CN114739369A - Mudflat mapping method and equipment based on unmanned aerial vehicle aerial survey and depth finder underwater measurement - Google Patents
Mudflat mapping method and equipment based on unmanned aerial vehicle aerial survey and depth finder underwater measurement Download PDFInfo
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Abstract
The invention provides a mudflat mapping method and equipment based on unmanned aerial vehicle aerial survey and depth finder underwater measurement, which comprises the following steps: determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, collecting aerial photographic data, and detecting and performing interior processing on the collected photographic data to obtain the aerial survey terrain of the mudflat; determining the detection time of a depth finder according to the exploration result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and correcting the underwater topography according to the correction value of the measurement result, and splicing and fusing the corrected underwater topography and the aerial survey topography to obtain the final mapping result of the mudflat. The invention can perform large-scale mapping on the mudflat zone and has the characteristics of high precision of mudflat mapping, simple operation, strong feasibility and high economic benefit.
Description
Technical Field
The embodiment of the invention relates to the technical field of mudflat surveying and mapping, in particular to a mudflat surveying and mapping method and device based on unmanned aerial vehicle aerial surveying and depth finder underwater surveying.
Background
The coastal estuary area has large intertidal zone beaches, and the measurement range of the intertidal zone beaches is that the beach area cannot be related or described inaccurately by both a chart and a topographic map. The mudflats often exist in pieces, the water depth is shallow even the water surface is exposed at high tide level, and the conventional ship water depth measurement method is difficult to realize; for the exposed sludge beach surface at the low tide level, due to the soft sludge, the potential safety hazard is large, and the manual beach running measurement on the beach by directly utilizing related observation equipment is difficult to carry out. Therefore, the development of a mudflat mapping method and equipment based on unmanned aerial vehicle aerial survey and depth finder underwater measurement can effectively overcome the defects in the related technologies, and is a technical problem to be solved in the industry.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a mudflat mapping method and device based on unmanned aerial vehicle aerial survey and depth finder underwater measurement.
In a first aspect, an embodiment of the present invention provides a mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement, including: surveying the beach to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, acquiring aerial photographic data, and detecting and performing internal operation processing on the acquired photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the exploration result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and calculating a measurement result correction value of an overlapping area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, splicing and fusing the corrected underwater terrain and the aerial survey terrain, and obtaining a final mapping result of the mudflat.
On the basis of the content of the embodiment of the method, the method for surveying the mudflat to be surveyed based on the aerial survey of the unmanned aerial vehicle and the underwater survey of the depth sounder, which is provided by the embodiment of the invention, comprises the following steps of: carrying out unmanned aerial vehicle aerial survey during the low tide period according to the tidal change of the coastal estuary beach area; the determining of the sounding time of the depth finder according to the survey result comprises the following steps: and carrying out underwater detection of the depth finder during the period of high tide according to the tidal change of the coastal estuary beach area.
On the basis of the content of the embodiment of the method, the method for mapping the mudflat based on the aerial survey of the unmanned aerial vehicle and the underwater survey of the depth finder, provided by the embodiment of the invention, comprises the following steps of: unmanned aerial vehicle airline is laid along the direction that is on a parallel with the water bank line, and the water bank line when the field operation flies by the low tide flies to land direction, and the airline some and the range line of surveying by the navigation that will collect before the shooting of flying by the navigation are leaded into in the satellite image map, confirm whether the operation scope is no flight zone and/or limit for height district through the satellite image map to confirm unmanned aerial vehicle take off and land place and flight height.
On the basis of the content of the embodiment of the method, the method for surveying the mudflat based on the unmanned aerial vehicle aerial survey and the depth finder underwater measurement, which is provided by the embodiment of the invention, is used for detecting and performing internal processing on the acquired photographic data to obtain the aerial survey terrain of the mudflat, and comprises the following steps: determining the lowest tide level of the operation day according to a tide table to carry out aerial flight measurement, detecting flight quality and image quality after the aerial flight is finished, compensating the flight for unqualified air routes and leak regions, generating a three-dimensional live-action model by adopting air-triple encryption and regional net adjustment, and correcting the aerial survey result of the unmanned aerial vehicle by taking the selected measurement result on the three-dimensional live-action model as a reference to obtain the aerial survey terrain of the tidal flat.
On the basis of the content of the embodiment of the method, the method for measuring the mudflat based on the unmanned aerial vehicle aerial survey and the underwater survey of the depth finder, provided by the embodiment of the invention, comprises the following steps of: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial survey topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating elevation point coordinates of the underwater topography and the aerial survey topography one by one for the grid points by adopting a weighted average method.
On the basis of the content of the embodiment of the method, the method for surveying the mudflat based on the unmanned aerial vehicle aerial survey and the depth finder underwater survey provided by the embodiment of the invention adopts a weighted average method to interpolate coordinates of elevation points of the underwater terrain and the aerial survey terrain one by one for grid points, and comprises the following steps:
wherein Z ispInterpolating coordinates of the elevation points; n is the number of interpolation elevation points; piIs the weight of the ith data point; ziIs the elevation of the ith data point.
On the basis of the content of the embodiment of the method, the mudflat mapping method based on the unmanned aerial vehicle aerial survey and the depth sounder underwater measurement provided by the embodiment of the invention comprises the following steps:
wherein, Δ h is a measurement result correction value; h isfAerial surveying the terrain for the unmanned aerial vehicle; h isdThe underwater topography detected by the depth finder.
In a second aspect, an embodiment of the present invention provides a mudflat mapping apparatus based on unmanned aerial vehicle aerial survey and depth finder underwater measurement, including: the first main module is used for surveying the mudflat to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, collecting aerial photography data, and detecting and performing interior processing on the collected photography data to obtain the aerial survey terrain of the mudflat; the second main module is used for determining the detection time of the depth finder according to the survey result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and the third main module is used for calculating a measurement result correction value of an overlapped area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, and splicing and fusing the corrected underwater terrain and the aerial survey terrain to obtain a final surveying result of the mudflat.
In a third aspect, an embodiment of the present invention provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, and the processor calls the program instructions to execute the mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided by any one of the various implementation manners of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a method for mudflat mapping based on unmanned aerial vehicle aerial surveying and depth finder underwater surveying provided in any of the various implementations of the first aspect.
According to the method and the device for mudflat mapping based on unmanned aerial vehicle aerial survey and depth finder underwater measurement, provided by the embodiment of the invention, the acquired photographic data are detected and processed in the field to obtain the aerial survey terrain of the mudflat, the underwater elevation and the plane coordinates are fused to obtain the underwater terrain of the mudflat, the corrected underwater terrain and the aerial survey terrain are spliced and fused to obtain the final mapping result of the mudflat, and a large-scale mapping rule can be carried out on a mudflat zone.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below to the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a flow chart of a mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided by the embodiment of the invention;
FIG. 2 is a schematic structural diagram of a mudflat mapping device based on aerial survey of an unmanned aerial vehicle and underwater measurement of a depth finder provided by the embodiment of the invention;
fig. 3 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention;
FIG. 4 is a schematic view of tidal flat measuring port tide provided by the embodiment of the invention;
FIG. 5 is a schematic view of another tidal flat measurement port tide provided by the embodiment of the invention;
FIG. 6 is a large scale topographical map of an investigation region provided in accordance with an embodiment of the present invention;
fig. 7 is a flowchart of another mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement according to the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, 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. In addition, technical features of various embodiments or individual embodiments provided by the present invention may be arbitrarily combined with each other to form a feasible technical solution, and such combination is not limited by the sequence of steps and/or the structural composition mode, but must be realized by a person skilled in the art, and when the technical solution combination is contradictory or cannot be realized, such a technical solution combination should not be considered to exist and is not within the protection scope of the present invention.
The tidal change of the coastal estuary is fully utilized, and in low tide, the unmanned aerial vehicle is utilized to carry out aviation shooting by adopting a phase control-free technology, and a high-precision aviation survey result is generated; measuring the underwater topography by using a depth finder underwater topography measuring method in the high tide; and finally, checking and correcting the underwater topographic surveying result of the depth finder by taking the measuring result of the overlapped area as a basis and the measuring result of the unmanned aerial vehicle flying as a reference, and finally fusing the measuring result of the unmanned aerial vehicle flying and the corrected underwater topographic surveying result of the depth finder so as to form the measuring result of the whole beach surveying area. Based on the thought, the embodiment of the invention provides a mudflat mapping method based on unmanned aerial vehicle aerial surveying and depth finder underwater surveying, and referring to fig. 1, the method comprises the following steps: surveying the beach to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, acquiring aerial photographic data, and detecting and performing internal operation processing on the acquired photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the exploration result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and calculating a measurement result correction value of an overlapping area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, splicing and fusing the corrected underwater terrain and the aerial survey terrain, and obtaining a final mapping result of the mudflat.
Based on the content of the above method embodiment, as an optional embodiment, the method for mapping the mudflat based on the unmanned aerial vehicle aerial survey and the depth finder underwater measurement provided in the embodiment of the present invention for surveying the mudflat to be measured and determining the time of the unmanned aerial vehicle aerial survey according to the survey result includes: carrying out unmanned aerial vehicle aerial survey during the low tide period according to the tidal change of the coastal estuary beach area; the determining of the sounding time of the depth finder according to the survey result comprises the following steps: and carrying out underwater detection of the depth finder during the period of high tide according to the tidal change of the coastal estuary beach area.
Specifically, when the unmanned aerial vehicle image-control-free technology and the aerial photogrammetry method are adopted for topographic map surveying and mapping, the tidal change of a coastal estuary beach area needs to be observed, and the topographic map surveying and mapping is carried out in the low tide period. The map can be measured by utilizing the Xinjiang spirit 4RTK unmanned aerial vehicle, and the flight implementation is designed according to the map requirement of a 1:500 scale and the flight related requirement of the unmanned aerial vehicle. The flying height is designed to be 100 meters, the course overlapping degree is 80 percent, and the side overlapping degree is 70 percent. When the depth finder is used for underwater topography mapping, the tidal change of a coastal estuary beach area also needs to be observed during the period of high tide. The underwater topography measurement can be carried out by adopting a GNSS-RTK + depth finder combined mode, for example, a Tianbao R10 GNSS receiver and a tin-free sea eagle HY1602 double-frequency depth finder can be used, and a probe of the depth finder adopts a ship board installation mode. In the operation process, the depth finder needs to continuously acquire and store a water depth value; the computer synchronously acquires the water depth value and the positioning data, and the water depth acquisition record of the computer is accurate to 0.01 m. And the depth data of the depth gauge is checked and compared by using the check plate before and after the depth measurement work, so that the depth measurement precision of the depth gauge meets the precision requirement of the water depth measurement of the corresponding scale. The method is characterized in that measurement lines need to be reasonably arranged before measurement, main measurement lines are basically arranged according to the principle of being consistent with the line trend according to the characteristics and the standard requirements of the underwater terrain in the area, the main measurement lines extend towards two sides along the preset line central line, one line is arranged at intervals of 7.5m, and the distance between the measurement points is 5 m. After the operation is finished, the water depth data is processed through post-processing software, gross errors and some wrong water depth values are removed, fusion calculation is carried out on the processed water depth values and the GNSS-RTK elevations, a water bottom elevation value is obtained, and the GNSS-RTK plane coordinates are added to the water bottom elevation value to obtain the final underwater terrain achievement. Before underwater topography measurement, drawing an operation score line by using AutoCAD according to relevant standard requirements, and guiding the operation score line into underwater topography measurement software. When the underwater topography is measured, a measurer guides a shipman to drive the ship to sail according to the operation plan line and keep the ship to run at a constant speed at a medium speed. The measuring personnel pay attention to the RTK and the state of the depth finder in real time. Transducer draft correction, sound speed correction, and detection line measurements are also required. And (3) correcting draft of the transducer: according to the actual underwater penetration depth of the transducer during measurement, the draft option of the depth finder is set, so that the draft is consistent with the underwater penetration depth of the transducer, and the draft correction of the transducer is realized. And determining the depth of the energy converter entering water according to a normal measurement navigational speed test before the energy converter is installed and formally starts to measure. And (3) sound velocity correction: before sounding operation, sound velocity profiles are used for measuring sound velocities at different depths, a sound velocity value during operation is determined, and the sound velocity value is input into the sounding instrument for sound velocity correction. And (3) detection line measurement: and (4) checking and accepting the finished underwater topography, wherein the detection lines are basically and uniformly distributed in the whole detection area in the direction vertical to the main detection line.
Based on the content of the above method embodiment, as an optional embodiment, the method for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention plans an unmanned aerial vehicle route and collects aerial photography data, including: unmanned aerial vehicle airline is laid along the direction that is on a parallel with the water bank line, and the water bank line when the field operation flies by the low tide flies to land direction, and the airline some and the range line of surveying by the navigation that will collect before the shooting of flying by the navigation are leaded into in the satellite image map, confirm whether the operation scope is no flight zone and/or limit for height district through the satellite image map to confirm unmanned aerial vehicle take off and land place and flight height.
Specifically, the air route is arranged along the direction parallel to the water bank line, and the field aviation flies from the water line in low tide to the land direction. Before aviation shooting, the collected control points and the aerial survey range line are led into a satellite image map, whether the operation range is a no-fly area or a height-limiting area or not is determined through the satellite image map, and the taking-off and landing place and the flying height of the unmanned aerial vehicle are roughly judged. Factors influencing safety, such as surrounding high-rise buildings, high-voltage transmission lines, drainage gates and the like, are checked on the spot through stepping on, and the unmanned aerial vehicle taking-off and landing site is determined.
Based on the content of the above method embodiment, as an optional embodiment, the method for surveying the mudflat based on the unmanned aerial vehicle aerial survey and the depth finder underwater measurement provided in the embodiment of the present invention performs detection and interior processing on the acquired photographic data to obtain the aerial survey terrain of the mudflat, including: determining the lowest tide level of the operation day according to a tide table to carry out aerial flight measurement, detecting flight quality and image quality after the aerial flight is finished, compensating the flight for unqualified air routes and leak regions, generating a three-dimensional live-action model by adopting air-triple encryption and regional net adjustment, and correcting the aerial survey result of the unmanned aerial vehicle by taking the selected measurement result on the three-dimensional live-action model as a reference to obtain the aerial survey terrain of the tidal flat. Specifically, an aerial survey terrain of the unmanned aerial vehicle is generated according to the aerial survey interior technical requirements. The method comprises the steps of taking the aerial survey terrain of an unmanned aerial vehicle as a reference, calculating an underwater terrain measurement result correction value based on an overlapping area of the aerial survey terrain and the underwater terrain, correcting the underwater terrain according to the measurement result correction value, splicing and fusing the corrected underwater terrain and the aerial survey terrain, and obtaining the final mapping result of the mudflat.
Specifically, the lowest tide level on the day of operation is selected according to a tide table to carry out aviation flight measurement, the aviation flight is finished to detect the flight quality and the image quality, and unqualified airline routes and leak areas are immediately organized to carry out aviation flight compensation. In the internal data processing stage, after a three-dimensional live-action model is generated through processes of space-three encryption, block adjustment and the like, the aerial survey result of the unmanned aerial vehicle is checked and corrected by taking the selected survey result on the model as a reference, and therefore the terrain result of the whole beach survey area is formed.
Based on the content of the above method embodiment, as an optional embodiment, the method for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention for calculating a measurement result correction value of an overlapped area of an aerial survey terrain and an underwater terrain includes: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial survey topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating elevation point coordinates of the underwater topography and the aerial survey topography one by one for the grid points by adopting a weighted average method. After this, underwater topography measurement effort modification values are calculated.
Specifically, the integration of aerial survey results and underwater topography survey results is carried out with the measurement results of unmanned aerial vehicle flight as the benchmark. Firstly, taking the measurement result of the unmanned aerial vehicle flying as a reference, and calculating the underwater topography measurement result correction value in the overlapped area of the measurement result of the unmanned aerial vehicle flying and the underwater topography measurement result of the depth finder. The method is characterized in that an overlapping area of the underwater topography measured by the depth finder and the unmanned aerial vehicle aerial survey topography is divided into regular grids at certain intervals, and coordinates of elevation points of the underwater topography and the aerial survey topography on grid points are respectively interpolated point by point through a weighted average method.
Based on the content of the above method embodiment, as an optional embodiment, the method for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention interpolates coordinates of elevation points of an underwater terrain and an aerial survey terrain one by one for a grid point by using a weighted average method, including:
wherein Z ispInterpolating coordinates of the elevation points; n is the number of interpolation elevation points; piIs the weight of the ith data point; ziIs the elevation of the ith data point.
Specifically, the interpolated elevation of the grid point is calculated by calculating the weighted average of all points in a circle with the grid point as the center and the radius R as the radius, and the weighted average calculation is performed by taking the square of the distance as the reciprocal of the weight, and the formula is shown as formula (1).
Based on the content of the above method embodiment, as an optional embodiment, in the mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention, the measurement result correction value includes:
wherein, Δ h is a measurement result correction value; h is a total offSurveying the terrain for the unmanned aerial vehicle; h isdIs the underwater topography detected by the depth finder.
Specifically, the measurement result of the overlapping area is used as a basis, the measurement result of the unmanned aerial vehicle aeronautical flight is used as a reference, and the measurement result correction values of the depth finder measurement result and the unmanned aerial vehicle aeronautical measurement result interpolated on the grid point are calculated as shown in formula (2). And after the correction value of the measurement result is calculated, splicing and fusing the corrected underwater topography measurement result of the depth finder and the measurement result of the unmanned aerial vehicle flying, and generating a topography map according to the mapping requirement of a 1:500 scale, thereby forming the measurement result of the whole beach measurement area.
According to the mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided by the embodiment of the invention, the acquired photographic data is detected and subjected to internal operation processing to obtain the aerial survey terrain of the mudflat, the underwater elevation and the plane coordinates are fused to obtain the underwater terrain of the mudflat, the corrected underwater terrain and the aerial survey terrain are spliced and fused to obtain the final mapping result of the mudflat, and the mudflat zone can be subjected to large-scale mapping.
In actual mudflat measurement, a coordinate system is a CGCS2000 coordinate system, a central meridian is 120 degrees, and an elevation system is a 1985 national elevation standard. The differential source uses a kilogratable CORS system. In order to enable the unmanned aerial vehicle aerial survey and the underwater topography survey to directly measure an accurate project coordinate system, 6 control points in total of south and north banks of the Hangzhou bay are uniformly measured in a mode of connecting Trimble R10 GNSS with thousand searching CORS, coordinate conversion parameters are obtained, and residual errors of the coordinate conversion parameters are shown in table 1.
TABLE 1
| Roll call | △x | △y | △h |
| HJYG031 | 0 | -0.001 | 0.004 |
| HJYG034 | -0.001 | 0 | 0.021 |
| HTS13 | 0 | -0.001 | -0.005 |
| HTS03 | -0.001 | 0.001 | -0.019 |
| |
0 | 0.001 | -0.001 |
| HT2 | 0.001 | 0 | -0.001 |
From table 1, it can be seen that the control points are properly selected, the precision of solving the conversion parameters is high, and the requirements of aerial survey of the unmanned aerial vehicle and underwater topography survey can be met.
Based on 4RTK unmanned aerial vehicle of big Xinjiang spirit, adopt the airborne 2000 ten thousand resolution digital camera to shoot B2 reconnaissance area, measuring range is the mileage: CK196+ 550-CK 198+ 600; the measurement area is about: 0.45km 2. According to a tide table of 16-day flying operation in 8-month and 16-month in 2020, 16:08 is the optimal flying time, the day enters a pre-selected unmanned aerial vehicle taking-off and landing field in advance, and the flying operation is separated in 16: 30. The tidal state of the aviation operation on the day is shown in fig. 4. The field aerial photography takes a total of 4 frames of flight, and 1107 photos are taken. The photo shot each time ensures that the unmanned plane RTK is a fixed solution. In the project implementation process, a thousand seeking CORS is adopted as a differential source of the airborne RTK. The final mapping area of the aerial three-dimensional model is about 1.1Km2, the mapping width is about 550 m, and the length of the mile direction is about 2 Km.
The measurement range of the 1:500 underwater topography mapping of the B2 exploration area is mileage: CK196+ 100-CK 196+ 550; the measurement area is about: 0.08 square kilometer. According to the tidal chart of the same day of underwater topography measurement operation, 11:55 is the optimal underwater topography time, and the same day enters the operation area in advance to carry out preparation work of draft correction and sound speed correction of the transducer. The operation of the underwater topography is started at 13: 03. The tidal state of the current day of the underwater topography survey operation is shown in fig. 5. During the measurement, the navigational speed is stable, and the change of the draught of the ship is very small, so that the dynamic change of the underwater depth of the energy converter is very small. In the aspect of sound velocity correction, sound velocities at different depths are measured by using a sea eagle HY1203 sound velocity profiler, and the sound velocity measurement data is shown in the following table 2 (underwater sound velocity of a measurement region).
TABLE 2
| Depth of field | Speed of sound | Temperature of |
| 0.51 | 1518.239 | 32.107 |
| 1.02 | 1517.768 | 31.958 |
| 1.53 | 1517.062 | 31.71 |
| 2.05 | 1516.594 | 31.54 |
| 2.55 | 1516.379 | 31.31 |
| 3.08 | 1516.273 | 31.15 |
As can be seen from Table 2, the sound velocities at different depths and at different temperatures are slightly different. Through analysis and calculation, 1517m/s is finally used as the sound velocity value of the current underwater terrain measurement, and 1517m/s is input into an HY1602 dual-frequency depth sounder for sound velocity correction. The underwater topography acquires 33 route data, and the actual measurement area is about 0.14 one-storey kilometer. Dividing a height overlapping area (about 150m 180m area) of the measured underwater terrain and the unmanned aerial vehicle aerial survey terrain into grids at intervals of 5m, performing resampling on grid points by a weighted average method, and simultaneously obtaining the coordinates of the elevation points of the underwater terrain and the unmanned aerial vehicle aerial survey terrain. The overlap area of the underwater terrain measured during high tides and the drone aerial terrain measured during low tides is about 150m (mile direction). The coordinate differences of 1093 elevation points in the overlapped area are counted, and the differences of all the elevation points are smaller than 0.3m, wherein the percentage of the differences smaller than 0.1m is 81%. The results show that: the aerial survey topographic point is well matched with the result of the underwater topographic point measurement of the depth sounder, and the data collected by field work is reliable. The measurement result of the unmanned aerial vehicle flying is taken as a reference, the original measurement result of the operation of the depth finder is corrected and then spliced and fused with the original measurement result of the unmanned aerial vehicle flying, and the topographic result of the whole beach measurement area generated according to the requirements of the chart with the scale of 1:500 is shown in fig. 6.
According to the mudflat mapping method based on the unmanned aerial vehicle aerial survey and the depth sounder underwater measurement, provided by the embodiment of the invention, the tide law is fully utilized, the unmanned aerial vehicle is utilized to obtain a high-precision aerial survey result in low tide, the depth sounder is utilized to obtain an underwater terrain measurement result in high tide, and then the measurement result of the unmanned aerial vehicle aerial flight and the depth sounder underwater terrain overlapping area is spliced and fused according to the measurement result of the unmanned aerial vehicle aerial flight and the depth sounder underwater terrain overlapping area, so that the measurement result of the whole mudflat survey area is formed. The method is successfully applied to the mudflat mapping task of the Tongsu Jia Yongzhong railway crossing the Hai section B2 reconnaissance area, a good effect is achieved, and the precision meets the requirements of related engineering projects. Engineering practice shows that: the technology has high precision, simple operation, strong feasibility and high economic benefit, and can be used for large-scale mapping of mudflat zones.
The implementation basis of the various embodiments of the present invention is realized by programmed processing performed by a device having a processor function. Therefore, in engineering practice, the technical solutions and functions thereof of the embodiments of the present invention can be packaged into various modules. Based on the actual situation, on the basis of the above embodiments, the embodiment of the present invention provides a mudflat mapping apparatus based on unmanned aerial vehicle aerial survey and depth finder underwater measurement, which is used for executing the mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement in the above method embodiment. Referring to fig. 2, the apparatus includes: the first main module is used for surveying the mudflat to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, collecting aerial photography data, and detecting and performing interior processing on the collected photography data to obtain the aerial survey terrain of the mudflat; the second main module is used for determining the detection time of the depth finder according to the survey result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and the third main module is used for calculating a measurement result correction value of an overlapping area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, and splicing and fusing the corrected underwater terrain and the aerial survey terrain to obtain a final mapping result of the mudflat.
According to the mudflat mapping device based on the unmanned aerial vehicle aerial survey and the depth finder underwater measurement, which is provided by the embodiment of the invention, a plurality of modules in the graph 2 are adopted, the acquired photographic data are detected and processed for internal work, the aerial survey terrain of the mudflat is obtained, the underwater elevation and the plane coordinates are fused, the underwater terrain of the mudflat is obtained, the corrected underwater terrain and the aerial survey terrain are spliced and fused, the final mapping result of the mudflat is obtained, the large-scale mapping can be carried out on the mudflat zone, and the device has the characteristics of high precision, simplicity in operation, strong feasibility and high economic benefit.
It should be noted that, the apparatus in the apparatus embodiment provided by the present invention may be used for implementing methods in other method embodiments provided by the present invention, except that corresponding function modules are provided, and the principle of the apparatus embodiment provided by the present invention is basically the same as that of the apparatus embodiment provided by the present invention, so long as a person skilled in the art obtains corresponding technical means by combining technical features on the basis of the apparatus embodiment described above, and obtains a technical solution formed by these technical means, on the premise of ensuring that the technical solution has practicability, the apparatus in the apparatus embodiment described above may be modified, so as to obtain a corresponding apparatus class embodiment, which is used for implementing methods in other method class embodiments. For example:
based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: the first submodule piece is used for realizing reconnaissance of the mudflat to be detected and determining the time of aerial survey of the unmanned aerial vehicle according to reconnaissance results, and comprises: carrying out unmanned aerial vehicle aerial survey during the low tide period according to the tidal change of the coastal estuary beach area; the determining of the sounding time of the depth finder according to the survey result comprises the following steps: and carrying out underwater detection by the depth finder during the period of high tide according to the tidal change of the coastal estuary beach area.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: the second submodule is used for planning the air route of the unmanned aerial vehicle and acquiring aerial photography data, and comprises: unmanned aerial vehicle airline is laid along the direction that is on a parallel with the water bank line, and the water bank line when the field operation flies by the low tide flies to land direction, and the airline some and the range line of surveying by the navigation that will collect before the shooting of flying by the navigation are leaded into in the satellite image map, confirm whether the operation scope is no flight zone and/or limit for height district through the satellite image map to confirm unmanned aerial vehicle take off and land place and flight height.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: the third submodule is used for realizing the detection and the interior processing of the acquired photographic data to obtain the aerial survey terrain of the mudflat, and comprises: determining the lowest tide level of the operation day according to a tide table to carry out aerial flight measurement, detecting flight quality and image quality after the aerial flight is finished, compensating the flight for unqualified air routes and leak regions, generating a three-dimensional live-action model by adopting air-triple encryption and regional net adjustment, and correcting the aerial survey result of the unmanned aerial vehicle by taking the selected measurement result on the three-dimensional live-action model as a reference to obtain the aerial survey terrain of the tidal flat.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: the fourth submodule is used for implementing the internal processing on the collected underwater terrain data to obtain the underwater terrain of the mudflat, and comprises: calculating the plane coordinate and the water surface elevation of the mudflat to be measured according to the GNSS-RTK phase center coordinate, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and combining the plane coordinate and the corresponding water bottom elevation to obtain the underwater topography of the mudflat.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: a fifth sub-module for implementing the calculation of the measurement result correction value for the overlapping area of the aerial survey terrain and the underwater terrain, comprising: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial survey topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating coordinates of elevation points of the underwater topography and the aerial survey topography one by one for the grid points by adopting a weighted average method.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: the sixth submodule is used for realizing that the elevation point coordinates of the underwater terrain and the aerial survey terrain are interpolated one by one for the grid points by adopting a weighted average method, and comprises the following steps:
wherein Z ispInterpolating coordinates of the elevation points; n is the number of interpolation elevation points; piIs the weight of the ith data point; ziIs the elevation of the ith data point.
Based on the content of the above device embodiment, as an optional embodiment, the device for mapping a mudflat based on unmanned aerial vehicle aerial survey and depth finder underwater measurement provided in the embodiment of the present invention further includes: a seventh sub-module for implementing the measurement outcome correction value comprises:
wherein, Δ h is a measurement result correction value; h isfAerial surveying the terrain for the unmanned aerial vehicle; h isdThe underwater topography detected by the depth finder.
The method of the embodiment of the invention is realized by depending on the electronic equipment, so that the related electronic equipment is necessarily introduced. To this end, an embodiment of the present invention provides an electronic apparatus, as shown in fig. 3, including: the system comprises at least one processor (processor), a communication Interface (communication Interface), at least one memory (memory) and a communication bus, wherein the at least one processor, the communication Interface and the at least one memory are communicated with each other through the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or a portion of the steps of the methods provided by the various method embodiments described above.
Furthermore, the logic instructions in the at least one memory may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product. 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 method 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.
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 position, or may be distributed on multiple 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 may be implemented by software plus a necessary general hardware platform, and may 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.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. Based on this recognition, each block in the flowchart or block diagrams may represent a module, a program segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In this patent, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and 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 mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement is characterized by comprising the following steps: surveying the beach to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, acquiring aerial photographic data, and detecting and performing internal operation processing on the acquired photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the exploration result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and calculating a measurement result correction value of an overlapping area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, splicing and fusing the corrected underwater terrain and the aerial survey terrain, and obtaining a final mapping result of the mudflat.
2. The method for mapping the mudflat based on the aerial survey of the unmanned aerial vehicle and the underwater measurement of the depth sounder of claim 1, wherein the surveying the mudflat to be surveyed and the determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result comprise: carrying out unmanned aerial vehicle aerial survey during the low tide period according to the tidal change of the coastal estuary beach area; the determining of the sounding time of the depth finder according to the survey result comprises the following steps: and carrying out underwater detection of the depth finder during the period of high tide according to the tidal change of the coastal estuary beach area.
3. The mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement according to claim 2, wherein planning the unmanned aerial vehicle route and collecting the aerial photography data comprises: unmanned aerial vehicle airline is laid along the direction that is on a parallel with the water bank line, and the water bank line when the field operation flies by the low tide flies to land direction, and the airline some and the range line of surveying by the navigation that will collect before the shooting of flying by the navigation are leaded into in the satellite image map, confirm whether the operation scope is no flight zone and/or limit for height district through the satellite image map to confirm unmanned aerial vehicle take off and land place and flight height.
4. The mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement according to claim 3, wherein the detection and interior work processing of the collected photographic data to obtain the aerial survey terrain of the mudflat comprises: determining the lowest tide level of the operation day according to a tide table to carry out aerial flight measurement, detecting flight quality and image quality after the aerial flight is finished, compensating the flight for unqualified air routes and leak regions, generating a three-dimensional live-action model by adopting air-triple encryption and regional net adjustment, and correcting the aerial survey result of the unmanned aerial vehicle by taking the selected measurement result on the three-dimensional live-action model as a reference to obtain the aerial survey terrain of the tidal flat.
5. The mudflat mapping method based on unmanned aerial vehicle aerial survey and depth finder underwater measurement according to claim 4, wherein the calculating of the measurement result correction value of the aerial survey terrain and underwater terrain overlapping area comprises: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial survey topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating elevation point coordinates of the underwater topography and the aerial survey topography one by one for the grid points by adopting a weighted average method.
6. The method for mudflat mapping based on unmanned aerial vehicle aerial survey and depth finder underwater measurement according to claim 5, wherein the interpolation of the coordinates of elevation points of the underwater terrain and the aerial terrain one by one for the grid points by using the weighted average method comprises:
wherein Z ispInterpolating coordinates of the elevation points; n is the number of interpolation elevation points; piIs the weight of the ith data point; ziIs the elevation of the ith data point.
7. The method of claim 6, wherein the measurement result correction value comprises:
wherein, Δ h is a measurement result correction value; h isfSurveying the terrain for the unmanned aerial vehicle; h is a total ofdIs the underwater topography detected by the depth finder.
8. The utility model provides a mud flat mapping device based on unmanned aerial vehicle aerial survey and depth finder underwater measurement which characterized in that includes: the first main module is used for surveying the mudflat to be measured, determining the time of the aerial survey of the unmanned aerial vehicle according to the survey result, planning the air route of the unmanned aerial vehicle, collecting aerial photography data, and detecting and performing interior processing on the collected photography data to obtain the aerial survey terrain of the mudflat; the second main module is used for determining the detection time of the depth finder according to the survey result, acquiring the water depth value and the coordinates of the mudflat to be detected, obtaining the plane coordinates and the water surface elevation of the mudflat to be detected according to the coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and fusing the water bottom elevation and the plane coordinates to obtain the underwater topography of the mudflat; and the third main module is used for calculating a measurement result correction value of an overlapped area of the aerial survey terrain and the underwater terrain by taking the aerial survey terrain of the unmanned aerial vehicle as a reference, correcting the underwater terrain according to the measurement result correction value, and splicing and fusing the corrected underwater terrain and the aerial survey terrain to obtain a final surveying result of the mudflat.
9. An electronic device, comprising:
at least one processor, at least one memory, and a communication interface; wherein,
the processor, the memory and the communication interface are communicated with each other;
the memory stores program instructions executable by the processor, the processor invoking the program instructions to perform the method of any of claims 1 to 7.
10. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 7.
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