite platform, and long-sequence and high-revisit-rate earth observation cannot be realized based on an aircraft platform. 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 earth observation according to an embodiment of the present invention, as shown in fig. 1, the method includes:
s1, determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform;
s2, if the cradle head points to the working angle, controlling the camera to shoot an image of a ground area corresponding to the working angle.
Specifically, in the earth observation method provided by the embodiment of the invention, the execution main body is a control system, the control system can be positioned on the ground, and the control system can 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, etc., which is not particularly 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, and the earth observation system can comprise a control system, a camera and a cradle head. It can be understood that the control system is an execution body in the embodiment of the present invention, and the control system may be used to control the camera and the pan-tilt. 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 cradle head according to the user input so as to respectively realize the control functions for the camera and the cradle head.
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 an image fast view or an original image and the like obtained by shooting by a camera in near real time, and the data transmission module can comprise a ground end and an air end, wherein 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 image information sent by the air end; the aerial terminal is used for receiving control instructions sent by the ground terminal, receiving state information of the cradle head and the camera, receiving image information such as an image quick view or an original image shot by the camera, sending state and image information to the ground terminal, and the like.
The camera can receive the control instruction sent by the control system and control the camera to take pictures according to the control instruction. 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, which may be a charge-coupled device (charge coupled device, CCD) camera.
The camera can be fixedly arranged on the cradle head, and the cradle head refers to a supporting platform of the camera and can have three rotational degrees of freedom. The cradle head can realize 360-degree rotation, namely, the value range of a yaw angle or an azimuth angle (yaw, heading) is 0-360 degrees; the pitch angle (i.e. heading deviation angle pitch) has a value ranging from-90 degrees to +90 degrees; the value range of the roll angle (roll) is-90 degrees to 90 degrees.
Here, the cradle head coordinate system may be constructed with the center of the cradle head as the center O, the front direction of the cradle head in the horizontal plane as the OX axis, the right direction of the cradle head in the horizontal plane as the OY axis, and the lower direction of the cradle head perpendicular to the XOY plane as the OZ axis. The cradle head coordinate system is a three-dimensional orthogonal rectangular coordinate system which is fixed on the cradle head and follows the right rule. The angle of rotation of the cradle head around the OX shaft is a roll angle, the angle of rotation of the cradle head around the OY shaft is a pitch angle, and the angle of rotation of the cradle head around the OZ shaft is a yaw angle.
The cradle head can be carried on an aerial platform, and the aerial platform can be an airship, a balloon and the like. The temporary platform with the cradle head has the staring observation characteristic, can stay in the air for a long time, and can basically stand still to the air for staring observation or large-scale monitoring observation on the ground.
In the embodiment of the invention, the control system can send the control instruction to the cradle head, so that the cradle head can adjust the direction and the movement state according to the control instruction. When the control system controls the direction of the cradle head 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 earth observation system provided in the embodiment of the present invention is described in detail below.
Step S1 is executed first, and the working angle of the cradle head is determined through the field angle of the camera on the cradle head. Because the cradle head can have three rotational degrees of freedom, the working angle of the cradle head pointing to the camera can be determined according to the field angle of the camera.
The field angle of the camera may be calculated from size information of an imaging surface of the camera, which may refer to a photosurface of the camera. The size information of the imaging plane may include length information (i.e., heading breadth) and width information (i.e., lateral breadth) of the imaging plane. The field angle of the camera may include a heading field angle α and a sideways 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 from the length information of the imaging surface, and the sideways angle of view of the camera can be determined from the width information of the imaging surface.
Here, the working angle of the pan-tilt, that is, the working angle of the pan-tilt under each degree of rotation freedom, may be calculated according to the angle of view of the camera and in combination with the angle of view 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 equal to or greater than an overlapping degree threshold, and the overlapping degree threshold may be set as required, which is not particularly limited herein.
On the basis, a shooting mode formed by a camera driven by a preset cradle head can be combined, and the working angle of the cradle head can be calculated. The shooting mode formed by the camera driven by the cradle head can be divided into a swing shooting mode and a rotary shooting mode.
The swipe photographing mode may be a grid-based swipe photographing mode. In the swing shooting mode, the working angle of the pan-tilt can comprise a navigation downward-looking swing angle and a side-looking downward-looking swing angle, wherein the heading downward-looking swing angle is a pitching angle, and the side-looking downward-looking swing angle is a rolling angle.
In the rotation shooting mode, the working angle of the pan-tilt may include a pitch angle and a rotation angle. The pitching angle is the angle of the cradle head side swing, and the rotating angle is the yaw angle. The number of rotation circles in the rotation shooting mode can be determined according to the view angle of a camera, the view 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 circle of the holder are the same when the holder rotates in multiple circles, and the pitch angles corresponding to different rotation circles can be determined through pitch angle step sizes between adjacent rotation circles. The pitch angle step size can be determined according to the number of rotation 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 by 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 ground target observation radius, the maximum side view observation angle of the ground target can be determined through the height information of the temporary platform.
It can be understood that the ground object observation radius is the radius of the ground area to be observed, and the maximum side view observation angle of the ground object is the cut-off angle of the maximum circumscribed view field of the camera.
The rotation angle can be determined according to a rotation angle step on the same rotation circumference, and the rotation angle step can be determined by combining size information of an imaging surface of the camera, a focal length of the camera, an image overlapping degree constraint and a pitching angle, which are not particularly limited herein.
And then, the control system controls the cradle head 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 under the condition that the cradle head points to the working angle. The ground area corresponding to the working angle, namely the ground area opposite to the camera, is used for shooting images of the ground, and thus the ground observation can be realized. It will be appreciated that, since the above-described determined working angles are plural, the ground area observed for this time is the union of the ground coverage areas of all the images taken.
According to the earth observation method provided by the embodiment of the invention, firstly, the working angle of the cradle head is determined based on the field angle of a camera on the cradle head, and the cradle head is controlled to point to the working angle; wherein the cradle head is carried on an empty platform; and then under the condition that the cradle head points to the working angle, controlling the camera to shoot an image of a ground area corresponding to the working angle. According to the method, the camera is driven by the cradle head carried on the temporary platform to realize earth fixed point observation, and the temporary platform can stay at the same position for a long time, and the camera on the cradle head is combined to realize repeated observation of the same area on the ground, so that the method has higher revisitation rate compared with a satellite platform or an airplane platform.
On the basis of the above embodiment, in the earth observation method provided by the embodiment of the present invention, the shooting mode of the pan-tilt driving the camera in the first ground area is a sweeping shooting mode, and the shooting mode of the pan-tilt driving the camera in the second ground area outside the first ground area is a rotating shooting mode;
the first ground area is located in a preset range right below the temporary platform.
Specifically, in the embodiment of the present invention, the shooting mode formed by the platform driving the camera may include a sweeping shooting mode and a rotating 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 take a picture. In order to improve the earth observation efficiency, the working angle of the platform can be controlled, so that the shooting mode corresponding to the first ground area in the preset range right below the temporary platform is a swing shooting mode, and the shooting mode corresponding to the second ground area outside the first ground area is a rotation shooting mode. It can be understood that the preset range right below the temporary platform can be set according to the needs, the size of the first ground area in the preset range can be set according to the needs, the number of the images obtained through shooting in the swing shooting mode can be expressed, and the union of the ground areas covered by all the images obtained through shooting in the swing shooting mode is the first ground area.
It can be understood that in the swipe photographing mode, the number of swipes in each direction, the heading swipe angle step length during multiple swipes, and the sideways swipe angle step length can be set as required, which is not particularly limited herein. In order to ensure that the overlapping rate of two adjacent images shot in each direction is the same, the heading sweeping angle step length and the sideways 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 pan-tilt capturing mode may be 3×5, 5 images are captured sideways and 3 images are captured sideways, respectively labeled 1-15. The course corresponds to the length of the image, the side direction corresponds to the width of the image, and the length of the image is generally larger than the width of the image, so that 3×5 images can approximately cover a square area of the ground, namely, the first ground area can be ensured to be approximately a square area, and the observed image information is more normalized. In order to ensure the reliability of earth observation and the integrity of image information, a certain degree of overlap is required between the images captured in the pan-tilt mode, and the degree of overlap may be represented by the degree of overlap of the field of view. Under the condition that the parameters of the camera are fixed, the sweeping angle of the cradle head can be determined through the overlapping degree of the field angles.
Because the swing shooting mode has lower efficiency, in order to improve the earth observation efficiency, the rotation shooting mode can be adopted to shoot 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 a specified direction in the sweeping mode, wherein the external image refers to an image in the specified direction shot after the sweeping step length of the specified direction is increased by the camera in the sweeping mode. The specified 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 circumscribing image is 30.
In the embodiment of the invention, the swing scanning shooting mode is adopted in the first ground area, the rotary shooting mode is adopted in the second ground area, and the ground area is shot with images, so that the ground observation is realized, the shooting efficiency of the images can be greatly improved, and the high efficiency of the ground observation is realized.
On the basis of the above embodiment, the earth observation method provided in the embodiment of the present invention, the field angle of the camera is determined based on the following method:
determining a heading view angle of the camera based on length information of an imaging surface of the camera and a focal length of the camera;
A sideways viewing angle of the camera is determined based on width information of an imaging surface of the camera and a focal length of the camera.
Specifically, in the embodiment of the invention, when the field angle of the camera is calculated, the calculation can be realized through the size information of the imaging surface of the camera. Since the size information includes length information of the imaging plane and width information of the imaging plane, a heading view angle of the camera can be determined according to the length information of the imaging plane and a focal length of the camera. Namely, the following formula is provided:
α＝2*atan(lx/2/f)
where α is a heading view angle, lx is length information of an imaging plane, i.e. heading breadth, and f is a focal length of the camera.
Similarly, the sideways viewing 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 is provided:
β＝2*atan(ly/2/f)
where β is a lateral field angle, ly is width information of the imaging plane, that is, a lateral width, and f is a focal length of the camera.
Taking a camera with a focal length of 300mm as an example, setting the width information of an imaging surface of the camera to be 40.0mm and the length information of the imaging surface to be 53.4mm, and setting the heading angle of view to be 10.17 degrees; the sideways angle of view is 7.62 degrees.
In the embodiment of the invention, the field angle of the camera is calculated by the size information of the imaging surface of the camera and combining the focal length of the camera, so that the course field angle and the side field angle of the camera can be respectively obtained from different directions, and a basis is provided for the follow-up determination of the working angle of the cradle head.
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 sweep angle of a lower view; in response to this, the control unit,
the determining the working angle of the cradle head based on the field angle of the camera on the cradle head comprises the following steps:
the sweep angle is determined 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 pan-tilt shooting mode, the working angle of the pan-tilt may be a look-down pan angle of the pan-tilt, including a look-down pan angle and a look-aside pan angle. Therefore, when the working angle of the cradle head is determined, the lower view sweeping angle of the cradle head 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 overlapping degrees, and the view angle overlapping degree constraint may be that the view angle overlapping degrees corresponding to two adjacent images captured by the camera are greater than or equal to an overlapping degree threshold, and the overlapping degree threshold may be preset, for example, may be 20%. Since the field angle of the camera includes the heading field angle and the sideways field angle, the heading-down swiping angle of the pan-tilt at the first swiping is expressed as (1-20%) x β, and the sideways-down swiping angle is expressed as (1-20%) x α.
And then, the step length of the downward-looking swing sweep angle and the step length of the downward-looking swing sweep angle can be determined by combining the characteristics of the grids, and the downward-looking swing sweep angle of each subsequent swing can be determined according to the step length of the downward-looking swing sweep angle and the step length of the downward-looking swing sweep angle.
By the method, the working angles of the holders corresponding to the images numbered 1-7 and 9-15 in fig. 2 can be determined, and particularly, the working angle of the holder corresponding to the image numbered 8 in fig. 2 is 0, namely, the image numbered 8 is an image shot by a camera when the holder points to the right lower side.
In the embodiment of the invention, when the working angle of the temporary platform is determined in the swing shooting mode, the overlapping degree of the field angle is introduced, so that the images obtained in the swing shooting mode have the corresponding overlapping degree of the images, and the reliability of earth observation and the integrity of image information are ensured.
On the basis of the above embodiment, in the earth 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 cradle head based on the field angle of the camera on the cradle head comprises the following steps:
Determining the number of rotation circumferences and the pitch angle step length of the cradle head 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 cradle head on each rotation circumference based on the pitch angle step length;
determining a far-edge view angle of an image shot by the camera on each rotating circumference based on the pitching angle of the cradle head on each rotating circumference and the parameters of the camera, and determining a rotating angle step length of the cradle head on each rotating circumference based on the far-edge view angle and the view angle overlapping degree constraint;
and determining the rotation angle of the cradle head on each rotation circumference based on the rotation angle step length of the cradle head on each rotation circumference.
Specifically, in the embodiment of the present invention, in the rotation shooting mode, the working angle of the pan-tilt may include a pitch angle and a rotation angle. Therefore, when the working angle of the holder is determined, the number of rotation circumferences and the pitch angle step size of the holder 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 cradle head rotates according to the fixed circumference on the XOY plane in the rotation shooting mode, the number of the rotation circumferences and the step length of the pitching angle of the temporary platform can be determined only according to the view angle overlapping degree constraint, the course view angle of the camera and the maximum side view observation angle of the ground target.
The method comprises the following steps:
wherein N is P For the number of rotation circles, δ is the maximum side view angle to the ground target, α is the heading view angle of the camera, ε is the overlap threshold, Δ P For pitch angle step size, int is a rounded function of the number after the decimal point is truncated.
And then, determining the pitching angles of the cradle head on each rotation circumference according to the pitching angle step length. It will be appreciated that for each rotation circle, the pitch angle of the pan-tilt at each location on that rotation circle is the same, the pitch angles on adjacent rotation circles differing by pitch angle steps.
Further, the far-edge field angle of the image shot by the camera on each rotation circumference can be determined through the pitching angle of the cradle head on each rotation circumference and the parameters of the camera, namely:
the camera parameters may include the focal length f of the camera and lx and ly described above, where γ is a far field angle of an image captured by the camera on a certain rotation circumference, that is, a field angle corresponding to a side of the image captured by the camera on the rotation circumference, away from the camera, lx is length information of an imaging surface of the camera, ly is width information of the imaging surface of the camera, pitch is a pitch angle of the pan-tilt on the rotation circumference.
And then, determining the rotation angle step length of the cradle head on each rotation circumference according to the far-side view angles and the view angle overlapping degree constraint. That is, if the far-side angle of view of the image captured by the camera on the rotation circle maintains the overlapping degree threshold epsilon for each rotation circle, the near-side angle of view of the image captured by the camera on the rotation circle must have a value greater than the overlapping degree threshold epsilon. Therefore, when the pan/tilt head performs angular rotation on the rotation circumference, the rotation angle step is calculated as follows:
Δγ＝γ(1-ε)
here, the overlapping degree threshold of the far angle of view may be set to 20% or may be set as necessary.
Preferably, for circumferential uniform distribution, the number of images captured by the camera over the rotation circumference can be calculated as follows:
the rotation angle step length when the cradle head rotates in angle on the rotation circumference can be obtained through the number of images:
2π/n
finally, the rotation angle step length of the cradle head on each rotation circumference can be combined, the rotation angle of each photo of the cradle head on each rotation circumference is determined to be i x 2 pi/n, and the value of i is 0 to n-1.
In the embodiment of the invention, the rotation circumference number and the pitching angle step length of the cradle head 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 pitching angle of the cradle head on each rotation circumference is determined by combining the pitching angle step length, so that the determination of the pitching angle can be ensured to be more in accordance with the user requirements. In addition, the far-edge view angle of the image shot by the camera on each rotating circumference is determined through the pitching angle of the tripod head on each rotating circumference and the parameters of the camera, the rotating angle step length of the tripod head on each rotating circumference is determined through the far-edge view angle and the view angle overlapping degree constraint, and then the rotating angle of each photo of the tripod head on each rotating circumference is determined through the rotating angle step length of the tripod head on each rotating circumference, so that the accuracy of the rotating angle is ensured. Moreover, when the pitching angle and the rotating angle are determined, the view angle overlapping degree constraint is adopted, so that the specified overlapping degree between images obtained by shooting the camera under each working angle of the cradle head can be ensured, and the integrity and the accuracy of earth observation are ensured.
On the basis of the above embodiment, in the earth observation method provided in the embodiment of the present invention, the controlling the camera to capture an image of the ground area corresponding to the working angle includes:
calculating the time interval between the current time and the starting time of the previous observation;
and if the time interval reaches the repeated observation time interval, continuing to observe the earth.
Specifically, the earth observation method provided in the embodiment of the present invention may be repeatedly performed by setting a repeated observation time interval. That is, the control system may determine the starting time of the previous observation and the current time first, 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 repeated observation time interval, and if the time interval reaches the repeated observation time interval, the earth observation is continued, that is, the above steps S1 to S2 are repeatedly performed.
The starting time of the previous observation may be the time when the previous observation starts capturing the first image by the camera, or may be the time when the preparation is performed when the previous observation starts, and is not particularly limited herein. The repeated observation time interval may be set by the user in the control system as desired.
In the embodiment of the invention, the repeated observation time interval is set, and the fixed-point earth observation can be repeatedly performed under the condition that the time is satisfied, so that a feasibility scheme can be provided for time sequence data acquisition of the same place.
On the basis of the above embodiment, in the earth observation method provided in the embodiment of the present invention, the controlling the camera to capture an image of the ground area corresponding to the working angle includes:
determining pose information of the cradle head;
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 invention, after the camera is controlled to shoot the ground area corresponding to the working angle each time to obtain an image, pose information, side roll angle, pitch angle and heading angle (namely roll, pitch and heading) three-axis pose angle, longitude and latitude and altitude information of the cradle head can be determined first. Then, the ground coverage of the shot image can be determined by the ground elevation information and the pose information by adopting a sight tracking algorithm. In the process, the position of the camera, namely the position of the temporary platform, can be introduced, and the ground coverage of the image can be obtained according to a line-of-sight tracking algorithm based on ground elevation information and pose information of the cradle head according to a collineation equation.
Fig. 4 is an image effect diagram of a large-scale observation performed by the aerial platform with the cradle head.
The ground coverage range of each image obtained by earth observation can be obtained by the method, the application of the subsequent image information can be sequentially and pertinently carried out, and whether the ground area obtained by the earth observation method meets the user requirement can be verified.
On the basis of the embodiment, taking the example that the height of the temporary platform is 20km, the image overlapping degree is 20%, and the inclined observation constraint angle, namely the maximum side view observation angle of the ground target is 60 degrees as calculation;
the ground monitoring range is as follows:
the ground covering radius is: 20×tan60=34.6 km;
the area of the circle covered by the ground is: 3760km 2 ；
Taking the example that the focal length of a camera on a holder is 600mm, the width information of an imaging surface is 40.0mm, and the length information of the imaging surface is 53.4mm, 931 photos are shared, namely 931 images can be obtained after the earth observation method is executed once;
if the size of each CCD pixel is 3.76 mu m, the ground resolution of the forward looking down image is 12.5cm;
the resolution of the edge image is 21.6cm;
setting the rotation shooting time of each aerial photo as 2 second intervals; the total photographing time is 1862 seconds, about 30 minutes; 931 seconds may be complete for about 15 minutes at 1 second intervals;
That is, 3760km can be completed in about half an hour 2 And the monitoring of the range of the detection zone can be completed repeatedly in a large range at intervals 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, including:
the platform control module 51 is configured to determine a working angle of the pan-tilt based on a field angle of a camera on the pan-tilt, and control the pan-tilt to point to the working angle; wherein the cradle head is carried on an empty platform;
and the earth observation module 52 is configured to control the camera to shoot an image of a ground area corresponding to the working angle if the pan-tilt points to the working angle.
On the basis of the above embodiment, in the earth observation device provided by the embodiment of the present invention, the pan-tilt drives the camera to take a swing shooting mode in a first ground area, and the pan-tilt drives the camera to take a rotation shooting mode in a second ground area outside the first ground area;
the first ground area is located in a preset range right below the temporary 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 sweep angle of a lower view; in response to this, the control unit,
The platform control module is used for:
the sweep angle is determined based on a field angle overlap constraint and a field angle of the camera.
On the basis of the above embodiment, in the earth 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;
correspondingly, the platform control module is further configured to:
determining the number of rotation circumferences and the pitch angle step length of the cradle head 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 cradle head on each rotation circumference based on the pitch angle step length;
determining a far-edge view angle of an image shot by the camera on each rotating circumference based on the pitching angle of the cradle head on each rotating circumference and the parameters of the camera, and determining a rotating angle step length of the cradle head on each rotating circumference based on the far-edge view angle and the view angle overlapping degree constraint;
and determining the rotation angle of the cradle head on each rotation circumference based on the rotation angle step length of the cradle head on each rotation 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 previous observation;
and if the time interval reaches the repeated observation time interval, continuing to observe the earth.
On the basis of the above embodiment, the earth observation device provided in the embodiment of the present invention further includes a ground coverage determining module, configured to:
determining pose information of the cradle head;
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 above embodiment, the earth observation device provided in the embodiment of the present invention further includes a view angle calculation module, configured to:
determining a heading view angle of the camera based on length information of an imaging surface of the camera and a focal length of the camera;
a sideways viewing angle of the camera is determined based on width information of an imaging surface of the camera and a focal length of the camera.
Specifically, the functions of each module in the earth observation method provided in the embodiment of the present invention are in one-to-one correspondence with the operation flows of each step in the above method embodiment, and the achieved effects are identical.
Fig. 6 illustrates a physical schematic diagram of an electronic device, as shown in fig. 6, which may include: processor (Processor) 610, communication interface (Communications Interface) 620, memory (Memory) 630, and communication bus 640, wherein Processor 610, communication interface 620, and Memory 630 communicate with each other via communication bus 640. The processor 610 may invoke logic instructions in the memory 630 to perform the earth observation method provided in the embodiments described above, the method comprising: determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform; and if the cradle head points to the working angle, controlling a camera to shoot an image of a ground area corresponding to the working angle.
Further, the logic instructions in the memory 630 may be implemented in the form of software functional units and stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform 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, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of performing the earth observation method provided by the methods described above, the method comprising: determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform; and if the cradle head points to the working angle, controlling a camera to shoot an image of a 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 method provided by the above methods, the method comprising: determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform; and if the cradle head points to the working angle, controlling a camera to shoot an image of a ground area corresponding to the working angle.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A method of earth observation comprising:
determining a working angle of a cradle head based on a field angle of a camera on the cradle head, and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform;
if the cradle head points to the working angle, controlling a camera to shoot an image of a ground area corresponding to the working angle;
the shooting mode of the cradle head driving the camera in the first ground area is a sweeping shooting mode, and the shooting mode of the cradle head driving the camera in the second ground area outside the first ground area is a rotating shooting mode;
The first ground area is located in a preset range right below the temporary platform;
in the swing shooting mode, the working angle comprises a lower view swing angle; in response to this, the control unit,
the determining the working angle of the cradle head based on the field angle of the camera on the cradle head comprises the following steps:
determining the sweep angle based on a field angle overlap constraint and a field angle of the camera;
in the rotation shooting mode, the working angle comprises a pitching angle and a rotation angle; in response to this, the control unit,
the determining the working angle of the cradle head based on the field angle of the camera on the cradle head comprises the following steps:
determining the number of rotation circumferences and the pitch angle step length of the cradle head 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 cradle head on each rotation circumference based on the pitch angle step length;
determining a far-edge view angle of an image shot by the camera on each rotating circumference based on the pitching angle of the cradle head on each rotating circumference and the parameters of the camera, and determining a rotating angle step length of the cradle head on each rotating circumference based on the far-edge view angle and the view angle overlapping degree constraint; the rotation angle step size is determined based on the following formula:
Δγ＝γ(1-ε)
Wherein, delta gamma is the step length of the rotation angle, gamma is the far-edge field angle of the image shot by the camera on a certain rotation circumference, epsilon is the overlapping degree threshold;
determining the rotation angle of the cradle head on each rotation circumference based on the rotation angle step length of the cradle head on each rotation circumference;
the field angle of the camera is calculated based on the following method:
determining a heading view angle of the camera based on length information of an imaging surface of the camera and a focal length of the camera; the heading angle of view is determined based on the following formula:
α＝2*atan(lx/2/f)
wherein alpha is the course view angle, lx is the length information of the imaging surface of the camera, and f is the focal length of the camera;
determining a sideways viewing angle of the camera based on width information of an imaging surface of the camera and a focal length of the camera; the sideways viewing angle is determined based on the following formula:
β＝2*atan(ly/2/f)
wherein β is the lateral angle of view, ly is the width information of the imaging surface of the camera;
the number of rotation circles is determined based on the following formula:
the pitch angle step size is determined based on the following formula:
wherein N is p For the number of rotation circles, δ is the maximum side view angle to the ground target, α is the heading view angle of the camera, ε is the overlap threshold, Δ p For pitch angle step length, int is a rounding function of the number after the decimal point is removed;
the far field angle is determined based on the following formula:
wherein pitch is the pitch angle of the pan-tilt on the circumference of rotation.
2. The earth observation method according to claim 1, wherein the controlling the camera to take an image of the ground area corresponding to the working angle, then comprises:
calculating the time interval between the current time and the starting time of the previous observation;
and if the time interval reaches the repeated observation time interval, continuing to observe the earth.
3. The earth observation method according to claim 1, wherein the controlling the camera to take an image of the ground area corresponding to the working angle, then comprises:
determining pose information of the cradle head;
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.
4. An earth observation device, comprising:
the platform control module is used for determining the working angle of the cradle head based on the field angle of the camera on the cradle head and controlling the cradle head to point to the working angle; wherein the cradle head is carried on an empty platform;
The ground observation module is used for controlling a camera to shoot an image of a ground area corresponding to the working angle if the cradle head points to the working angle;
the shooting mode of the cradle head driving the camera in the first ground area is a sweeping shooting mode, and the shooting mode of the cradle head driving the camera in the second ground area outside the first ground area is a rotating shooting mode;
the first ground area is located in a preset range right below the temporary platform;
in the swing shooting mode, the working angle comprises a lower view swing angle; in response to this, the control unit,
the platform control module is used for:
determining the sweep angle based on a field angle overlap constraint and a field angle of the camera;
in the rotation shooting mode, the working angle comprises a pitching angle and a rotation angle; in response to this, the control unit,
the platform control module is further configured to:
determining the number of rotation circumferences and the pitch angle step length of the cradle head 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 cradle head on each rotation circumference based on the pitch angle step length;
Determining a far-edge view angle of an image shot by the camera on each rotating circumference based on the pitching angle of the cradle head on each rotating circumference and the parameters of the camera, and determining a rotating angle step length of the cradle head on each rotating circumference based on the far-edge view angle and the view angle overlapping degree constraint; the rotation angle step size is determined based on the following formula:
Δγ＝γ(1-ε)
wherein, delta gamma is the step length of the rotation angle, gamma is the far-edge field angle of the image shot by the camera on a certain rotation circumference, epsilon is the overlapping degree threshold;
determining the rotation angle of the cradle head on each rotation circumference based on the rotation angle step length of the cradle head on each rotation circumference;
the field angle of the camera is calculated based on the following method:
determining a heading view angle of the camera based on length information of an imaging surface of the camera and a focal length of the camera; the heading angle of view is determined based on the following formula:
α＝2*atan(lx/2/f)
wherein alpha is the course view angle, lx is the length information of the imaging surface of the camera, and f is the focal length of the camera;
determining a sideways viewing angle of the camera based on width information of an imaging surface of the camera and a focal length of the camera; the sideways viewing angle is determined based on the following formula:
β＝2*atan(ly/2/f)
Wherein β is the lateral angle of view, ly is the width information of the imaging surface of the camera;
the number of rotation circles is determined based on the following formula:
the pitch angle step size is determined based on the following formula:
wherein N is p For the number of rotation circles, δ is the maximum side view angle to the ground target, α is the heading view angle of the camera, ε is the overlap threshold, Δ p For pitch angle step length, int is a rounding function of the number after the decimal point is removed;
the far field angle is determined based on the following formula:
wherein pitch is the pitch angle of the pan-tilt on the circumference of rotation.
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 earth observation method of any one of claims 1 to 3 when the program is executed by the processor.
6. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the earth observation method according to any one of claims 1 to 3.
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