CN115638776A - Unmanned aerial vehicle-mounted surveying and mapping device and method - Google Patents
Unmanned aerial vehicle-mounted surveying and mapping device and method Download PDFInfo
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- CN115638776A CN115638776A CN202211150754.6A CN202211150754A CN115638776A CN 115638776 A CN115638776 A CN 115638776A CN 202211150754 A CN202211150754 A CN 202211150754A CN 115638776 A CN115638776 A CN 115638776A
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Abstract
The invention discloses an unmanned aerial vehicle-mounted surveying and mapping device and method, and belongs to the field of aerial surveying and mapping. The unmanned aerial vehicle carries mapping device include scanning CCD, registration lens, digital micromirror device, first speculum, second speculum, look ahead camera lens, back vision camera lens and casing. Compared with the prior art, the unmanned aerial vehicle-mounted surveying and mapping device provided by the invention is compact and portable in structure. The unmanned aerial vehicle-mounted surveying and mapping method provided by the invention uses the triangulation principle and the station transfer measuring mode, and the measuring precision is high.
Description
Technical Field
The invention relates to an unmanned aerial vehicle-mounted surveying and mapping device and method, and belongs to the field of aerial surveying and mapping.
Background
The development of unmanned aerial vehicles provides a new approach for topographic mapping, and thus aviation mapping technology is further developed. However, the surveying and mapping device is required to be intensive and portable due to the onboard capacity of the unmanned aerial vehicle. Traditional aviation mapping device has the multicamera camera lens structure of forward looking, front-looking and back-looking detectors, and volume and weight are all not suitable for unmanned aerial vehicle platform.
Disclosure of Invention
In view of the above prior art, the present invention provides an unmanned aerial vehicle-mounted surveying and mapping apparatus and method, so as to solve the above existing problems.
The invention relates to an unmanned aerial vehicle-mounted surveying and mapping device, which has the technical scheme that: the device comprises a scanning CCD, a registration lens, a digital micromirror device, a first reflector, a second reflector, a front-view lens, a rear-view lens and a shell; the front-view lens and the rear-view lens respectively scan landform information and reflect the landform information to the digital micro-mirror device through the first reflecting mirror and the second reflecting mirror; the digital micromirror device consists of a base plane and a two-dimensional micromirror element array; the micro mirror unit has two turning states of on and off, when the micro mirror unit is in the on state, the micro mirror unit deflects by +12 degrees, the ground scanning strip tilts forward, and when the micro mirror unit is in the off state, the micro mirror unit deflects by-12 degrees, and the ground scanning strip tilts backward; the registration lens is used for aligning the CCD pixel with the micromirror element of the digital micromirror device; the scanning CCD consists of a CCD scanning line I, a CCD scanning line II, a CCD scanning line III and a CCD scanning line IV, and scanning strip data are recorded; the shell is used for fixing the optical element and sealing the optical path to avoid the external interference light from entering.
The first reflector and the second reflector, the front-view lens and the rear-view lens are symmetrically arranged; the registered CCD pixels correspond to the micromirror elements of the digital micromirror device one by one.
The invention provides an unmanned airborne surveying and mapping method, which utilizes the unmanned airborne surveying and mapping device and comprises the following steps:
firstly, calibrating to obtain imaging internal and external parameters of the device; the unmanned aerial vehicle flies at a certain horizontal height to carry out four-strip scanning surveying and mapping on the ground, and the pose data is provided by a gyroscope.
Adjusting the positions of the pixels of the scanning CCD and the micro-mirror elements of the digital micro-mirror device and the magnification of the registration lens to ensure that one CCD pixel corresponds to one micro-mirror element; four scanning lines I, II, III and IV of the CCD are selected and respectively correspond to four rows of micro-mirror elements of the digital micro-mirror device.
And step three, controlling the turning state, the first action on state, the third action on state, the second action off state and the fourth action off state of the micromirror element array of the digital micromirror device.
Step four, the scanning line I is reflected by a third row of micro mirror elements and a second mirror of the digital micro mirror device, and data of the strip c are collected; the scanning line II is reflected by a fourth row of micro-mirror elements and a second mirror of the digital micro-mirror device, and the data of the strip a is collected; the scanning line III is reflected by a first row of micro-mirror elements and a first reflector of the digital micro-mirror device, and the data of the strip d is collected; and the scanning line IV is reflected by a second line of micro-mirror elements and a first reflector of the digital micro-mirror device, and the data of the strip b is collected.
Step five, continuously scanning the ground by four CCD scanning lines in a synchronous period to generate four strip images I a 、I b 、I c 、I d 。
Step six, image processing is carried out to determine the image coordinates (x) of the same point on the ground in the four strip images a ,y a )、(x b ,y b )、(x c ,y c ) And (x) d ,y d )。
Step seven, selecting images in two imaging directions according to the measurement range, such as I a And I b ，I c And I d ，I a And I d ，I c And I b (ii) a With I a And I d For example, the length D of the viewpoint baseline of the scanning lines II and III can be calculated according to the real-time pose distance of the gyroscope, the CCD scanning frame rate and the coordinates of the two images.
Step eight, according to a triangulation length method, knowing the length D of a viewpoint base line and two visual angles theta of scanning lines II and III 1 And theta 2 And then the elevation difference H between the target point and the horizontal flight surface of the unmanned aerial vehicle can be calculated, namely the unmanned aerial vehicle-mounted surveying and mapping of the ground target are realized.
Compared with the prior art, the invention has the beneficial effects that:
the unmanned airborne surveying and mapping device and method provided by the invention adopt four-line array scanning to provide sufficient data for scheme optimization. The light splitting structure of the digital micromirror array is utilized, so that the volume of the system is reduced. Compared with the prior art, the unmanned airborne surveying and mapping device provided by the invention is compact and portable in structure. The unmanned aerial vehicle-mounted surveying and mapping method provided by the invention uses the triangulation principle and the station transfer measuring mode, and the measuring precision is high.
Drawings
FIG. 1 is a block diagram of an unmanned airborne surveying device provided by the present invention;
fig. 2 is a schematic diagram of triangulation of the unmanned aerial vehicle of the present invention.
In the figure: 1-scan CCD, 2-registration lens, 3-digital micromirror device, 4-first mirror, 5-second mirror, 6-forward-looking lens, 7-rear-looking lens, 8-housing, 9-ground target, i-CCD scan line i, ii-CCD scan line ii, iii-CCD scan line iii, iv-CCD scan line iv.
Detailed Description
The present invention will be described in further detail with reference to specific embodiments.
As shown in fig. 1, the unmanned aerial vehicle-mounted surveying and mapping device of the present invention comprises a scanning CCD1, a registration lens 2, a digital micromirror device 3, a first reflector 4, a second reflector 5, a front-view lens 6, a rear-view lens 7 and a housing 8; the front-view lens 6 and the rear-view lens 7 respectively scan landform information and reflect the landform information to the digital micro-mirror device 3 through the first reflecting mirror 4 and the second reflecting mirror 5; the digital micromirror device 3 consists of a base plane and a two-dimensional micromirror element array; the micro mirror unit has two turning states of on and off, the micro mirror unit deflects +12 degrees when in the on state, the ground scanning strip tilts forward, and the micro mirror unit deflects-12 degrees when in the off state, the ground scanning strip tilts backward; the registration lens 2 is used for aligning the CCD pixel with the micromirror element of the digital micromirror device 3; the scanning CCD1 consists of a CCD scanning line I, a CCD scanning line II, a CCD scanning line III and a CCD scanning line IV and records scanning strip data; the housing 8 is used for fixing the optical element and sealing the optical path to prevent external interference light from entering.
The first reflector 4 and the second reflector 5, the forward-looking lens 6 and the rear-looking lens 7 are symmetrically arranged; the registered CCD pixels correspond to the micromirror elements of the digital micromirror device one by one.
The invention provides an unmanned aerial vehicle-mounted surveying and mapping method, which utilizes the unmanned aerial vehicle-mounted surveying and mapping device and comprises the following steps:
firstly, calibrating to obtain imaging internal and external parameters of the device; the unmanned aerial vehicle flies at a certain level to carry out four-strip scanning surveying and mapping on the ground, and the position and pose data are provided by the gyroscope.
Adjusting the positions of the pixels of the scanning CCD1 and the micro-mirror elements of the digital micro-mirror device 3 and the magnification of the registration lens to enable one CCD pixel to correspond to one micro-mirror element; four scanning lines I, II, III and IV of the CCD are selected to respectively correspond to four rows of micro-mirror elements of the digital micro-mirror device 3.
And step three, controlling the turning state of the micromirror array of the digital micromirror device 3, wherein the first and third behaviors are in an on state, and the second and fourth behaviors are in an off state.
Step four, the scanning line I is reflected by the third row of micro mirror elements and the second mirror of the digital micro mirror device 3, and the data of the strip c is collected; the scanning line II is reflected by a fourth row of micro-mirror elements and a second reflecting mirror of the digital micro-mirror device 3, and the data of the strip a is collected; scanning line III is reflected by a first row of micro-mirror elements and a first reflector of the digital micro-mirror device 3, and data of the strip d is collected; and the scanning line IV is reflected by a second line of micro mirror elements and a first reflector of the digital micro mirror device 3 to acquire the data of the strip b.
Step five, continuously scanning the ground by four CCD scanning lines in a synchronous period to generate four strip images I a 、I b 、I c 、I d 。
Sixthly, image processing is carried out to determine image coordinates (x) of the same point on the ground in the four strip images a ,y a )、(x b ,y b )、(x c ,y c ) And (x) d ,y d )。
Step seven, selecting images in two imaging directions according to the measuring range, such as I a And I b ，I c And I d ，I a And I d ，I c And I b (ii) a With I a And I d For example, the viewpoint baseline length D of the scanning lines II and III can be calculated according to the real-time pose distance of the gyroscope, the CCD scanning frame rate and the coordinates of the two images.
Step eight, as shown in FIG. 2, according to the triangulation method, the length D of the viewpoint base line and the two visual angles theta of the scanning lines II and III are known 1 And theta 2 And the altitude difference H between the target point and the horizontal flight surface of the unmanned aerial vehicle can be calculated, namely the unmanned aerial vehicle-mounted surveying and mapping of the ground target 9 is realized.
Example (b):
the present invention is further described in detail below by taking the target elevation difference as 1000m as an example:
the front view lens 6 inclines forwards by 24 degrees, the rear view lens 7 inclines backwards by 24 degrees, namely theta 1 ＝θ 2 ＝24。
The line frequency of the scanning CCD1 is 72kHz, the unmanned aerial vehicle flies in a fixed direction, the horizontal flying speed is 72km/h, and the ground target 9 is in a strip image I a And I d Has the coordinates of (x) a ,y a ) And (x) d ,y d ) And are obtained from scan lines ii and iii at times t2 and t1, respectively, then baseline length D is:
D＝(y d -y a )/72000×20 (1)
calculating the target height difference H by a trigonometry method as follows:
H＝D·tan24 (2)
although the present invention has been described in connection with the drawings, it is to be understood that the present invention is not limited to the particular embodiments described above, which are given by way of illustration and not of limitation, and that many variations may be made by those skilled in the art in light of the teaching of the present invention without departing from the spirit of the invention.
Claims (2)
1. An unmanned aerial vehicle-mounted surveying and mapping device is characterized by comprising a scanning CCD (1), a registration lens (2), a digital micromirror device (3), a first reflector (4), a second reflector (5), a front-view lens (6), a rear-view lens (7) and a shell (8); the front-view lens (6) and the rear-view lens (7) respectively scan the landform information and reflect the landform information to the digital micro-mirror device (3) through the first reflecting mirror (4) and the second reflecting mirror (5); the digital micromirror device (3) consists of a base plane and a two-dimensional micromirror element array; the micro mirror unit has two turning states of on and off, the micro mirror unit deflects +12 degrees when in the on state, the ground scanning strip tilts forward, and the micro mirror unit deflects-12 degrees when in the off state, the ground scanning strip tilts backward; the registration lens (2) is used for aligning the CCD pixel with the micromirror element of the digital micromirror device (3); the scanning CCD (1) consists of a CCD scanning line I, a CCD scanning line II, a CCD scanning line III and a CCD scanning line IV, and the data of a scanning strip is recorded; the shell (8) is used for fixing the optical element and sealing the optical path to avoid external interference light from entering;
the first reflector (4) and the second reflector (5), the front-view lens (6) and the rear-view lens (7) are symmetrically arranged; the registered CCD pixels correspond to the micromirror elements of the digital micromirror device one by one.
2. A method for unmanned airborne surveying, characterized in that elevation difference measurements of a ground target (9) are performed using the unmanned airborne surveying apparatus of claim 1, comprising the steps of:
firstly, calibrating to obtain imaging internal and external parameters of the device; the unmanned aerial vehicle flies at a certain horizontal height to carry out four-strip scanning surveying and mapping on the ground, and the position and pose data are provided by a gyroscope;
adjusting the positions of the pixels of the scanning CCD (1) and the micro-mirror elements of the digital micro-mirror device (3) and the magnification of the registration lens to enable one CCD pixel to correspond to one micro-mirror element; selecting four scanning lines I, II, III and IV of the CCD, and respectively corresponding to four lines of micro mirror elements of the digital micro mirror device 3;
step three, controlling the turning state of a micromirror element array of the digital micromirror device (3), wherein the first behavior and the third behavior are in an on state, and the second behavior and the fourth behavior are in an off state;
step four, the scanning line I is reflected by a third row of micro mirror elements and a second mirror of the digital micro mirror device (3), and data of the strip c is collected; the scanning line II is reflected by a fourth row of micro-mirror elements and a second mirror of the digital micro-mirror device (3) to acquire the data of the strip a; the scanning line III is reflected by a first line of micro-mirror elements and a first reflector of the digital micro-mirror device (3) to acquire data of the strip d; the scanning line IV is reflected by a second line of micro-mirror elements and a first reflector of the digital micro-mirror device (3) to acquire the data of the strip b;
step five, continuously scanning the ground by four CCD scanning lines in a synchronous period to generate four strip images I a 、I b 、I c 、I d ；
Sixthly, image processing is carried out to determine image coordinates (x) of the same point on the ground in the four strip images a ,y a )、(x b ,y b )、(x c ,y c ) And (x) d ,y d )；
Step seven, selecting images in two imaging directions according to the measuring range, such as I a And I b ，I c And I d ，I a And I d ，I c And I b (ii) a With I a And I d For example, the viewpoint baseline length D of the scanning lines II and III can be calculated according to the real-time pose distance of the gyroscope, the CCD scanning frame rate and the coordinates of the two images;
step eight, as shown in figure 2, according to the triangulation length method, the length D of the viewpoint base line and the two visual angles theta of the scanning lines II and III are known 1 And theta 2 And the elevation difference H between the target point and the horizontal flight plane of the unmanned aerial vehicle can be calculated, so that the unmanned aerial vehicle-mounted mapping of the ground target (9) is realized.
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| CN202211150754.6A CN115638776A (en) | 2022-09-21 | 2022-09-21 | Unmanned aerial vehicle-mounted surveying and mapping device and method |
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| CN202211150754.6A CN115638776A (en) | 2022-09-21 | 2022-09-21 | Unmanned aerial vehicle-mounted surveying and mapping device and method |
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