CN114964170B - Surveying and mapping unmanned aerial vehicle capable of reducing surveying and mapping errors and surveying and mapping method - Google Patents
Surveying and mapping unmanned aerial vehicle capable of reducing surveying and mapping errors and surveying and mapping method Download PDFInfo
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- CN114964170B CN114964170B CN202210578355.3A CN202210578355A CN114964170B CN 114964170 B CN114964170 B CN 114964170B CN 202210578355 A CN202210578355 A CN 202210578355A CN 114964170 B CN114964170 B CN 114964170B
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- 238000013507 mapping Methods 0.000 title claims abstract description 83
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 54
- 238000004364 calculation method Methods 0.000 claims abstract description 8
- 238000012937 correction Methods 0.000 claims description 22
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000005484 gravity Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 4
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Radar Systems Or Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a surveying and mapping unmanned aerial vehicle capable of reducing surveying and mapping errors and a surveying and mapping method. The radar module in the device can automatically correct the height, the image processing module in the unmanned aerial vehicle main body carries out data processing on the image of the initial position and the image after cheapness, and the corresponding coordinate points in the characteristic point conversion coordinate system in the image are subjected to difference value calculation of the X-direction coordinate and the Y-direction coordinate, so that the route of the unmanned aerial vehicle main body for recovering the initial position is calculated, the data processing module controls the unmanned aerial vehicle to recover the initial position along the route, and manual control is not needed.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle surveying and mapping, in particular to a surveying and mapping unmanned aerial vehicle capable of reducing surveying and mapping errors and a surveying and mapping method.
Background
The unmanned aerial vehicle aerial survey is a powerful supplement of the traditional aerial photogrammetry means, has the characteristics of flexibility, high efficiency, rapidness, fineness, accuracy, low operation cost, wide application range, short production period and the like, has obvious advantages in the aspect of rapidly acquiring high-resolution images in small areas and difficult flying areas, and along with the development of unmanned aerial vehicle and digital camera technology, the digital aerial photography technology based on an unmanned aerial vehicle platform has shown unique advantages, and the unmanned aerial vehicle and aerial photogrammetry are combined to enable unmanned aerial vehicle digital low-altitude remote sensing to become a brand-new development direction in the aerial remote sensing field.
When the unmanned aerial vehicle is used for mapping, a certain place needs to be mapped in a time period, in the mapping process, due to the interference of an external environment, deviation of the height and the position of the unmanned aerial vehicle is easy to occur, repeated remote control is needed for the unmanned aerial vehicle, the unmanned aerial vehicle is restored to an initial mapping position, manual intervention is needed, meanwhile, the precision of control is insufficient, the precision of restoration is insufficient, the unmanned aerial vehicle hovering vibration judging method and the unmanned aerial vehicle vision height correcting method provided by the CN113885546A are disclosed, the unmanned aerial vehicle hovering vibration judging method can assist the unmanned aerial vehicle to correct the ground height, the hovering position vibration condition caused by inaccurate ground height estimation of the unmanned aerial vehicle can be quickly stabilized, and the unmanned aerial vehicle can not be controlled to be quickly restored to the initial position.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a surveying unmanned aerial vehicle and a surveying method for reducing surveying errors.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the utility model provides a reduce survey and drawing unmanned aerial vehicle of survey and drawing error, includes the unmanned aerial vehicle main part, survey and drawing module, set up in the outside of unmanned aerial vehicle main part for survey and drawing the external environment;
the radar module is connected with the mapping module and moves synchronously with the mapping module;
the angle correction module comprises a gyroscope and is used for measuring the angle of the unmanned aerial vehicle in real time, and simultaneously, the data is fed back to the data processing module through the data transmission module for calculation processing;
the image processing module is used for carrying out digital processing on the image shot by the mapping module, carrying out calculation and comparison, and transmitting correction data to the unmanned aerial vehicle main body through the data transmission module;
and the power supply module is used for supplying power to the unmanned aerial vehicle main body and the modules.
As a further description of the above technical solution, the data transmission module is disposed in each module, and the data processing module is disposed in the unmanned aerial vehicle main body.
As a further description of the above technical solution, the mapping module includes a mapping camera and a universal adjustment mechanism, and the mapping camera is provided with at least one group.
As a further description of the above technical solution, the radar module comprises a lidar.
As a further description of the above technical solution, the angle correction module is disposed at a center of gravity of the unmanned aerial vehicle body.
A mapping method of a mapping unmanned aerial vehicle for reducing mapping errors comprises the following steps: s1, after a main body of the unmanned aerial vehicle is controlled to reach a target place, an initial image is shot through a mapping module;
s2, within the error height, the unmanned aerial vehicle main body does not carry out height correction;
s3, after the offset height and the plane offset amount exceed the error, the unmanned aerial vehicle body is stabilized again, a plurality of groups of correction images are shot again through the mapping module, the images are transmitted to the image processing module through the data transmission module, and data in the angle correction module are transmitted to the processing module;
s4, after the image processing module processes the initial image and the plurality of groups of offset images shot later, the characteristic points in the initial image and the last group of images are identified and marked, route planning is carried out on the offset of the characteristic points, and the characteristic points are transmitted to the data processing module through the data transmission module;
s5, the radar module measures the offset height and transmits measurement data to the data processing module;
and S6, the data processing module controls the unmanned aerial vehicle body to recover to the initial position along the planned route and the offset height.
As a further description of the above technical solution, the error height range is 0 to 50cm.
As a further description of the above technical solution, the number of corrected images is the same as the number of times the unmanned aerial vehicle body is offset to stay, and the time of the unmanned aerial vehicle body is not less than 7 seconds.
As a further description of the above technical solution, the image processing module converts the offset image and the initial image into an X, Y coordinate system, and the lower left corner of the initial image and the offset image is located at the origin of the X, Y coordinate system.
As a further description of the above technical solution, the offset between the initial image and the offset image is not less than 10cm.
The invention has the following beneficial effects:
1. according to the invention, the offset height is measured through the radar module, the measured data are transmitted to the data processing module, the data processing module calculates the initial height and the difference value of the offset height, the unmanned aerial vehicle main body is controlled by the data processing module to restore the unmanned aerial vehicle main body to the initial height position, the image processing module in the unmanned aerial vehicle main body carries out data processing on the image of the initial position and the cheap image, the corresponding coordinate points in the characteristic point conversion coordinate system in the image are subjected to difference value calculation of the X-direction coordinate and the Y-direction coordinate, so that the route of the unmanned aerial vehicle main body restoring the initial position is calculated, the data processing module controls the unmanned aerial vehicle main body to restore the initial position along the route, manual control is not needed, and the position is more accurate.
Drawings
Fig. 1 is a schematic diagram of a surveying unmanned aerial vehicle for reducing surveying errors according to the present invention;
fig. 2 is an X, Y coordinate diagram of a mapping unmanned aerial vehicle for reducing mapping errors according to the present invention.
Legend description:
1. an unmanned aerial vehicle main body; 2. a mapping module; 3. a radar module; 4. an angle correction module; 41. a gyroscope; 5. a data transmission module; 6. a data processing module; 7. an image processing module; 8. and a power supply module.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present invention; the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally coupled, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-2, one embodiment provided by the present invention is: the utility model provides a reduce survey and drawing unmanned aerial vehicle of survey and drawing error, includes unmanned aerial vehicle main part 1, survey and drawing module 2, sets up in the outside of unmanned aerial vehicle main part 1 for survey and drawing the external environment;
the radar module 3 is connected with the mapping module 2 and moves synchronously with the mapping module 2;
the angle correction module 4 comprises a gyroscope 41, is used for measuring the angle of the unmanned aerial vehicle in real time, and feeds data back to the data processing module 6 through the data transmission module 5 for calculation processing;
the image processing module 7 is used for carrying out digital processing on the image shot by the mapping module 2, carrying out calculation and comparison, and transmitting correction data to the unmanned aerial vehicle main body 1 through the data transmission module 5;
and the power supply module 8 is used for supplying power to the unmanned aerial vehicle body 1 and the modules and supplying power to the modules.
Further, the data transmission modules 5 are arranged in the modules, the data processing module 6 is arranged in the unmanned aerial vehicle main body 1, and data transmission communication can be performed between the modules through the data transmission modules 5.
Further, the mapping module 2 includes a mapping camera and a universal adjusting mechanism, and the mapping camera is provided with at least one group, and the mapping camera also sets up two groups, and symmetry sets up in the both sides of unmanned aerial vehicle main part 1 respectively, when setting up four groups of mapping cameras, can distribute around unmanned aerial vehicle main part 1, and accessible universal adjusting mechanism makes the mapping camera can shoot a plurality of directions.
Further, the radar module 3 includes a lidar, while other such as millimeter wave radar may be used.
Further, the angle correction module 4 is disposed at the center of gravity of the unmanned aerial vehicle body 1, and when the unmanned aerial vehicle body 1 is offset, the angle correction module 4, that is, the gyroscope 41 inside the angle correction module, is disposed at the center of gravity of the unmanned aerial vehicle body 1, so that the offset angle of the unmanned aerial vehicle body 1 is measured with a better accuracy.
A mapping method of a mapping unmanned aerial vehicle for reducing mapping errors comprises the following steps: s1, after the unmanned aerial vehicle main body 1 is controlled to reach a target place, an initial image is shot through the mapping module 2;
s2, within the error height, the unmanned aerial vehicle main body 1 does not carry out height correction;
s3, after the offset height and the plane offset amount exceed the errors, the unmanned aerial vehicle main body 1 is stabilized again, a plurality of groups of correction images are shot again through the mapping module 2, the images are transmitted to the image processing module 7 through the data transmission module 5, and data in the angle correction module 4 are transmitted to the processing module;
s4, after processing the initial image and the plurality of groups of offset images shot later, the image processing module 7 identifies and marks the characteristic points in the initial image and the last group of images, performs route planning on the offset of the characteristic points, and transmits the route planning to the data processing module 6 through the data transmission module 5;
s5, the radar module 3 measures the offset height and transmits measured data to the data processing module 6, the data processing module 6 calculates the difference value between the initial height and the offset height, and the unmanned aerial vehicle main body 1 is controlled by the data processing module 6 to restore to the initial position;
and S6, the data processing module 6 controls the unmanned aerial vehicle body 1 to recover to the initial position along the planned route and the offset height.
Further, the error height range is 0-50 cm, and when the error height is less than 50cm, the unmanned aerial vehicle does not conduct adjustment of mapping height.
Further, the number of correction images is the same as the number of times that unmanned aerial vehicle main part 1 skew stays, and the time of unmanned aerial vehicle main part 1 skew is not less than 7 seconds, when unmanned aerial vehicle main part 1 receives a lot of interference, when the coordinate dwell time of unmanned aerial vehicle in a certain space is not less than 7 seconds, then can shoot the image of below through the survey and drawing camera to in the image processing module.
Further, the image processing module 7 converts the offset image and the initial image into an X, Y coordinate system, and the lower left corners of the initial image and the offset image are located at the origin of the X, Y coordinate system, as shown in fig. 2, the coordinates of the central position of the lake shot by the mapping camera are (X ', Y'), when the coordinates of the central position of the lake shot again after the planar displacement is cheaply interfered by external force are (X1 ', Y1'), the X-direction displacement difference is X '-X1', the Y-direction displacement difference is Y '-Y1', the data of the image processing module 7 are transmitted to the data processing module 6, and the data processing module 6 controls the unmanned aerial vehicle main body 1 to return to the initial position along the path according to the data, so that when the unmanned aerial vehicle is interfered in mapping, the unmanned aerial vehicle can automatically return to the originally set mapping position when the altitude and the lateral cheaply occurs, and multiple times of interference are not required.
Further, the offset of the initial image and the offset image is not less than 10cm, and when the one-way offset in the X, Y coordinate system is less than 10cm, the unmanned aerial vehicle body 1 does not need to perform adjustment in the X, Y coordinate system.
Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present invention.
Claims (9)
1. A surveying method of a surveying unmanned aerial vehicle based on reducing surveying errors, wherein the unmanned aerial vehicle comprises an unmanned aerial vehicle body (1);
the mapping module (2) is arranged outside the unmanned aerial vehicle main body (1) and is used for mapping an external environment;
the radar module (3) is connected with the mapping module (2) and moves synchronously with the mapping module (2);
the angle correction module (4) comprises a gyroscope (41) and is used for measuring the angle of the unmanned aerial vehicle in real time, and simultaneously feeding data back to the data processing module (6) through the data transmission module (5) for calculation processing;
the image processing module (7) is used for carrying out digital processing on the image shot by the mapping module (2), carrying out calculation and comparison, and transmitting correction data into the unmanned aerial vehicle main body (1) through the data transmission module (5);
a power supply module (8) for supplying power to the unmanned aerial vehicle main body (1) and to the above modules;
the mapping method comprises the following steps:
s1, after the unmanned aerial vehicle main body (1) is controlled to reach a target place, an initial image is shot through the mapping module (2);
s2, within the error height, the unmanned aerial vehicle main body (1) does not correct the height;
s3, after the offset height and the plane offset amount exceed the errors, the unmanned aerial vehicle main body (1) shoots a plurality of groups of correction images again through the mapping module (2), the images are transmitted to the image processing module (7) through the data transmission module (5), and data in the angle correction module (4) are transmitted to the processing module;
s4, after the image processing module (7) processes the initial image and the plurality of groups of offset images shot later, the characteristic points in the initial image and the last group of images are identified and marked, route planning is carried out through the offset of the characteristic points, and the characteristic points are transmitted to the data processing module (6) through the data transmission module (5);
s5, the radar module (3) measures the offset height and transmits measurement data to the data processing module (6);
s6, the data processing module (6) controls the unmanned aerial vehicle main body (1) to recover to the initial position along the planned route and the offset height.
2. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: all the modules are provided with the data transmission module (5), and the data processing module (6) is arranged in the unmanned aerial vehicle main body (1).
3. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the surveying and mapping module (2) comprises a surveying and mapping camera and a universal adjusting mechanism, and the surveying and mapping camera is provided with at least one group.
4. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the radar module (3) comprises a lidar.
5. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the angle correction module (4) is arranged at the gravity center of the unmanned aerial vehicle main body (1).
6. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the height range of the error is 0-50 cm.
7. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the number of the correction images is the same as the number of times that the unmanned aerial vehicle main body (1) deviates and stays, and the time of the unmanned aerial vehicle main body (1) deviation is not less than 7 seconds.
8. A mapping method of a mapping drone based on reduced mapping errors as claimed in claim 1, wherein: the image processing module (7) converts the offset image and the initial image into an X, Y coordinate system, and the lower left corner of the initial image and the offset image is positioned at the origin of the X, Y coordinate system.
9. The mapping method of a mapping drone based on reduced mapping error of claim 8, wherein: the offset of the initial image and the offset image is not less than 10cm.
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