CN117151311A - Mapping parameter optimization processing method and device, electronic equipment and storage medium - Google Patents
Mapping parameter optimization processing method and device, electronic equipment and storage medium Download PDFInfo
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- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The embodiment of the application provides a mapping parameter optimization processing method, a mapping parameter optimization processing device, electronic equipment and a storage medium, wherein the method comprises the following steps: under the condition that unmanned aerial vehicle mapping parameters change, acquiring changed first mapping parameters; determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter; and optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters so that the unmanned aerial vehicle navigates according to the third mapping parameters, and therefore, the planned route is ensured to meet the requirements of forward-looking images and oblique-looking photographic operations in mapping businesses.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle mapping, in particular to an optimization processing method and device for mapping parameters, electronic equipment and a storage medium.
Background
In the prior art, unmanned aerial vehicle can be adopted to survey and draw under a lot of survey and drawing scenes, namely survey and drawing route and waypoint need to be set for in advance, unmanned aerial vehicle carries out navigation according to the survey and drawing route that sets for to take a picture at the waypoint that sets for. However, in the sailing process, the photographing result of the unmanned aerial vehicle cannot meet the user requirement for some reasons, and the photographing interval is preset to be a fixed value for example, but in the flying process of the unmanned aerial vehicle, the flying speed of the unmanned aerial vehicle has acceleration and deceleration changes, so that a plurality of redundant photos can be photographed, and the subsequent workload of manpower is increased, such as photo deletion or modeling pressure increase.
Disclosure of Invention
The application provides an optimization processing method, a device, electronic equipment and a storage medium for mapping parameters, wherein through the technical scheme of the application, under the condition that unmanned aerial vehicle mapping parameters are changed, the changed first mapping parameters are obtained; determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter; according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, so that the unmanned aerial vehicle navigates according to the third mapping parameter.
In a first aspect, the present application provides a method for optimizing mapping parameters, including:
under the condition that unmanned aerial vehicle mapping parameters change, acquiring changed first mapping parameters;
determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter;
and optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters, so that the unmanned aerial vehicle navigates according to the third mapping parameters.
According to the application, if the mapping parameters of the unmanned aerial vehicle are changed in the mapping process, the unmanned aerial vehicle acquires the changed first mapping parameters, determines second mapping parameters which are required to be adjusted and correspond to the first mapping parameters according to the first mapping parameters, then optimizes the second mapping parameters according to the priorities of the mapping parameters and the priorities of the second mapping parameters to obtain third mapping parameters, and the unmanned aerial vehicle navigates according to the third mapping parameters, so that the planned route meets the requirements of forward-looking images and oblique-looking photographic operations in mapping businesses.
Optionally, the relationship information of the preset mapping parameters at least includes a relationship between the preset mapping parameters and the preset mapping parameters, the preset mapping parameters at least include constant parameters and variable parameters, and the constant parameters at least include a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height;
the variable parameters at least comprise ground resolution, ground altitude, heading overlap ratio, photographing interval, flying speed, side overlap ratio and space between the navigation belts.
According to the application, the relation information of the mapping parameters is set, including the relation between the preset mapping parameters and the preset mapping parameters, and the relation information is established for various mapping parameters, so that the parameters related to the changed mapping parameters can be more accurately determined.
Optionally, the preset mapping parameter priority information sequentially includes a photographing interval, a flying speed, a ground altitude, a side direction overlapping rate and a heading overlapping rate.
According to the application, the priority information of the mapping parameters is preset, and the adjustment can be carried out according to the priority of each mapping parameter, so that the mapping parameters can be more accurately optimized, and the optimization time is saved.
Optionally, the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameter is a photographing interval, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted flying speed, the adjusted ground altitude, the adjusted side lap ratio and the heading lap ratio as the optimized third mapping parameter.
Under the condition that the photographing interval is changed, the flight speed, the ground altitude, the side direction overlapping rate and the course overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is carried out according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameter is the flying speed, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the ground height according to preset testing parameter priority information to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted photographing interval, the adjusted ground height, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
According to the application, under the condition that the flying speed is changed, shooting intervals, ground altitude, side direction overlapping rate and heading overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameter is the ground height, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, adjusting the side lap rate and the course lap rate to obtain an adjusted side lap rate and a course lap rate;
and determining one or more of the adjusted photographing interval, the adjusted flying speed, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
According to the application, under the condition of changing the ground height, shooting intervals, flying speeds, side direction overlapping rates and heading overlapping rates are optimized and adjusted in sequence according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameters are the side direction overlapping rate and the course overlapping rate, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
and determining one or more of the adjusted photographing interval, the adjusted flying speed and the adjusted ground altitude as the optimized third mapping parameter.
According to the application, under the condition that the side direction overlapping rate and the course overlapping rate are changed, shooting intervals, flying speeds and ground heights are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, the optimization time is saved, and the optimization accuracy is improved.
In a second aspect, the present application provides an apparatus for optimizing mapping parameters, including:
the acquisition module is used for acquiring a first mapping parameter which changes under the condition that the mapping parameter of the unmanned aerial vehicle changes;
the determining module is used for determining a second mapping parameter which is required to be adjusted and corresponds to the first mapping parameter according to the relation information of the first mapping parameter and the preset mapping parameter;
and the optimizing module is used for optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters so that the unmanned aerial vehicle sails according to the third mapping parameters.
According to the application, if the mapping parameters of the unmanned aerial vehicle are changed in the mapping process, the unmanned aerial vehicle acquires the changed first mapping parameters, determines second mapping parameters which are required to be adjusted and correspond to the first mapping parameters according to the first mapping parameters, then optimizes the second mapping parameters according to the priorities of the mapping parameters and the priorities of the second mapping parameters to obtain third mapping parameters, and the unmanned aerial vehicle navigates according to the third mapping parameters, so that the planned route meets the requirements of forward-looking images and oblique-looking photographic operations in mapping businesses.
The relation information of the preset mapping parameters at least comprises a relation between the preset mapping parameters and the preset mapping parameters, the preset mapping parameters at least comprise constant parameters and variable parameters, and the constant parameters at least comprise a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height;
the variable parameters at least comprise ground resolution, ground altitude, heading overlap ratio, photographing interval, flying speed, side overlap ratio and space between the navigation belts.
According to the application, the relation information of the mapping parameters is set, including the relation between the preset mapping parameters and the preset mapping parameters, and the relation information is established for various mapping parameters, so that the parameters related to the changed mapping parameters can be more accurately determined.
Optionally, the preset mapping parameter priority information sequentially includes a photographing interval, a flying speed, a ground altitude, a side direction overlapping rate and a heading overlapping rate.
According to the application, the priority information of the mapping parameters is preset, and the adjustment can be carried out according to the priority of each mapping parameter, so that the mapping parameters can be more accurately optimized, and the optimization time is saved.
Optionally, the optimizing module is configured to:
If the first mapping parameter is a photographing interval, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted flying speed, the adjusted ground altitude, the adjusted side lap ratio and the heading lap ratio as the optimized third mapping parameter.
Under the condition that the photographing interval is changed, the flight speed, the ground altitude, the side direction overlapping rate and the course overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is carried out according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing module is configured to:
If the first mapping parameter is the flying speed, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the ground height according to preset testing parameter priority information to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted photographing interval, the adjusted ground height, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
According to the application, under the condition that the flying speed is changed, shooting intervals, ground altitude, side direction overlapping rate and heading overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing module is configured to:
if the first mapping parameter is the ground height, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, adjusting the side lap rate and the course lap rate to obtain an adjusted side lap rate and a course lap rate;
and determining one or more of the adjusted photographing interval, the adjusted flying speed, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
According to the application, under the condition of changing the ground height, shooting intervals, flying speeds, side direction overlapping rates and heading overlapping rates are optimized and adjusted in sequence according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimizing module is configured to:
if the first mapping parameters are the side direction overlapping rate and the course overlapping rate, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
and determining one or more of the adjusted photographing interval, the adjusted flying speed and the adjusted ground altitude as the optimized third mapping parameter.
According to the application, under the condition that the side direction overlapping rate and the course overlapping rate are changed, shooting intervals, flying speeds and ground heights are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, the optimization time is saved, and the optimization accuracy is improved.
In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the program, implements a method for optimizing mapping parameters according to any embodiment of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which when executed by a processor performs a method of optimizing mapping parameters according to any of the embodiments of the first aspect.
In a fifth aspect, the present application provides a computer program product, the computer program product comprising a computer program, wherein the computer program, when executed by a processor, implements a method for optimizing mapping parameters according to any embodiment of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of some embodiments of the present application, the drawings that are required to be used in some embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be construed as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a schematic flow chart of a mapping parameter optimization method according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of an apparatus for optimizing mapping parameters according to an embodiment of the present application;
fig. 3 is a schematic diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions of some embodiments of the present application will be described below with reference to the drawings in some embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
In the prior art, unmanned aerial vehicle can be adopted to survey and draw under a lot of survey and drawing scenes, namely survey and drawing route and waypoint need to be set for in advance, unmanned aerial vehicle carries out navigation according to the survey and drawing route that sets for to take a picture at the waypoint that sets for. However, during the sailing, the photographing result of the unmanned aerial vehicle cannot meet the user requirement for some reasons, for example, the photographing interval is preset to be a fixed value, but during the flying process of the unmanned aerial vehicle, the flying speed of the unmanned aerial vehicle has acceleration and deceleration changes, so that a plurality of redundant photos can be photographed, the subsequent workload of manpower is increased, such as deleting the photos or increasing the modeling pressure, etc., therefore, some embodiments of the application provide an optimization processing method for mapping parameters, and the method comprises the steps of acquiring the changed first mapping parameters under the condition that the mapping parameters of the unmanned aerial vehicle are changed; determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter; according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, so that the unmanned aerial vehicle navigates according to the third mapping parameter.
As shown in fig. 1, an embodiment of the present application provides a method for optimizing mapping parameters, where the method includes:
s101, under the condition that unmanned aerial vehicle mapping parameters change, acquiring changed first mapping parameters;
specifically, in the mapping process, the unmanned aerial vehicle may involve a plurality of mapping parameters, and if one mapping parameter changes, other mapping parameters may be affected.
S102, determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter;
specifically, the relationship between each mapping parameter and the mapping parameter, that is, the relationship information of the mapping parameters set in advance, is stored in advance on the unmanned aerial vehicle, and in the case that one mapping parameter, that is, the first mapping parameter, is changed, according to the relationship information of the mapping parameters, second mapping parameters related to the first mapping parameter are found out, where the number of the second mapping parameters may be one or a plurality of second mapping parameters, and in the embodiment of the present application, no specific limitation is made.
And S103, optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters, so that the unmanned aerial vehicle navigates according to the third mapping parameters.
Specifically, the unmanned aerial vehicle sets the priority of each mapping parameter in advance, namely mapping parameter priority information, after acquiring the second mapping parameter corresponding to the first mapping parameter, optimizing the second mapping parameter according to the priority of the second mapping parameter in sequence to obtain an optimized third mapping parameter, and therefore the unmanned aerial vehicle navigates according to the optimized third mapping parameter.
According to the application, if the mapping parameters of the unmanned aerial vehicle are changed in the mapping process, the unmanned aerial vehicle acquires the changed first mapping parameters, determines second mapping parameters which are required to be adjusted and correspond to the first mapping parameters according to the first mapping parameters, then optimizes the second mapping parameters according to the priorities of the mapping parameters and the priorities of the second mapping parameters to obtain third mapping parameters, and the unmanned aerial vehicle navigates according to the third mapping parameters, so that the planned route meets the requirements of forward-looking images and oblique-looking photographic operations in mapping businesses.
In a further embodiment of the present application, the method for optimizing the mapping parameters provided in the foregoing embodiment is further described in additional detail.
Optionally, the relationship information of the preset mapping parameters at least includes a relationship between the preset mapping parameters and the preset mapping parameters, the preset mapping parameters at least include constant parameters and variable parameters, and the constant parameters at least include a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height;
the variable parameters include at least ground resolution, ground altitude, heading overlap ratio, photo interval, flight speed, side overlap ratio, and ribbon spacing.
Specifically, the embodiment of the application acquires as many mapping parameters related to navigation of the unmanned aerial vehicle as possible, wherein the mapping parameters at least comprise constant parameters and variable parameters, and as shown in table 1, the constant parameters at least comprise a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height; the variable parameters at least comprise ground resolution, ground altitude, heading overlapping rate, photographing interval, flying speed, side overlapping rate and space between the navigation belts, and on the basis of acquiring the mapping parameters, the association relationship between the mapping parameters is established, and the specific association relationship is shown in the table 2:
TABLE 1
TABLE 2
According to the embodiment of the application, the relation information of the mapping parameters is set, including the relation between the preset mapping parameters and the preset mapping parameters, and the relation information is established for various mapping parameters, so that the parameters related to the changed mapping parameters can be more accurately determined.
Optionally, the preset mapping parameter priority information sequentially includes a photographing interval, a flying speed, a ground altitude, a side lap rate and a heading lap rate.
In the process of optimizing and adjusting the mapping parameters, parameters related to the relation information of the mapping parameters through formulas in table 2 are changed simultaneously, the priority of the change is subject to the following description, the user adjustment value is always fixed to be an adjustment value, the sideways and heading overlapping rate is ensured to be unchanged as much as possible, the ground altitude (ground resolution) is ensured to be unchanged on the upper basis, the flying speed is ensured to be unchanged as much as possible, and the photographing interval is preferentially changed.
According to the embodiment of the application, the priority information of the mapping parameters is preset, and the adjustment can be carried out according to the priority level of each mapping parameter, so that the mapping parameters can be more accurately optimized, and the optimization time is saved.
Optionally, according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, including:
if the first mapping parameter is a photographing interval, adjusting the flying speed according to preset test parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted flying speed, the adjusted ground altitude, the adjusted side lap ratio and the heading lap ratio as an optimized third mapping parameter.
Specifically, if the unmanned aerial vehicle adjusts the first mapping data, for example, the photographing interval, the adjustment process is as follows:
a variable with a preset value: ground resolution = current value, altitude to ground = current value, heading overlap ratio = current value, side overlap ratio = current value, photo interval = user set value.
The optimization procedure is as follows:
if t is large and v×t is unchanged, v is small, v has a minimum value of 1, v×t has a minimum value, fl is unchanged, rh is large, rh has a maximum value of 500, fl cannot be kept unchanged, and only the value can be properly reduced and cut-off can be adjusted.
If t is small, v×t is unchanged, v is large, v has a maximum value of 10, v×t has a maximum value, fl is unchanged, rh is small, and the optimization adjustment is finished.
Variables that need to be calculated:
1. when the user adjusts the photographing interval, firstly, the formula (5) is called to calculate the flying speed. If the flying speed is lower than the lower limit of 1, the flying speed is set to be 1. If the flying speed exceeds the upper limit of 10, the flying speed is set to be 10.
1.1 when the flying speed exceeds the limit 1 (preset flying speed threshold value), the shooting interval and the flying speed are brought into a formula (6), and the ground altitude is recalculated. If the ground height is greater than the upper limit of 500 (the preset ground height threshold), the ground height is set to 500.
When the altitude to the ground exceeds the limit 500, the shooting interval, the flying speed and the altitude to the ground are brought into a formula (3), and the course overlap rate is recalculated.
1.2 when the flying speed exceeds the limit 10 (preset flying speed threshold value), the shooting interval and the flying speed are brought into a formula (6), and the ground altitude is recalculated. The height to ground in the calculation will become smaller, so that no overrun will occur.
1.3 after the new ground height is calculated, it is brought into equation (1) to recalculate the ground resolution.
2. The altitude to ground is brought into formula (8) to calculate the ribbon pitch.
Under the condition that the photographing interval is changed, the flight speed, the ground altitude, the side direction overlapping rate and the course overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is carried out according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, including:
if the first mapping parameter is the flying speed, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the ground height according to preset testing parameter priority information to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
And determining one or more of the adjusted photographing interval, the adjusted ground height, the adjusted side direction overlapping rate and the heading overlapping rate as an optimized third mapping parameter.
Specifically, if the unmanned aerial vehicle adjusts the first mapping data, such as the flying speed, the adjustment process is as follows:
a variable with a preset value: ground resolution = current value, altitude to ground = current value, heading overlap ratio = current value, side overlap ratio = current value, speed of flight = user set value.
The optimization procedure is as follows:
if v is large and v×t is unchanged, t is small, t has a minimum value of 1, v×t has a minimum value, fl is unchanged, rh is large, rh has a maximum value of 500, fl cannot be kept unchanged, and only the value can be properly reduced and cut-off can be adjusted.
If v is small and v×t is unchanged, t is large and the optimization adjustment is finished in the formula (2).
Variables that need to be calculated:
1. when the user adjusts the flying speed, firstly, the formula (4) is called to calculate the photographing interval, and if the photographing interval is lower than the lower limit of 1, the photographing interval is set to be 1.
1.1 when the shooting interval exceeds the limit 1, the shooting interval and the flying speed are brought into a formula (6), and the ground altitude is recalculated. If the ground height is greater than the upper limit of 500, the ground height is set to 500.
1.1.1 when the altitude to the ground exceeds 500, the shooting interval, the flying speed and the altitude to the ground are brought into a formula (3), and the course overlap rate is recalculated.
1.2 after the new ground height is calculated, it is brought into equation (1) to recalculate the ground resolution.
2. The altitude to ground is brought into formula (8) to calculate the ribbon pitch.
According to the application, under the condition that the flying speed is changed, shooting intervals, ground altitude, side direction overlapping rate and heading overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, including:
if the first mapping parameter is the ground height, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain the adjusted flying speed;
Under the condition that the adjusted flying speed meets a preset flying speed threshold value, adjusting the side lap rate and the course lap rate to obtain the adjusted side lap rate and the adjusted course lap rate;
and determining one or more of the adjusted photographing interval, the adjusted flying speed, the adjusted side direction overlapping rate and the heading overlapping rate as an optimized third mapping parameter.
Specifically, if the unmanned aerial vehicle adjusts the first mapping data, for example, the ground height, the adjustment process is as follows:
a variable with a preset value: altitude to ground = user set value, heading overlap ratio = current value, side overlap ratio = current value, speed of flight = current value. The optimization procedure is as follows:
if rh is large and fl is unchanged in the formula (1), v×t is large, and the optimization is completed.
If rh is small and fl is unchanged, v×t is small, v×t has minimum value 1m, rh has minimum value, and if rh is adjusted to be smaller than the minimum value, fl is reduced.
Variables that need to be calculated:
1. when the user adjusts the ground height, formula (1) is called first to calculate the ground resolution.
2. The photographing interval is calculated by taking the height to the ground into the formula (4).
If the photographing interval is lower than the lower limit of 1, the photographing interval is set to be 1.
2.1 when the photographing interval exceeds the limit 1, the photographing interval is brought into the formula (5), and the flying speed is recalculated. If the flying speed is lower than the lower limit of 1, the flying speed is set to be 1. The speed in this calculation step can only be reduced.
2.2.1 when the flying speed exceeds the limit 1, the shooting interval and the flying speed are brought into a formula (3), and the course overlap rate is recalculated.
3. The altitude to ground is brought into formula (8) to calculate the ribbon pitch.
According to the application, under the condition of changing the ground height, shooting intervals, flying speeds, side direction overlapping rates and heading overlapping rates are optimized and adjusted in sequence according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, according to preset mapping parameter priority information, optimizing the second mapping parameter to obtain an optimized third mapping parameter, including:
if the first mapping parameters are the side direction overlapping rate and the course overlapping rate, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
Under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain the adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
and determining one or more of the adjusted photographing interval, the adjusted flying speed and the adjusted ground altitude as an optimized third mapping parameter.
Specifically, if the unmanned aerial vehicle adjusts the first mapping data, for example, the heading overlap rate, the adjustment process is as follows:
a variable with a preset value: ground resolution = current value, altitude to ground = current value, heading overlap ratio = user set value, side overlap ratio = current value, speed of flight = current value.
The optimization procedure is as follows:
if fl is large, rh is unchanged, v×t is small, v×t has a minimum value of 1m, rh is unchanged, fl has a maximum value, if fl is adjusted to be greater than the maximum value, rh is increased, rh has a maximum value of 500, fl has a maximum value, and cutting is adjusted.
If fl is small and rh is unchanged, v×t is large, and the optimization adjustment is finished.
Variables that need to be calculated:
1. when the user adjusts the course overlap rate, firstly, the formula (4) is called to calculate the photographing interval. If the photographing interval is lower than the lower limit of 1, the photographing interval is set to be 1.
1.1 when the photographing interval exceeds the limit 1, the photographing interval is brought into a formula (5), and the flying speed is recalculated. If the flying speed is lower than the lower limit of 1, the flying speed is set to be 1. The speed in this calculation step can only be reduced.
1.1.1 when the flying speed exceeds the limit 1, the shooting interval and the flying speed are brought into a formula (6), and the ground altitude is recalculated. If the ground height is greater than the upper limit of 500, the ground height is set to 500.
1.1.2 when the altitude to the ground exceeds 500, the shooting interval, the flying speed and the altitude to the ground are brought into formula (3), and the course overlap rate is recalculated.
1.2 after the new ground height is calculated, it is brought into equation (1) to recalculate the ground resolution. The logical link terminates.
2. The altitude to ground is brought into formula (8) to calculate the ribbon pitch.
If the unmanned aerial vehicle adjusts the first mapping data, for example, the wayside overlapping rate, the adjustment process is as follows:
a variable with a preset value: ground resolution = current value, altitude to ground = current value, heading overlap ratio = current value, side overlap ratio = user set value, and speed of flight = current value.
Variables that need to be calculated:
1. and when the user adjusts the side overlap rate, calling a formula (8) to calculate the space between the navigation bands.
If the unmanned aerial vehicle adjusts the first mapping data, such as the space between the navigation belts, the adjustment process is as follows:
a variable with a preset value: ground resolution = current value, altitude to ground = current value, heading overlap ratio = current value, speed = current value, side band spacing = user set value.
Variables that need to be calculated:
1. and when the user adjusts the space between the navigation belts, calling a formula (7) to calculate the side lap rate.
If the unmanned aerial vehicle adjusts the first mapping data, such as the ground resolution, the adjustment process is as follows:
a variable with a preset value: ground resolution = user settings, heading overlap = current value, side overlap = current value, speed = current value.
The optimization procedure is as follows: gsd =sw×rh/(pw×f);
rh=v×t×f/(1-fl) ×sh······(6)
if gsd ground resolution is large and heading overlap rate fl is unchanged, then altitude rh is large (maximum value 500m exists for altitude rh), v×t is large, flying speed v is unchanged, photographing interval t is large, and optimization adjustment is finished.
If gsd ground resolution is small and heading overlap rate fl is unchanged, then ground height rh is small, v×t has minimum value 1m, heading overlap rate fl is unchanged, then ground resolution gsd has minimum value and cutting off is adjusted.
Variables that need to be calculated:
1. when the user adjusts the ground resolution, formula (2) is first called to calculate the ground height. If the ground height exceeds the upper limit of 500, the ground height is set to 500.
2. Taking the height to the ground, and then carrying the height to the formula (4) to calculate the photographing interval. If the photographing interval is lower than the lower limit of 1, the photographing interval is set to be 1.
2.1 when the photographing interval exceeds the limit 1, the photographing interval is brought into the formula (5), and the flying speed is recalculated. If the flying speed is lower than the lower limit of 1, the flying speed is set to be 1. The speed in this calculation step can only be reduced.
2.1.1 when the flying speed exceeds the limit 1, the shooting interval and the flying speed are brought into a formula (6), and the ground altitude is recalculated. The ground height obtained in the calculation is necessarily smaller than the original value.
2.1.2 after the new ground height is calculated, it is brought into equation (1) to recalculate the ground resolution.
3. The altitude to the ground at this time is brought into formula (8) to calculate the ribbon pitch.
According to the embodiment of the application, under the condition that the side direction overlapping rate and the course overlapping rate are changed, the shooting interval, the flying speed and the ground height are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, the optimization is carried out according to the priority information of each mapping parameter, the optimization time is saved, and the optimization accuracy is improved.
In the embodiment of the application, mapping parameters displayed on the user interface meet the above formula at any moment, and the obtained mapping parameters ensure that the planned route meets the requirements of forward-shooting images and oblique-shooting operations in mapping businesses. The user can adjust any parameter in the mapping parameters on the unmanned aerial vehicle, and the mapping parameters related by the formula are changed simultaneously, and the priority of the change is subject to the following description. The user adjustment value is always fixed as the adjustment value, and the bypass and course overlap ratio is ensured to be unchanged as much as possible. On the basis of the above, the ground height (ground resolution) is kept unchanged as much as possible, on the basis of the above, the flying speed is kept unchanged as much as possible, and the photographing interval is changed preferentially.
It should be noted that, in this embodiment, each of the embodiments may be implemented separately, or may be implemented in any combination without conflict, without limiting the application.
Another embodiment of the present application provides an optimization processing device for mapping parameters, configured to execute the optimization processing method for mapping parameters provided in the foregoing embodiment.
Fig. 2 is a schematic structural diagram of an apparatus for optimizing mapping parameters according to an embodiment of the present application. The optimizing processing device of the mapping parameters comprises an acquisition module 201, a determination module 202 and an optimizing module 203, wherein:
The acquisition module 201 is configured to acquire a first mapping parameter that changes when the mapping parameter of the unmanned aerial vehicle changes;
the determining module 202 is configured to determine, according to the relationship information of the first mapping parameter and the preset mapping parameter, a second mapping parameter corresponding to the first mapping parameter to be adjusted;
the optimization module 203 is configured to perform optimization processing on the second mapping parameter according to preset mapping parameter priority information, so as to obtain an optimized third mapping parameter, so that the unmanned aerial vehicle navigates according to the third mapping parameter.
The specific manner in which the individual modules perform the operations of the apparatus of this embodiment has been described in detail in connection with embodiments of the method and will not be described in detail herein.
Some embodiments of the application
According to the application, if the mapping parameters of the unmanned aerial vehicle are changed in the mapping process, the unmanned aerial vehicle acquires the changed first mapping parameters, determines second mapping parameters which are required to be adjusted and correspond to the first mapping parameters according to the first mapping parameters, then optimizes the second mapping parameters according to the priorities of the mapping parameters and the priorities of the second mapping parameters to obtain third mapping parameters, and the unmanned aerial vehicle navigates according to the third mapping parameters, so that the planned route meets the requirements of forward-looking images and oblique-looking photographic operations in mapping businesses.
In a further embodiment of the present application, the optimization processing device for mapping parameters provided in the above embodiment is further described in a supplementary manner.
The relation information of the preset mapping parameters at least comprises a relation between the preset mapping parameters and the preset mapping parameters, the preset mapping parameters at least comprise constant parameters and variable parameters, and the constant parameters at least comprise a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height;
the variable parameters include at least ground resolution, ground altitude, heading overlap ratio, photo interval, flight speed, side overlap ratio, and ribbon spacing.
According to the application, the relation information of the mapping parameters is set, including the relation between the preset mapping parameters and the preset mapping parameters, and the relation information is established for various mapping parameters, so that the parameters related to the changed mapping parameters can be more accurately determined.
Optionally, the preset mapping parameter priority information sequentially includes a photographing interval, a flying speed, a ground altitude, a side lap rate and a heading lap rate.
According to the application, the priority information of the mapping parameters is preset, and the adjustment can be carried out according to the priority of each mapping parameter, so that the mapping parameters can be more accurately optimized, and the optimization time is saved.
Optionally, the optimization module is configured to:
if the first mapping parameter is a photographing interval, adjusting the flying speed according to preset test parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted flying speed, the adjusted ground altitude, the adjusted side lap ratio and the heading lap ratio as an optimized third mapping parameter.
Under the condition that the photographing interval is changed, the flight speed, the ground altitude, the side direction overlapping rate and the course overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is carried out according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimization module is configured to:
If the first mapping parameter is the flying speed, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the ground height according to preset testing parameter priority information to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted photographing interval, the adjusted ground height, the adjusted side direction overlapping rate and the heading overlapping rate as an optimized third mapping parameter.
According to the application, under the condition that the flying speed is changed, shooting intervals, ground altitude, side direction overlapping rate and heading overlapping rate are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimization module is configured to:
If the first mapping parameter is the ground height, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain the adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, adjusting the side lap rate and the course lap rate to obtain the adjusted side lap rate and the adjusted course lap rate;
and determining one or more of the adjusted photographing interval, the adjusted flying speed, the adjusted side direction overlapping rate and the heading overlapping rate as an optimized third mapping parameter.
According to the application, under the condition of changing the ground height, shooting intervals, flying speeds, side direction overlapping rates and heading overlapping rates are optimized and adjusted in sequence according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, optimization time is saved, and optimization accuracy is improved.
Optionally, the optimization module is configured to:
If the first mapping parameters are the side direction overlapping rate and the course overlapping rate, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain the adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
and determining one or more of the adjusted photographing interval, the adjusted flying speed and the adjusted ground altitude as an optimized third mapping parameter.
According to the application, under the condition that the side direction overlapping rate and the course overlapping rate are changed, shooting intervals, flying speeds and ground heights are sequentially optimized and adjusted according to the priority information, the optimized third mapping parameters are obtained, optimization is performed according to the priority information of each mapping parameter, the optimization time is saved, and the optimization accuracy is improved.
The specific manner in which the individual modules perform the operations of the apparatus of this embodiment has been described in detail in connection with embodiments of the method and will not be described in detail herein.
It should be noted that, in this embodiment, each of the embodiments may be implemented separately, or may be implemented in any combination without conflict, without limiting the application.
The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, can implement the operations of the method corresponding to any embodiment in the mapping parameter optimization processing method provided in the above embodiment.
The embodiment of the application also provides a computer program product, which comprises a computer program, wherein the computer program can realize the operation of the method corresponding to any embodiment in the mapping parameter optimization processing method provided by the embodiment when being executed by a processor.
As shown in fig. 3, some embodiments of the present application provide an electronic device 300, the electronic device 300 comprising: memory 310, processor 320, and a computer program stored on memory 310 and executable on processor 320, wherein processor 320, when reading the program from memory 310 and executing the program via bus 330, may implement the method of any of the embodiments as included in the mapping parameter optimization processing method described above.
Processor 320 may process digital signals and may include various computing structures. Such as a complex instruction set computer architecture, a reduced instruction set computer architecture, or an architecture that implements a combination of instruction sets. In some examples, processor 320 may be a microprocessor.
Memory 310 may be used for storing instructions to be executed by processor 320 or data related to execution of the instructions. Such instructions and/or data may include code to implement some or all of the functions of one or more of the modules described in embodiments of the present application. The processor 320 of the disclosed embodiments may be configured to execute instructions in the memory 310 to implement the methods shown above. Memory 310 includes dynamic random access memory, static random access memory, flash memory, optical memory, or other memory known to those skilled in the art.
The above embodiments of the present application are only examples, and are not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for optimizing mapping parameters, the method comprising:
under the condition that unmanned aerial vehicle mapping parameters change, acquiring changed first mapping parameters;
determining a second mapping parameter corresponding to the first mapping parameter to be adjusted according to the relation information of the first mapping parameter and the preset mapping parameter;
and optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters, so that the unmanned aerial vehicle navigates according to the third mapping parameters.
2. The optimization processing method of mapping parameters according to claim 1, wherein the relation information of the preset mapping parameters at least comprises a relation between the preset mapping parameters and the preset mapping parameters, the preset mapping parameters at least comprise constant parameters and variable parameters, and the constant parameters at least comprise a sensor width, a sensor height, a focal length, a picture pixel width and a picture pixel height;
the variable parameters at least comprise ground resolution, ground altitude, heading overlap ratio, photographing interval, flying speed, side overlap ratio and space between the navigation belts.
3. The method for optimizing mapping parameters according to claim 2, wherein the preset mapping parameter priority information sequentially includes a photographing interval, a flying speed, a ground altitude and side direction overlap rate, and a heading overlap rate.
4. The optimization processing method of mapping parameters according to claim 3, wherein the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameter is a photographing interval, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted flying speed, the adjusted ground altitude, the adjusted side lap ratio and the heading lap ratio as the optimized third mapping parameter.
5. The method for optimizing mapping parameters according to claim 4, wherein the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameter is the flying speed, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the ground height according to preset testing parameter priority information to obtain the adjusted ground height;
under the condition that the adjusted ground height meets a preset ground height threshold value, adjusting the side direction overlapping rate and the heading overlapping rate to obtain an adjusted side direction overlapping rate and a heading overlapping rate;
and determining one or more of the adjusted photographing interval, the adjusted ground height, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
6. The method for optimizing mapping parameters according to claim 5, wherein the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
If the first mapping parameter is the ground height, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, adjusting the side lap rate and the course lap rate to obtain an adjusted side lap rate and a course lap rate;
and determining one or more of the adjusted photographing interval, the adjusted flying speed, the adjusted side direction overlapping rate and the heading overlapping rate as the optimized third mapping parameter.
7. The method for optimizing mapping parameters according to claim 5, wherein the optimizing the second mapping parameter according to the preset mapping parameter priority information to obtain an optimized third mapping parameter includes:
if the first mapping parameters are the side direction overlapping rate and the course overlapping rate, adjusting the photographing interval according to preset mapping parameter priority information to obtain an adjusted photographing interval;
Under the condition that the adjusted photographing interval meets a preset photographing interval threshold value, adjusting the flying speed according to preset testing parameter priority information to obtain an adjusted flying speed;
under the condition that the adjusted flying speed meets a preset flying speed threshold value, the ground height is adjusted to obtain the adjusted ground height;
and determining one or more of the adjusted photographing interval, the adjusted flying speed and the adjusted ground altitude as the optimized third mapping parameter.
8. An apparatus for optimizing mapping parameters, the apparatus comprising:
the acquisition module is used for acquiring a first mapping parameter which changes under the condition that the mapping parameter of the unmanned aerial vehicle changes;
the determining module is used for determining a second mapping parameter which is required to be adjusted and corresponds to the first mapping parameter according to the relation information of the first mapping parameter and the preset mapping parameter;
and the optimizing module is used for optimizing the second mapping parameters according to preset mapping parameter priority information to obtain optimized third mapping parameters so that the unmanned aerial vehicle sails according to the third mapping parameters.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor is operable to implement a method of optimizing mapping parameters according to any one of claims 1-7 when the program is executed by the processor.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a method for optimizing mapping parameters according to any one of claims 1-7.
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