CN114739369B - Beach mapping method and equipment based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement - Google Patents
Beach mapping method and equipment based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement Download PDFInfo
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Abstract
The invention provides a beach mapping method and equipment based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement, comprising the following steps: determining the aerial survey time of the unmanned aerial vehicle according to the investigation result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting and performing internal processing on the collected photographic data to obtain the aerial survey topography of the beach; determining the detection time of a depth finder according to the investigation result, collecting the water depth value and coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; and correcting the underwater topography according to the measured result correction value, and splicing and fusing the corrected underwater topography and the aerial survey topography to obtain the final mapping result of the beach. The invention can carry out large scale mapping on the beach area and has the characteristics of high beach mapping accuracy, simple operation, strong feasibility and high economic benefit.
Description
Technical Field
The embodiment of the invention relates to the technical field of beach mapping, in particular to a beach mapping method and equipment based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement.
Background
There are large areas of intertidal zones in the coastal estuary area where the measurement range is such that neither the chart nor the topography relate to or describe imprecise areas of the beach. The mud flat often exists in a piece, the water depth is shallower at high tide level and even exposes out of the water surface, and the conventional ship-going water depth measurement method is difficult to realize; for the exposed silt beach surface at low tide level, because the silt is soft, a large potential safety hazard exists, and the manual beach running measurement is difficult to directly utilize relevant observation equipment to go up the beach. Therefore, the development of the beach mapping method and the equipment based on unmanned aerial vehicle navigation measurement and sounding instrument underwater measurement can effectively overcome the defects in the related technology, and the method and the equipment become the technical problems to be solved in the industry.
Disclosure of Invention
Aiming at the problems existing in the prior art, the embodiment of the invention provides a beach mapping method and equipment based on unmanned aerial vehicle navigation measurement and sounding instrument underwater measurement.
In a first aspect, an embodiment of the present invention provides a method for measuring a beach map based on unmanned aerial vehicle navigation and sounding underwater measurement, including: surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting and performing internal processing on the collected photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the investigation result, collecting the water depth value and coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; 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, and splicing and fusing the corrected underwater terrain and the aerial survey terrain to obtain the final mapping result of the beach.
Based on the content of the embodiment of the method, the method for measuring the beach based on the unmanned aerial vehicle aerial survey and the underwater measurement of the sounding instrument provided by the embodiment of the invention is characterized in that the beach to be measured is surveyed, and the moment of unmanned aerial vehicle aerial survey is determined according to the surveying result, and the method comprises the following steps: according to tidal change of coastal estuary beach areas, unmanned aerial vehicle aerial survey is carried out in the period of low tide; the determining the detection moment of the depth finder according to the investigation result comprises the following steps: and according to the tidal change of the coastal estuary beach area, performing underwater detection by a depth finder during high tide.
Based on the content of the embodiment of the method, the method for measuring the beach map based on the underwater measurement of the unmanned aerial vehicle aerial survey and the sounding instrument provided by the embodiment of the invention comprises the following steps of: the unmanned aerial vehicle airlines are arranged along the direction parallel to the water shorelines, the water shorelines fly in the land direction from the low tide during the field aviation, the collected airlines and the aerial survey range lines are led into a satellite image diagram before aviation shooting, whether the operation range is a no-fly zone and/or a limited-altitude zone is determined through the satellite image diagram, and the landing field and the flying altitude of the unmanned aerial vehicle are determined.
Based on the embodiment of the method, the method for measuring the beach map based on the unmanned aerial vehicle aerial survey and the sounding instrument underwater measurement provided by the embodiment of the invention comprises the steps of: and determining the lowest tide level of the operation day according to the tide table, performing aerial flight measurement, detecting the flight quality and the image quality after aerial flight is completed, supplementing the unqualified route and the vulnerability area, generating a three-dimensional real scene model by adopting space three encryption and regional network adjustment, and correcting the aerial measurement result of the unmanned aerial vehicle by taking the measurement result selected from the three-dimensional real scene model as a reference to obtain the aerial measurement topography of the beach.
Based on the content of the embodiment of the method, the method for measuring the beach map based on the underwater measurement of the unmanned aerial vehicle aerial survey and the sounding instrument provided by the embodiment of the invention calculates the measurement result correction value of the overlapping area of the aerial survey topography and the underwater topography, and comprises the following steps: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating the elevation point coordinates of the underwater topography and the aerial topography one by one to the grid points by adopting a weighted average method.
Based on the embodiment of the method, the method for measuring the beach map based on the unmanned aerial vehicle aerial survey and the sounding instrument underwater measurement provided by the embodiment of the invention comprises the steps of:
wherein Z is p Coordinates of the interpolated elevation points; n is the number of interpolation elevation points; p (P) i Weights for the ith data point; z is Z i Is the elevation of the ith data point.
Based on the content of the embodiment of the method, the method for measuring the beach map based on the underwater measurement of the unmanned aerial vehicle navigation measuring and sounding instrument provided by the embodiment of the invention comprises the following steps:
wherein Δh is a measurement result correction value; h is a f The method comprises the steps of performing aerial survey on terrain for an unmanned aerial vehicle; h is a d The method is used for detecting the underwater topography by the depth finder.
In a second aspect, an embodiment of the present invention provides a beach mapping apparatus based on unmanned aerial vehicle aerial surveying and sounding underwater surveying, including: the first main module is used for surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting the collected photographic data and performing internal processing to obtain the aerial survey topography of the beach; the second main module is used for determining the detection time of the depth finder according to the investigation result, collecting the water depth value and the coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; and the third main module is used for calculating a measurement result correction value of the 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 the final mapping result of the beach.
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 invokes the program instructions to perform the beach mapping method based on unmanned aerial vehicle aerial survey and sounding underwater measurement provided in any of the various implementations of the first aspect.
In a fourth aspect, embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method for beach mapping based on unmanned aerial vehicle aerial survey and sounding underwater measurements provided by any of the various implementations of the first aspect.
According to the beach mapping method and equipment based on unmanned aerial vehicle aerial surveying and sounding instrument underwater surveying, the acquired photographic data are detected and subjected to internal processing to obtain the aerial surveying topography of the beach, the water bottom elevation and the plane coordinates are fused to obtain the underwater topography of the beach, the corrected underwater topography and the aerial surveying topography are spliced and fused to obtain the final mapping result of the beach, the beach area can be mapped in a large scale, and the beach mapping method and equipment have the characteristics of high beach mapping precision, simplicity in operation, high feasibility and high economic benefit.
Drawings
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 of the drawings required for the embodiments or the prior art descriptions, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without any inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a beach mapping method based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement provided by an embodiment of the invention;
fig. 2 is a schematic structural diagram of a beach mapping device based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an entity structure of an electronic device according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of tidal ports for tidal flat measurement according to an embodiment of the present invention;
FIG. 5 is a schematic view of another tidal flat survey port according to an embodiment of the present invention;
FIG. 6 is a large scale topographical view of an investigation region provided by an embodiment of the present invention;
fig. 7 is a flowchart of another method for measuring a beach based on unmanned aerial vehicle navigation measurement and sounding underwater measurement according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. 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. In addition, the technical features of each embodiment or the single embodiment provided by the invention can be combined with each other at will to form a feasible technical scheme, and the combination is not limited by the sequence of steps and/or the structural composition mode, but is necessarily based on the fact that a person of ordinary skill in the art can realize the combination, and when the technical scheme is contradictory or can not realize, the combination of the technical scheme is not considered to exist and is not within the protection scope of the invention claimed.
Fully utilizing coastal estuary tide changes, and carrying out aerial photography by using an unmanned plane through a phase control-free technology in low tide, and generating high-precision aerial surveying results; in high tide, measuring underwater topography by using a depth finder underwater topography measuring method; finally, based on the measurement results of the overlapping area and the measurement results of the unmanned aerial vehicle, checking and correcting the underwater topography measurement results of the sounding instrument, and finally fusing the measurement results of the unmanned aerial vehicle and the corrected underwater topography measurement results of the sounding instrument, thereby forming the measurement results of the whole beach area. Based on the idea, the embodiment of the invention provides a beach mapping method based on unmanned aerial vehicle navigation measurement and sounding instrument underwater measurement, and referring to fig. 1, the method comprises the following steps: surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting and performing internal processing on the collected photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the investigation result, collecting the water depth value and coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; 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, and splicing and fusing the corrected underwater terrain and the aerial survey terrain to obtain the final mapping result of the beach.
Based on the content of the method embodiment, as an optional embodiment, the method for measuring the beach based on unmanned aerial vehicle aerial survey and underwater measurement of a sounding instrument provided in the embodiment of the present invention, wherein the method for measuring the beach to be measured performs investigation, and determines the unmanned aerial vehicle aerial survey time according to the investigation result, including: according to tidal change of coastal estuary beach areas, unmanned aerial vehicle aerial survey is carried out in the period of low tide; the determining the detection moment of the depth finder according to the investigation result comprises the following steps: and according to the tidal change of the coastal estuary beach area, performing underwater detection by a depth finder during high tide.
Specifically, when the unmanned aerial vehicle image control-free technology is adopted to map a topographic map by adopting an aerial photogrammetry method, the tidal change of the coastal estuary beach area needs to be observed, and the topographic map is carried out in a low tide period. The topographic map measurement can be carried out by using the Dajiang eidolon 4RTK unmanned aerial vehicle, and the flight implementation is designed according to the 1:500 scale mapping requirement and the unmanned aerial vehicle flight related requirement. The flying altitude is designed to be 100 meters, the course overlapping degree is 80%, and the side overlapping degree is 70%. When using a depth finder for underwater topography mapping, it is also necessary to observe tidal changes in coastal estuary beach areas during high tide. The underwater topography measurement can be carried out by adopting a GNSS-RTK+depth finder combination mode, for example, a Tianbao R10 GNSS receiver and a tin-free hawk HY1602 dual-frequency depth finder can be used, and a ship board installation mode is adopted as a probe of the depth finder. In the operation process, the depth measuring instrument needs to continuously collect and store the water depth value; the computer synchronously collects the water depth value and the positioning data, and the computer water depth collecting record is accurate to 0.01m. Before and after the sounding work, checking and comparing sounding data of the sounding instrument by using a checking plate, so that the sounding precision of the sounding instrument is ensured to meet the precision requirement of corresponding scale water depth measurement. The measuring lines are reasonably arranged before measurement, and the main measuring lines are basically arranged according to the principle consistent with the trend of the lines according to the requirements of the regional underwater topography characteristics and specifications, extend to two sides along the preset line center line, and are arranged at intervals of 7.5m, and the measuring point intervals are 5m. After the operation is finished, processing the water depth data through post-processing software, removing rough differences and some error water depth values, carrying out fusion calculation on the processed water depth values and the elevation of the GNSS-RTK to obtain a water bottom elevation value, and adding the water bottom elevation value to the GNSS-RTK plane coordinates to obtain a final underwater topography result. Before underwater topography is measured, an AutoCAD is used for drawing a working score line according to the requirements of related specifications, and the working score line is led into underwater topography measuring software. When underwater topography is measured, a measurer guides a shipman to drive the ship to navigate according to an operation planning line, and the ship is kept to travel at a medium speed and a constant speed. The measurer focuses on the RTK and the state of the depth finder in real time. In addition, transducer draft correction, sound velocity correction, and inspection line measurement are required. And correcting the draught of the transducer: according to the actual water inlet depth of the transducer during measurement, the draft option of the depth finder is set, so that the draft is consistent with the water inlet depth of the transducer, and the draft correction of the transducer is realized. Before the transducer is installed and formally begins to measure, the water entering depth of the transducer is determined according to a normal measurement navigational speed pilot test. And (3) sound velocity correction: before sounding operation, sound velocity profile meters are used for measuring sound velocities at different depths, sound velocity values during operation are determined, and the sound velocity values are input into the sounding meters for sound velocity correction. And (3) measuring a detection line: and checking and accepting the finished underwater topography, wherein the detection lines are uniformly distributed in the whole area basically according to the direction of the vertical main detection line.
Based on the foregoing disclosure of the method embodiment, as an optional embodiment, the method for measuring a beach map based on unmanned aerial vehicle aerial survey and underwater measurement of a sounding instrument provided in the embodiment of the present invention, wherein planning an unmanned aerial vehicle route and collecting aerial photography data includes: the unmanned aerial vehicle airlines are arranged along the direction parallel to the water shorelines, the water shorelines fly in the land direction from the low tide during the field aviation, the collected airlines and the aerial survey range lines are led into a satellite image diagram before aviation shooting, whether the operation range is a no-fly zone and/or a limited-altitude zone is determined through the satellite image diagram, and the landing field and the flying altitude of the unmanned aerial vehicle are determined.
Specifically, the course is laid along a direction parallel to the water shoreline, and the field is flown from the water side line at low tide to the land when the field is flown. Before aerial photography, the collected control points and aerial survey range lines are led into a satellite image map, whether the operation range is a no-fly zone or a limited-altitude zone is determined through the satellite image map, and the take-off and landing sites and the flying heights of the unmanned aerial vehicle are roughly judged. The unmanned plane landing site is determined by surveying the surrounding high-rise buildings, high-voltage transmission lines, drainage gates and other factors affecting safety in the field.
Based on the content of the above method embodiment, as an optional embodiment, the method for measuring a beach map based on unmanned aerial vehicle aerial survey and underwater measurement of a sounding instrument provided in the embodiment of the present invention, wherein the detecting and internal processing are performed on the collected photographic data to obtain an aerial survey topography of the beach, includes: and determining the lowest tide level of the operation day according to the tide table, performing aerial flight measurement, detecting the flight quality and the image quality after aerial flight is completed, supplementing the unqualified route and the vulnerability area, generating a three-dimensional real scene model by adopting space three encryption and regional network adjustment, and correcting the aerial measurement result of the unmanned aerial vehicle by taking the measurement result selected from the three-dimensional real scene model as a reference to obtain the aerial measurement topography of the beach. And generating the aerial survey terrain of the unmanned aerial vehicle according to the aerial survey industry technical requirements. And calculating an underwater topography measurement result correction value based on an overlapping area of the aerial topography and the underwater topography by taking the aerial topography of the unmanned aerial vehicle as a reference, correcting the underwater topography according to the measurement result correction value, and splicing and fusing the corrected underwater topography and the aerial topography to obtain the final mapping result of the beach.
Specifically, the lowest tide level on the day of operation is selected according to the tide table to carry out aviation measurement, the aviation is completed to detect the flight quality and the image quality, and unqualified airlines and the loophole area are immediately subjected to tissue repair. In the internal data processing stage, after a three-dimensional live-action model is generated through the processes of space three encryption, regional network adjustment and the like, the aerial survey results of the unmanned aerial vehicle are checked and corrected by taking the measurement results selected from the model as the reference, so that the formation results of the whole beach area are formed.
Based on the foregoing disclosure of the method embodiment, as an optional embodiment, the method for measuring a beach map based on unmanned aerial vehicle aerial survey and underwater measurement of a sounding instrument provided in the embodiment of the present invention, where the calculating a measurement result correction value of an overlapping area of an aerial survey topography and an underwater topography includes: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating the elevation point coordinates of the underwater topography and the aerial topography one by one to the grid points by adopting a weighted average method. After this, an underwater topography measurement result correction value is calculated.
Specifically, the fusion of the aerial survey results and the underwater topography measurement results is carried out by taking the unmanned aerial vehicle aerial survey results as a reference. Firstly, taking the unmanned aerial vehicle flight measurement result as a reference, and calculating an underwater topography measurement result correction value for an overlapping area of the unmanned aerial vehicle flight measurement result and the underwater topography measurement result of the depth finder. Dividing the overlapping area of the underwater topography measured by the depth finder and the aerial survey topography of the unmanned aerial vehicle into regular grids with certain intervals, and respectively interpolating the coordinates of the underwater topography on the grid points and the elevation point of the aerial survey topography point by a weighted average method.
Based on the foregoing disclosure of the method embodiment, as an optional embodiment, the method for measuring a beach map based on unmanned aerial vehicle aerial survey and sounding underwater measurement provided in the embodiment of the present invention, wherein the weighted average method is used to interpolate the coordinates of the elevation points of the underwater topography and the aerial survey topography to the grid points one by one, and includes:
wherein Z is p Coordinates of the interpolated elevation points; n is the number of interpolation elevation points; p (P) i Weights for the ith data point; z is Z i Is the elevation of the ith data point.
Specifically, the interpolation elevation of the lattice point is calculated by calculating a weighted average of all points in a circle with the lattice point as the center and R as the radius, and the weighted average calculation is performed by taking the square of the distance as the inverse of the weight, wherein the formula is shown in the formula (1).
Based on the content of the method embodiment, as an optional embodiment, the method for measuring a beach map based on unmanned aerial vehicle aerial survey and sounding underwater measurement provided in the embodiment of the invention, the measurement result correction value includes:
wherein Δh is a measurement result correction value; h is a f The method comprises the steps of performing aerial survey on terrain for an unmanned aerial vehicle; h is a d The method is used for detecting the underwater topography by the depth finder.
Specifically, based on the measurement result of the overlapping area and based on the measurement result of the unmanned aerial vehicle, calculating the measurement result correction value of the depth finder interpolated on the grid point and the measurement result correction value of the unmanned aerial vehicle navigation measurement result as shown in the formula (2). After the corrected value of the measured result is calculated, the measured result of the sounding instrument underwater topography is corrected and then is spliced and fused with the measured result of the unmanned aerial vehicle, and a topography map is generated according to the mapping requirement of a 1:500 scale, so that the measured result of the whole beach area is formed.
According to the beach mapping method based on unmanned aerial vehicle aerial surveying and sounding instrument underwater surveying, the acquired photographic data are detected and processed in the internal industry to obtain the aerial surveying topography of the beach, the underwater elevation and the plane coordinates are fused to obtain the underwater topography of the beach, the corrected underwater topography and the aerial surveying topography are spliced and fused to obtain the final mapping result of the beach, the beach area can be mapped in a large scale, and the beach mapping method has the characteristics of high beach mapping precision, simplicity in operation, high feasibility and high economic benefit.
In actual beach measurement, the coordinate system is CGCS2000 coordinate system, the central meridian is 120 degrees, and the elevation system is the national elevation reference of 1985. Differential sources use a thousands of seeking CORS system. In order to enable the unmanned aerial vehicle aerial survey and underwater topography survey to directly measure an accurate project coordinate system, 6 control points are evenly measured by a mode of connecting a Trimble R10 GNSS with a thousand-seeking CORS, coordinate conversion parameters are obtained, and a residual error is obtained by the coordinate conversion parameters, wherein the residual error is shown in a 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, the control point is properly selected, the precision of solving the conversion parameters is high, and the requirements of unmanned aerial vehicle aerial survey and underwater topography measurement can be met.
Based on the Dajiang eidolon 4RTK unmanned aerial vehicle, adopt the digital camera of airborne 2000 ten thousand resolution ratio to shoot B2 reconnaissance district, measuring range is the mileage: CK196+550 to CK198+600; the measurement area is about: 0.45km2. According to the tide table of the day of 16-day aviation operation in 8 months in 2020, 16:08 is the optimal aviation time, the day enters a pre-selected unmanned plane landing site in advance, and the initial aviation operation is separated at 16:30. The current day tide status of the fly operation is shown in fig. 4. The field aerial photography flies for 4 frames in total, and 1107 photos are taken. Each shot photo ensures that the unmanned aerial vehicle RTK solution is a fixed solution. In the project implementation process, the thousands of seeking CORS is adopted as a differential source of the onboard RTK. The final imaging area of the aerial three-dimensional model is about 1.1Km2, the imaging width is about 550 m, and the mileage direction length is about 2Km.
The measuring range of the mapping of the underwater topography map of the B2 investigation region 1:500 is mileage: CK196+100 to CK196+550; the measurement area is about: 0.08 square kilometers. According to the tidal table of the current day of underwater topography measurement operation, the optimal underwater topography time is 11:55, and the current day enters an operation area in advance to carry out transducer draft correction and sound velocity correction preparation work. The underwater topography operation is started at 13:03. The tidal state of the current day of the underwater topography measurement operation is shown in fig. 5. The navigational speed is stable during the measurement period, and the change of the draft of the ship is small, so that the dynamic change of the water inlet depth of the transducer is small. In terms of sound velocity correction, sound velocities at different depths were measured using a hawk HY1203 sound velocity profiler, and sound velocity measurement data are shown in Table 2 (underwater sound velocity in the survey area) below.
TABLE 2
| Depth of | Sound velocity | Temperature (temperature) |
| 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 is clear from Table 2, the sound velocity is slightly different at different depths and temperatures. Finally, 1517m/s is used as the sound velocity value of the current underwater topography measurement on the same day through analysis and calculation, and 1517m/s is input into an HY1602 dual-frequency depth finder for sound velocity correction. The underwater topography collects 33 pieces of route data in total, and the actual measurement area is about 0.14 square house kilometers. Dividing a measured height overlapping area (150 m and 180 m) of the underwater topography and the unmanned aerial vehicle aerial survey topography into 5 m-5 m spaced grids, resampling on the grid points by a weighted average method, and simultaneously obtaining the coordinates of the elevation points of the underwater topography and the unmanned aerial vehicle aerial survey topography. The unmanned aerial vehicle aerial survey terrain overlap area measured during high tide and measured during low tide is about 150m (mileage direction). By counting the difference in coordinates of 1093 elevation points in the overlapping area, it can be seen that the difference between all elevation points is less than 0.3m, wherein the ratio of less than 0.1m is 81%. The achievement shows that: the result of the measurement of the aerial survey topography point and the underwater topography point of the sounding instrument is good, and the data collected by the field industry is reliable. And correcting the original measurement result of the operation of the depth finder by taking the measurement result of the unmanned aerial vehicle as a reference, and then splicing and fusing the corrected original measurement result with the original measurement result of the unmanned aerial vehicle, wherein the formation result of the whole beach area generated according to the 1:500 scale mapping requirement is shown in fig. 6.
According to the tidal flat mapping method based on unmanned aerial vehicle aerial survey and sounding instrument underwater survey, which is provided by the embodiment of the invention, the tide law is fully utilized, the unmanned aerial vehicle is utilized to obtain high-precision aerial survey results in low tide, the sounding instrument is utilized to obtain underwater topography survey results in high tide, and then the aerial survey results of the unmanned aerial vehicle and the sounding instrument underwater topography overlapping area are spliced and fused with the measurement results of the sounding instrument operation on the basis of the measurement results of the aerial flight of the unmanned aerial vehicle, so that the measurement results of the whole tidal flat region are formed. The method is successfully applied to the mud flat mapping task of the through Sujia channel railway crossing Hangzhou bay B2 investigation region, achieves a good effect, and meets the requirements of related engineering projects in precision. Engineering practice shows that: the method has the advantages of high technical precision, simple operation, strong feasibility and high economic benefit, and can be used for large-scale mapping of the beach area.
The implementation basis of the embodiments of the present invention is realized by a device with a processor function to perform programmed processing. Therefore, in engineering practice, the technical solutions and the functions 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 invention provides a beach mapping device based on unmanned aerial vehicle aerial survey and sounding underwater measurement, which is used for executing the beach mapping method based on unmanned aerial vehicle aerial survey and sounding underwater measurement in the method embodiment. Referring to fig. 2, the apparatus includes: the first main module is used for surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting the collected photographic data and performing internal processing to obtain the aerial survey topography of the beach; the second main module is used for determining the detection time of the depth finder according to the investigation result, collecting the water depth value and the coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; and the third main module is used for calculating a measurement result correction value of the 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 the final mapping result of the beach.
The beach mapping device based on unmanned aerial vehicle aerial survey and sounding instrument underwater survey provided by the embodiment of the invention adopts a plurality of modules in fig. 2, acquires aerial survey topography of the beach by detecting and internally processing collected photographic data, fuses water bottom elevation and plane coordinates to acquire underwater topography of the beach, and splices and fuses corrected underwater topography and aerial survey topography to acquire final mapping results of the beach, so that large-scale mapping can be performed on the beach area, and the beach mapping device has the characteristics of high beach mapping precision, simplicity in operation, strong feasibility and high economic benefit.
It should be noted that, the device in the device embodiment provided by the present invention may be used to implement the method in the above method embodiment, and may also be used to implement the method in other method embodiments provided by the present invention, where the difference is merely that the corresponding functional module is provided, and the principle is basically the same as that of the above device embodiment provided by the present invention, so long as a person skilled in the art refers to a specific technical solution in the above device embodiment based on the above device embodiment, and obtains a corresponding technical means by combining technical features, and a technical solution formed by these technical means, and on the premise that the technical solution is ensured to have practicability, the device in the above device embodiment may be modified, so as to obtain a corresponding device embodiment, and be used to implement the method in other method embodiment. For example:
based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: the first submodule is used for realizing the investigation of the beaches to be detected, determining the aerial survey time of the unmanned aerial vehicle according to the investigation result, and comprises the following steps: according to tidal change of coastal estuary beach areas, unmanned aerial vehicle aerial survey is carried out in the period of low tide; the determining the detection moment of the depth finder according to the investigation result comprises the following steps: and according to the tidal change of the coastal estuary beach area, performing underwater detection by a depth finder during high tide.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: the second sub-module is used for planning the unmanned aerial vehicle route and collecting aerial photography data, and comprises: the unmanned aerial vehicle airlines are arranged along the direction parallel to the water shorelines, the water shorelines fly in the land direction from the low tide during the field aviation, the collected airlines and the aerial survey range lines are led into a satellite image diagram before aviation shooting, whether the operation range is a no-fly zone and/or a limited-altitude zone is determined through the satellite image diagram, and the landing field and the flying altitude of the unmanned aerial vehicle are determined.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: the third sub-module is used for realizing the detection and the internal processing of the collected photographic data to obtain the aerial survey topography of the beach, and comprises the following components: and determining the lowest tide level of the operation day according to the tide table, performing aerial flight measurement, detecting the flight quality and the image quality after aerial flight is completed, supplementing the unqualified route and the vulnerability area, generating a three-dimensional real scene model by adopting space three encryption and regional network adjustment, and correcting the aerial measurement result of the unmanned aerial vehicle by taking the measurement result selected from the three-dimensional real scene model as a reference to obtain the aerial measurement topography of the beach.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: and a fourth sub-module, configured to implement the internal processing on the collected underwater topography data to obtain the underwater topography of the beach, where the fourth sub-module includes: and calculating the plane coordinates and the water surface elevation of the beach to be detected according to the GNSS-RTK phase center coordinates, fusing the water depth value and the water surface elevation to obtain the water bottom elevation, and combining the plane coordinates and the corresponding water bottom elevation to obtain the underwater topography of the beach.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: and a fifth sub-module, configured to implement the calculation of a measurement result correction value of an overlapping area between the aerial survey terrain and the underwater terrain, including: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating the elevation point coordinates of the underwater topography and the aerial topography one by one to the grid points by adopting a weighted average method.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: a sixth sub-module, configured to implement the interpolating the coordinates of the elevation points of the underwater topography and the aerial survey topography to the grid points one by using a weighted average method, where the method includes:
wherein Z is p Coordinates of the interpolated elevation points; n is the number of interpolation elevation points; p (P) i Weights for the ith data point; z is Z i Is the elevation of the ith data point.
Based on the content of the embodiment of the device, as an optional embodiment, the beach mapping device based on unmanned aerial vehicle aerial surveying and sounding underwater surveying provided in the embodiment of the invention further includes: a seventh sub-module, configured to implement the measurement result correction value, including:
wherein Δh is a measurement result correction value; h is a f The method comprises the steps of performing aerial survey on terrain for an unmanned aerial vehicle; h is a d The method is used for detecting the underwater topography by the depth finder.
The method of the embodiment of the invention is realized by the electronic equipment, so that the related electronic equipment is necessary to be introduced. To this end, an embodiment of the present invention provides an electronic device, as shown in fig. 3, including: at least one processor (processor), a communication interface (Communications 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 communicate with each other via the communication bus. The at least one processor may invoke logic instructions in the at least one memory to perform all or part of the steps of the methods provided by the various method embodiments described above.
Further, the logic instructions in at least one of the memories described above may be implemented in the form of a software functional unit and may be 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.
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.
The flowcharts 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 knowledge, each block in the flowchart or block diagrams may represent a module, segment, or 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 like elements in a process, method, article or apparatus that comprises the element.
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 (9)
1. The beach mapping method based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement is characterized by comprising the following steps: surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting and performing internal processing on the collected photographic data to obtain the aerial survey terrain of the beach; determining the detection time of a depth finder according to the investigation result, collecting the water depth value and coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; 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 beach, wherein,
taking the aerial survey terrain of the unmanned aerial vehicle as a reference, calculating the measurement result correction value of the overlapping area of the aerial survey terrain and the underwater terrain comprises the following steps: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating the elevation point coordinates of the underwater topography and the aerial topography one by one to the grid points by adopting a weighted average method.
2. The method for measuring a beach based on unmanned aerial vehicle aerial survey and underwater measurement of a depth finder according to claim 1, wherein the step of surveying the beach to be measured and determining the unmanned aerial vehicle aerial survey time according to the surveying result comprises the steps of: according to tidal change of coastal estuary beach areas, unmanned aerial vehicle aerial survey is carried out in the period of low tide; the determining the detection moment of the depth finder according to the investigation result comprises the following steps: and according to the tidal change of the coastal estuary beach area, performing underwater detection by a depth finder during high tide.
3. The method for beach mapping based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement according to claim 2, wherein the planning of unmanned aerial vehicle route and collecting aerial photography data comprises: the unmanned aerial vehicle airlines are arranged along the direction parallel to the water shorelines, the water shorelines fly in the land direction from the low tide during the field aviation, the collected airlines and the aerial survey range lines are led into a satellite image diagram before aviation shooting, whether the operation range is a no-fly zone and/or a limited-altitude zone is determined through the satellite image diagram, and the landing field and the flying altitude of the unmanned aerial vehicle are determined.
4. The method for measuring a beach map based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement according to claim 3, wherein the detecting and internal processing of the collected photographic data to obtain aerial survey topography of the beach comprises: and determining the lowest tide level of the operation day according to the tide table, performing aerial flight measurement, detecting the flight quality and the image quality after aerial flight is completed, supplementing the unqualified route and the vulnerability area, generating a three-dimensional real scene model by adopting space three encryption and regional network adjustment, and correcting the aerial measurement result of the unmanned aerial vehicle by taking the measurement result selected from the three-dimensional real scene model as a reference to obtain the aerial measurement topography of the beach.
5. The method for measuring a beach plot based on unmanned aerial vehicle aerial survey and sounding instrument underwater measurement according to claim 1, wherein the step of interpolating the coordinates of the elevation points of the underwater topography and the aerial survey topography one by one to the grid points by using a weighted average method comprises:
wherein Z is p Coordinates of the interpolated elevation points; n is the number of interpolation elevation points; p (P) i Weights for the ith data point; z is Z i Is the elevation of the ith data point.
6. The method for measuring a beach map based on unmanned aerial vehicle navigation and sounding instrument underwater measurement according to claim 5, wherein the measurement result correction value comprises:
wherein Δh is a measurement result correction value; h is a f The method comprises the steps of performing aerial survey on terrain for an unmanned aerial vehicle; h is a d The method is used for detecting the underwater topography by the depth finder.
7. Mud flat mapping device based on unmanned aerial vehicle aerial survey and sounding appearance are measurement under water, a serial communication port includes: the first main module is used for surveying the beach to be measured, determining the aerial survey time of the unmanned aerial vehicle according to the surveying result, planning the aerial route of the unmanned aerial vehicle, collecting aerial photographic data, detecting the collected photographic data and performing internal processing to obtain the aerial survey topography of the beach; the second main module is used for determining the detection time of the depth finder according to the investigation result, collecting the water depth value and the coordinates of the beach to be detected, obtaining the plane coordinates and the water surface elevation of the beach 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 beach; a third main module for calculating a measurement result correction value of an overlapping area of the aerial survey terrain and the underwater terrain based on the aerial survey terrain of the unmanned aerial vehicle, 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 beach,
taking the aerial survey terrain of the unmanned aerial vehicle as a reference, calculating the measurement result correction value of the overlapping area of the aerial survey terrain and the underwater terrain comprises the following steps: dividing an overlapping area of the underwater topography measured by the depth finder and the aerial topography of the unmanned aerial vehicle into grids with equal intervals, and interpolating the elevation point coordinates of the underwater topography and the aerial topography one by one to the grid points by adopting a weighted average method.
8. 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 1-6.
9. A non-transitory computer readable storage medium storing computer instructions that cause the computer to perform the method of any one of claims 1 to 6.
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