CN118034349A

CN118034349A - Variable-altitude course calculation method based on three-dimensional scene under man-machine load

Info

Publication number: CN118034349A
Application number: CN202410305356.XA
Authority: CN
Inventors: 姚继锋; 胡青峰; 刘文锴; 刘先林; 刘俊国; 刘辉; 郭震冬; 王仁华; 靳欢欢; 刘文文
Original assignee: Jiangsu Province Surveying & Mapping Engineering Institute; Beijing Geo Vision Tech Co ltd; North China University of Water Resources and Electric Power
Current assignee: Jiangsu Province Surveying & Mapping Engineering Institute; Beijing Geo Vision Tech Co ltd; North China University of Water Resources and Electric Power
Priority date: 2024-03-18
Filing date: 2024-03-18
Publication date: 2024-05-14

Abstract

A three-dimensional scene-based variable altitude route calculation method under a man-machine load relates to the field of route calculation under a non-electric variable control or regulation system. The height of each parallel route is automatically adjusted by judging whether the overlapping degree and the ground resolution of each parallel route in the route set meet the requirements under the reference planes of different elevation values in sequence, so that accurate route planning is realized in a complex terrain area, the routes meet the requirements of the overlapping degree and the resolution at the same time, and accurate aerial photography is effectively realized.

Description

Variable-altitude course calculation method based on three-dimensional scene under man-machine load

Technical Field

The application relates to the field of route calculation under a non-electric variable control or regulation system, in particular to a three-dimensional scene-based route calculation method for changing the altitude under a load of a man-machine.

Background

In order to meet aerial requirements, it is necessary to meet both the requirements of overlap and ground resolution (the actual distance represented by the distance between the centers of two adjacent pixels in an image) at the time of route planning. However, when laying a route in a region where the topography is greatly fluctuated, it is difficult to satisfy both the overlapping degree and the ground resolution due to a large height difference. This is because the overlap is inversely proportional to the calculation of the ground resolution, the greater the ground resolution, the less the course overlap is on the same plane. And if the plane is lowered, the line overlapping degree is more approximate to meeting the requirement, but the area which does not meet the ground resolution requirement is enlarged, otherwise if the plane is raised, the ground resolution is more approximate to meeting the requirement, but the area which does not meet the overlapping degree requirement is enlarged.

In the related art, route planning is mainly based on two-dimensional scenes such as a contour map of a current area to calculate routes, and then planning and adjusting the routes manually according to calculation results.

However, the two-dimensional scene lacks real terrain elevation information, the height of the route cannot be adjusted according to the fluctuation of the terrain, the manual adjustment of the route is difficult to meet the requirements of the overlapping degree and the ground resolution at the same time, and even the danger of mountain collision can exist under the load of a man-machine, so that the life safety of staff is threatened.

Disclosure of Invention

The application provides a three-dimensional scene-based variable-altitude route calculation method under a man-machine load, which is used for more accurate route layout and automatic height adjustment according to three-dimensional terrain scene data of a current area, so that the overlapping degree of routes and the ground resolution meet the requirements, and the aerial photographing effect is improved.

In a first aspect, the present application provides a method for calculating a variable altitude course based on a three-dimensional scene under a man-machine load, including:

generating a terrain-level three-dimensional scene of the area according to the sky map image data and the SRTM terrain data;

receiving a preset resolution range and a preset overlapping degree range which are input by a user;

Calculating to obtain a route set in the area according to the area boundary of the terrain-level three-dimensional scene and a polygon filling algorithm, wherein the route set comprises a plurality of parallel routes, and the distances between adjacent parallel routes are equal;

Taking each parallel route in the route set as a first parallel route to respectively carry out altitude adjustment, wherein the altitude is equal to the sum of the altitude of a reference surface and the relative altitude of a preset photography, and the altitude of the reference surface is the altitude of the reference surface, and the relative altitude of the preset photography is the distance between the man-machine and the reference surface;

Sequentially judging whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not under a plurality of reference planes with different heights, and judging whether the ground resolution of the first parallel route is in a preset resolution range or not; the elevation values of the datum planes with different elevations are sequentially as follows: the average elevation value of the first parallel course, the elevation value of the highest point of the first parallel course and the elevation value of the lowest point of the first parallel course; if the overlapping degree of the first parallel route is not in a preset overlapping degree range or the ground resolution is not in a preset resolution range under the current judging reference plane, sequentially selecting the next reference plane in the reference planes with different heights for judging;

And if the overlapping degree of the first parallel course is in a preset overlapping degree range and the ground resolution is in a preset resolution range under the current judging reference plane, taking the current judging reference plane as the reference plane of the first parallel course.

Through the embodiment, the terminal equipment can generate the real three-dimensional terrain scene of the area according to the sky map image data and the SRTM terrain data, and then calculate the route set in the area on the basis of the three-dimensional scene by utilizing a polygon filling algorithm. And judging whether the overlapping degree and the ground resolution of each parallel route in the route set under the reference planes of different elevation values in sequence meet the requirement or not, automatically adjusting the height of the first parallel route, realizing accurate route planning in a complex terrain area, enabling the routes to meet the requirements of the overlapping degree and the resolution simultaneously, and effectively realizing accurate aerial photography.

In some embodiments, the step of calculating the course set in the region according to the region boundary and polygon filling algorithm of the terrain-level three-dimensional scene specifically includes:

Determining a boundary point set of a region according to the terrain-level three-dimensional scene;

calculating the boundary point coordinates of the rotated area according to the route arrangement direction and the boundary point set of the area;

And (3) starting to emit horizontal rays from the lowest point of the rotation rear region, and spreading the rays over the whole region to obtain a route set in the region, wherein the route is a horizontal ray segment between the horizontal rays and the first intersection point and the last intersection point of the rotation rear region.

Through the embodiment, the terminal equipment determines the boundary point set of the area according to the three-dimensional terrain scene, then starts to emit horizontal rays at a certain interval from the lowest point of the area after rotation, and utilizes the single route and the route set determined by the intersection point of the horizontal rays and the boundary to provide reliable basis for subsequent route height adjustment and exposure point coordinate selection, thereby effectively improving the overall route planning efficiency.

In some embodiments, after the step of emitting horizontal rays from the lowest point of the rotated zone, spreading the rays over the entire zone, obtaining the set of routes within the zone, further comprising:

calculating a first exposure point coordinate according to the intersection point coordinate of the route and the boundary of the measuring area;

Calculating to obtain other exposure point coordinates according to the course baseline length and the first exposure point coordinates, wherein the course baseline length is determined according to the width of the CCD size of the camera, the course overlapping degree, the focal length of the camera and the preset relative aerial height of the camera;

The calculation formula of the first exposure point coordinate is as follows:

wherein/> And/>Starting point coordinates (/ >) of the constituent route，/>），/>And/>Endpoint coordinates (/ >) of constituent routes，/>），/>And/>First exposure point coordinates (/ >) of the component route，/>) H is the relative altitude of the preset photography, and the Gaussian plane linear distance between d airlines.

Through the embodiment, the terminal equipment can firstly determine the first exposure point according to the intersection point coordinates of the boundary between the parallel airlines and the measuring area, and then calculate other exposure point coordinates by increasing the heading base line length, so that the position of the shooting point in each parallel airline is planned, and the requirement of a complex area is better met.

In some embodiments, after the step of calculating the other exposure point coordinates according to the heading base line length and the first exposure point coordinates, the method further includes:

After the reference plane of the first parallel route is determined, determining the altitude of the first parallel route according to the elevation value of the reference plane of the first parallel route;

And adjusting the first exposure point coordinate and other exposure point coordinates according to the altitude of the first parallel route.

Through the embodiment, after determining the reference plane of the first parallel route, the terminal device may calculate the altitude of the first parallel route, and then determine the coordinates of the first exposure point and other exposure points in the terrain-level three-dimensional scene by combining the determined coordinates of the first exposure point and the coordinates of other exposure points.

In some embodiments, the step of determining whether the overlapping degree of the first parallel route is within a preset overlapping degree range and whether the ground resolution of the first parallel route is within a preset resolution range sequentially under the reference planes of a plurality of different elevations specifically includes:

Sequentially setting the reference surfaces corresponding to the average elevation value of the first parallel route, the elevation value of the highest point and the elevation value of the lowest point as current reference surfaces;

calculating the minimum side overlapping degree and the maximum side overlapping degree of the first parallel route according to the elevation value of the current reference plane, wherein the calculation formula of the minimum side overlapping degree and the maximum side overlapping degree is as follows:

，/>，，/> wherein H is the relative altitude of photography,/> For the elevation value of the highest point of the first parallel course,/>For the elevation value of the lowest point of the first parallel route,/>For the elevation value of the current reference plane,/>Is of side-by baseline length,/>Is the side-wise image length, f is the camera focal length,/>Is the minimum of the actual ground resolution,/>For maximum of actual ground resolution,/>Is the minimum of the actual side overlap,/>Is the maximum of the actual side lap;

Judging whether the minimum value of the actual side overlapping degree and the maximum value of the actual side overlapping degree are in the preset overlapping degree range, and whether the minimum value of the actual ground resolution and the maximum value of the actual ground resolution are in the preset resolution range, wherein the minimum value and the maximum value of the preset overlapping degree range are respectively the designed minimum side overlapping degree and the designed maximum side overlapping degree, and the minimum value and the maximum value of the preset resolution range are respectively the preset minimum resolution and the preset maximum resolution.

Through the embodiment, the terminal equipment can sequentially set the reference planes with different elevation values, and sequentially calculate the maximum value and the minimum value of the side lap and the ground resolution under each reference plane according to a formula. And determining the reference plane of the first parallel route by judging whether the maximum value and the minimum value of the side overlap degree and the ground resolution of the current reference plane meet the preset overlap degree and resolution range.

In some embodiments, before the step of determining whether the overlapping degree of the first parallel course is within the preset overlapping degree range and the ground resolution of the first parallel course is within the preset resolution range, the method further includes:

Judging whether the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than a preset amplitude threshold value;

If yes, setting the average elevation value of the terrain-level three-dimensional scene corresponding to the first parallel route as the average elevation value of the first parallel route;

If not, setting the median value of the elevation in the terrain-level three-dimensional scene corresponding to the first parallel route as the average elevation value of the first parallel route.

Through the embodiment, the terminal device can determine the average elevation value of the first parallel route according to the topography features of the topography level three-dimensional scene corresponding to the first parallel route, so that the selected average elevation value of the first parallel route meets the requirements of overlapping degree and resolution as directly as possible.

In some embodiments, after the step of sequentially selecting a next reference plane from the plurality of reference planes with different elevations for determination if the overlapping degree of the first parallel route is not within the preset overlapping degree range or the ground resolution is not within the preset resolution range below the currently determined reference plane, the method further includes:

If the overlapping degree of the first parallel air line is in the preset overlapping degree range and the ground resolution is in the preset resolution range, the reference plane corresponding to the elevation value of the highest point of the first parallel air line is set as the reference plane of the first parallel air line.

By the embodiment, when all the reference surfaces cannot meet the ground resolution requirement of the overlapping degree, the terminal equipment can set the reference surface corresponding to the elevation value of the highest point of the first parallel air route as the reference surface of the first parallel air route, so that the overlapping degree of the first parallel air route is preferentially ensured to meet the requirement, and when the reference surface of the first parallel air route is at the highest point of the first parallel air route, the overlapping degree of the first parallel air route is maximum, so that the integrity and the accuracy of aerial photo data are ensured.

In a second aspect, the present application provides a terminal device, including:

The terrain-level three-dimensional scene construction module is used for generating a terrain-level three-dimensional scene of the area according to the sky map image data and the SRTM terrain data;

the preset range determining module is used for receiving a preset resolution range and a preset overlapping degree range which are input by a user;

the parallel route calculation module is used for calculating a route set in the area according to the area boundary of the terrain-level three-dimensional scene and a polygon filling algorithm, wherein the route set comprises a plurality of parallel routes, and the distances between adjacent parallel routes are equal;

The first parallel route selection module is used for respectively carrying out altitude adjustment on each parallel route in the route set as a first parallel route, wherein the altitude is equal to the sum of the altitude of a reference plane and the relative altitude of a preset photography, the altitude of the reference plane is the altitude of the reference plane, and the relative altitude of the preset photography is the distance between the unmanned aerial vehicle and the reference plane;

The overlapping degree and resolution judging module is used for judging whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not and whether the ground resolution of the first parallel route is in a preset resolution range or not under the reference planes of a plurality of different heights in sequence; the elevation values of the datum planes with different elevations are sequentially as follows: the average elevation value of the first parallel course, the elevation value of the highest point of the first parallel course and the elevation value of the lowest point of the first parallel course;

The reference plane selection module is used for sequentially selecting the next reference plane in the reference planes with different heights to judge if the overlapping degree of the first parallel route is not in a preset overlapping degree range or the ground resolution is not in a preset resolution range under the reference plane which is currently judged;

The reference plane determining module is used for taking the reference plane which is currently judged as the reference plane of the first parallel route if the overlapping degree of the first parallel route is in a preset overlapping degree range and the ground resolution is in a preset resolution range under the reference plane which is currently judged.

The terminal equipment provided by the application can realize the variable altitude route calculation method based on the three-dimensional scene under the load of the man-machine, and the method is not repeated here.

In a third aspect, an embodiment of the present application provides a terminal device, including: one or more processors and memory; the memory is coupled to the one or more processors, and the memory is configured to store computer program codes, where the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the terminal device to implement the method for calculating a variable altitude route based on a three-dimensional scene under a man-machine load provided in the foregoing embodiments, which is not described herein again.

In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, including instructions, where the instructions, when executed on a terminal device, enable the terminal device to implement a method for calculating a variable altitude route based on a three-dimensional scene under a man-machine load provided in the foregoing embodiment, which is not described herein again.

One or more technical solutions provided in the embodiments of the present application at least have the following technical effects or advantages:

1. The terminal equipment can generate a real three-dimensional terrain scene of the area according to the sky map image data and the SRTM terrain data, and then calculate a route set in the area to be measured on the basis of the three-dimensional scene by utilizing a polygon filling algorithm. And judging whether the overlapping degree and the ground resolution of each parallel route in the route set under the reference planes of different elevation values in sequence meet the requirement or not to automatically adjust the height of the first parallel route, so that the problem of realizing accurate route planning in a complex terrain area can be solved, the route can meet the requirements of the overlapping degree and the resolution simultaneously, and accurate aerial photography can be effectively realized.

2. The terminal equipment determines a boundary point set of a region according to a three-dimensional terrain scene, then starts to emit horizontal rays at a certain interval from the lowest point of the region after rotation, utilizes a single route and a route set determined by the intersection point of the horizontal rays and the boundary, and determines a first exposure point and other exposure point coordinates according to the intersection point coordinates of the parallel routes and the boundary of the region, thereby planning the position of a shooting point in each parallel route, calculating the altitude of the first parallel route after determining the reference plane of the first parallel route, and determining the coordinates of the first exposure point and other exposure points in the terrain-level three-dimensional scene by combining the determined coordinates of the first exposure point and the determined coordinates of other exposure points, so that aerial photography is better suitable for the change of a complex region.

3. The terminal device can sequentially set reference planes with different elevation values, and sequentially calculate the maximum value and the minimum value of the side lap and the ground resolution under each reference plane according to a formula. And determining the reference plane of the first parallel route by judging whether the maximum value and the minimum value of the side overlap degree and the ground resolution of the current reference plane meet the preset overlap degree and resolution range. The average elevation value of the first parallel route can be determined according to the topography features of the topography level three-dimensional scene corresponding to the first parallel route, so that the selected average elevation value of the first parallel route meets the requirements of overlapping degree and resolution ratio as directly as possible. In addition, when the ground resolution requirements of the overlapping degree cannot be met at the same time under all the reference surfaces, the reference surface corresponding to the elevation value of the highest point of the first parallel air route is set as the reference surface of the first parallel air route, so that the overlapping degree of the first parallel air route is preferentially ensured to meet the requirements.

Drawings

FIG. 1 is a schematic flow chart of a three-dimensional scene-based variable altitude route calculation method under a man-machine load in an embodiment of the application;

FIG. 2 is a schematic flow chart of a three-dimensional scene-based variable altitude course calculation method under a man-machine load in an embodiment of the application;

FIG. 3 is a schematic illustration of an exemplary terrain-level three-dimensional scene in an embodiment of the application;

FIG. 4 is a schematic diagram of an exemplary scenario in which a terminal device calculates parallel routes according to a region boundary and a polygon filling algorithm in an embodiment of the present application;

FIG. 5 is a schematic diagram of an exemplary scenario in which a terminal device selects a reference plane for a first parallel route in an embodiment of the present application;

fig. 6 is a schematic structural diagram of a functional module of a terminal device in an embodiment of the present application.

Detailed Description

The terminology used in the following embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," "the," "said," and "the" are intended to include the plural forms as well, unless the context clearly indicates to the contrary. It should also be understood that the term "and/or" as used in this disclosure is intended to encompass any or all possible combinations of one or more of the listed items.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature, and in the description of embodiments of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.

When aerial photogrammetry is carried out, unmanned aerial vehicles are generally adopted to carry out close-range photogrammetry on small scenes in a certain area, such as slopes, ancient buildings, dams and the like, and unmanned aerial vehicles are used for single-building scenes, and route planning is carried out according to the elevation trend of the building. But, taking photogrammetry of a large area requires an aircraft driven by a professional technician, for example, taking aerial photogrammetry of a scene of a certain province, needing to use fixed wings and helicopters to carry out route planning according to the real height of the terrain, and the area of the area may be thousands of square meters, while taking aerial photogrammetry of a large area is difficult to achieve by using unmanned aerial vehicles.

Before a professional technician steers an aircraft to perform photogrammetry, a route planning is needed, and when the route planning is performed, the route is needed to simultaneously meet the requirements of the overlapping degree and the ground resolution (the actual distance represented by the distance between the centers of two adjacent pixels in an image). However, when the route is laid in a region where the topography is greatly fluctuated, the overlapping degree and the ground resolution are difficult to meet the requirements at the same time due to the large height difference. This is because the overlap is inversely proportional to the calculation of the ground resolution, the greater the ground resolution, the less the course overlap is on the same plane. And if the plane is lowered, the line overlapping degree is more approximate to meeting the requirement, but the area which does not meet the ground resolution requirement is enlarged, otherwise if the plane is raised, the ground resolution is more approximate to meeting the requirement, but the area which does not meet the overlapping degree requirement is enlarged.

When the related technology is used for planning the route, the route is calculated mainly based on two-dimensional scenes such as a contour map of the current area, and then the route is planned and adjusted manually according to a calculation result, however, the two-dimensional scenes lack real terrain elevation information, the height of the route cannot be adjusted according to fluctuation of the terrain, and the manual adjustment of the route is difficult to meet the requirements of the overlapping degree and the ground resolution at the same time, so that the aerial photographing effect is not ideal, even under the condition of man-machine load, mountain collision risk can exist, and life safety of workers is threatened.

In order to solve the problems, the application provides a three-dimensional scene-based variable altitude route calculation method under the load of a man-machine, which can carry out more accurate route layout and automatic height adjustment according to three-dimensional terrain scene data of a current area, so that the overlapping degree of routes and the ground resolution meet the requirements, and the aerial photographing effect is improved.

The method provided in this embodiment is described in the following. Fig. 1 is a schematic flow chart of a three-dimensional scene-based variable altitude route calculation method under a man-machine load according to an embodiment of the application.

S101, generating a terrain-level three-dimensional scene of the area according to the sky map image data and the SRTM terrain data.

After determining an aerial photographing area, the terminal equipment can acquire the space map image data of the area and the SRTM topographic data of the area from a national geographic information public service platform, and coordinate conversion is carried out on the acquired space map image data by the terminal equipment, and because the national space map satellite image data mainly adopts GCJ-02 (Mars coordinate system), satellite image data under the coordinate system is required to be converted into WGS84 coordinate system; in addition, the terminal equipment can carry out slicing processing on the acquired SRTM topographic data of the domestic area to obtain a Terrain tile data set, and then the Terrain tile data set is converted into slice data conforming to the 3D Tiles specification, so that the data reading speed is improved.

And the terminal equipment loads the processed sky map image data and the Terrain tile dataset into a three-dimensional GIS map Cesium frame simultaneously, and generates a topography-level three-dimensional data scene in a fusion way.

Referring to fig. 3, an exemplary scenario diagram of a terrain-level three-dimensional scenario in an embodiment of the present application is shown, where a terminal device may obtain, from the terrain-level three-dimensional scenario, geographic information of a region, where the geographic information includes, but is not limited to, altitude information of each geographic location.

It will be appreciated that the above-mentioned acquisition paths of the weather map image data and the SRTM topographic data may be selectively adjusted according to actual requirements, for example, if the national geographic information public service platform does not provide a service for downloading or acquiring the SRTM topographic data, the terminal device may acquire the SRTM topographic data from other paths, for example, NASA, USGS, etc. official channels, which are not limited herein.

S102, receiving a preset resolution range and a preset overlapping degree range which are input by a user.

Before planning a route, a user can input a preset resolution range and a preset overlapping degree range of the route to the terminal device, wherein the preset resolution range is a range requirement of ground resolution required to be met by the route determined by the terminal device, the preset resolution range prescribes a minimum value and a maximum value of ground resolution of the route, the ground resolution of the route accords with the requirement only when the ground resolution of the route is between the minimum value and the maximum value, and similarly, the preset overlapping degree range is a range requirement of overlapping degree required to be met by the route determined by the terminal device, the preset overlapping degree range prescribes a minimum value and a maximum value of overlapping degree of the route, and the overlapping degree of the route accords with the requirement only when the overlapping degree of the route is between the minimum value and the maximum value.

It should be noted that, when planning a route, in order to ensure aerial quality, the overlapping degree and the ground resolution of the route need to meet the preset overlapping degree range and the preset resolution range respectively, but when the overlapping degree and the ground resolution of the route cannot meet the preset overlapping degree range and the preset resolution range respectively, in order to ensure the accuracy and the integrity of aerial photography, the aerial photography results are not missed, all areas in the area are covered by aerial photography, at the moment, the overlapping degree of the route should be preferentially ensured, and the overlapping degree of the route is at the maximum.

And S103, calculating to obtain the route set in the area according to the area boundary of the terrain-level three-dimensional scene and a polygon filling algorithm.

Specifically, the terminal equipment determines a boundary of the area according to the terrain-level three-dimensional scene, and obtains coordinates of boundary points of the area. And emitting rays by taking the starting point of the airplane as an origin, taking the direction of the rays as the arrangement direction of the route, at least one intersection point exists between the rays and the boundary of the measuring area, then rotating the measuring area clockwise to enable the rays of the rotating measuring area to be changed into horizontal directions, obtaining horizontal rays, and calculating again to obtain coordinates of the boundary points of the measuring area after rotation and a range threshold value of the horizontal rays, wherein the range threshold value determines the movable range of the horizontal rays in the rotating measuring area.

Specifically, as shown in fig. 4, an exemplary scenario is illustrated in which the terminal device calculates parallel routes according to the boundary of the area and the polygon filling algorithm in the embodiment of the present application.

As shown in FIG. 4 (a), there are two intersections of a ray and the boundary of the area, namely a1 and a2, respectively, when the direction of the route arrangement is(Included angle between ray and north direction), then rotate the zone clockwise, the rotation back zone is shown in fig. 4 (B), at this time the ray and the change into horizontal direction, get horizontal ray, wherein, there are two crossing points at the boundary of horizontal ray and rotation back zone, B1 (corresponding to a 1) and B2 (corresponding to a 2), A is the highest point of rotation back zone, at this time the Y value takes the maximum value, B is the lowest point of rotation back zone, at this time the Y value takes the minimum value. The value range of the Y value is the value range of the intersection point of the horizontal ray and the Y axis on the Y axis.

After determining the range threshold of the horizontal ray, the terminal equipment moves the horizontal ray with the lateral base line length as a distance to obtain all horizontal rays within the range threshold and the intersection point coordinates of the horizontal ray and the boundary of the rotation rear region. The horizontal rays between two adjacent intersection points are parallel airlines, and all the parallel airlines form an airline set. Specifically, as shown in fig. 4 (c), after determining the range threshold of the horizontal ray, the terminal device starts to emit the horizontal ray from the point B (the lowest point of the rotation back region) to obtain a first horizontal ray, translates the first horizontal ray along the positive direction of the Y axis, and obtains a second horizontal ray with a translation interval equal to the length of the side-to-side base line, so that all the horizontal rays in the rotation back region can be obtained.

The side base line length is calculated by the CCD size of the camera, the focal length of the camera and the side overlap degree of the route, and a specific calculation formula is as follows:

wherein/> Is the sideways baseline length of the route,/>For the photographic scale,/>For the side overlap of the route,/>Is the width of the camera CCD size.

It should be noted that, the photographing scale of the camera is generally relatively fixed. In digital cameras, common photographic scales include 4:3, 3:2, 16:9, and the like. These photographing scales are typically determined by the physical dimensions of the camera sensor.

In addition, the side overlap of an airline refers to the degree of overlap between adjacent photographs taken on the same airline. During sailing, the camera will constantly take pictures of the ground, and there will be some lateral overlap between adjacent pictures, i.e. side-to-side overlap. Likewise, side overlap is typically expressed in terms of a percentage, e.g., 80% side overlap indicates an 80% overlap area between adjacent photographs.

S104, in the process of executing the steps S105 to S107, each parallel route in the route set is used as a first parallel route to respectively carry out altitude adjustment.

After determining the route set, the terminal device respectively adjusts the altitude of each parallel route in the route set as a first parallel route, so that the ground resolution and the overlapping degree of the adjusted first parallel route respectively accord with a preset resolution range and a preset overlapping degree range to obtain a first parallel route set of a region, and the first parallel route set is a route planning result of the region. The altitude of the reference plane is equal to the sum of the altitude of the reference plane and the relative altitude of the preset photography, and the relative altitude of the preset photography is the distance between the man (airplane) and the reference plane.

S105, judging whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not and whether the ground resolution of the first parallel route is in a preset resolution range or not under the reference planes of a plurality of different elevations in sequence.

The terminal equipment judges whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not and whether the ground resolution of the first parallel route is in a preset resolution range or not under a plurality of reference planes with different heights in sequence; the elevation values of the reference surfaces with different elevations are sequentially an average elevation value of a first parallel air route, an elevation value of a highest point of the first parallel air route and an elevation value of a lowest point of the first parallel air route;

Specifically, the terminal equipment firstly takes the height Cheng Shezhi of the reference plane of the first parallel air route as the average elevation value of the first parallel air route, then calculates the ground resolution and the side overlapping degree of the first parallel air route at the position passing through the highest point or the lowest point under the reference plane with the elevation being the average elevation value of the first parallel air route, and judges that the overlapping degree of the first parallel air route at the position passing through the highest point or the lowest point is in a preset overlapping degree range and the ground resolution of the first parallel air route is in a preset resolution range according to the calculation result;

Similarly, it may be determined whether the overlapping degree of the first parallel route under the reference planes of other different elevations is within a preset overlapping degree range, and whether the ground resolution of the first parallel route is within a preset resolution range, which will not be described herein.

Under the condition that the reference plane is unchanged, the side overlap of the first parallel route is minimum when passing through the highest point, the ground resolution is maximum, the side overlap is maximum when passing through the lowest point, and the ground resolution is minimum. Therefore, as long as the overlapping degree and the ground resolution of the first parallel route passing through the highest point or the lowest point are in the preset overlapping degree range and the preset resolution range, the overlapping degree and the ground resolution of the first parallel route passing through other elevations are also required to be met.

And S106, if the overlapping degree of the first parallel route is not in a preset overlapping degree range or the ground resolution is not in a preset resolution range under the current judging reference plane, sequentially selecting the next reference plane in the reference planes with different heights for judging.

Specifically, the terminal equipment firstly takes the height Cheng Shezhi of the reference plane of the first air line as the average elevation value of the first parallel air line, then calculates the ground resolution and the side overlapping degree of the first parallel air line at the position passing through the highest point or the lowest point under the reference plane with the elevation being the average elevation value of the first parallel air line, and judges whether the overlapping degree of the first parallel air line at the position passing through the highest point or the lowest point is in a preset overlapping degree range and whether the ground resolution of the first parallel air line is in a preset resolution range according to the calculation result;

If the overlapping degree of the first parallel air route is detected not to be in a preset overlapping degree range or the ground resolution is detected not to be in a preset resolution range, the terminal equipment continues to take the height Cheng Shezhi of the reference plane of the first air route as the elevation value of the highest point of the first parallel air route, calculates the ground resolution and the side overlapping degree of the first parallel air route obtained at the position of passing through the highest point or the lowest point under the reference plane with the elevation value of the highest point of the first parallel air route, and judges whether the overlapping degree obtained at the position of passing through the highest point or the lowest point of the first parallel air route is simultaneously satisfied and the ground resolution of the first parallel air route is in the preset resolution range;

If not, the terminal equipment continues to take the height Cheng Shezhi of the reference plane of the first air route as the elevation value of the lowest point of the first parallel air route, calculates the ground resolution and the side lap degree of the first parallel air route obtained at the position of the highest point or the lowest point under the reference plane with the elevation value of the lowest point of the first parallel air route, and judges whether the first parallel air route simultaneously meets the condition that the lap degree obtained at the position of the highest point or the lowest point is in a preset lap degree range and the ground resolution of the first parallel air route is in a preset resolution range.

In addition, when the height Cheng Shezhi of the reference plane of the first route is the elevation value of the lowest point of the first parallel route, if it is still detected that the overlapping degree of the first parallel route at the highest point or the lowest point is not in the preset overlapping degree range or the ground resolution of the first parallel route is not in the preset resolution range, the height Cheng Shezhi of the reference plane of the first route is directly taken as the elevation value of the highest point of the first parallel route.

It should be noted that, in the embodiment of the present application, the overlapping degree of the first parallel route refers to the side overlapping degree of the first parallel route.

And S107, if the overlapping degree of the first parallel route is in a preset overlapping degree range and the ground resolution is in a preset resolution range under the current judging reference plane, taking the current judging reference plane as the reference plane of the first parallel route.

Specifically, the terminal device sequentially judges whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not under a plurality of reference planes with different heights, and whether the ground resolution of the first parallel route is in a preset resolution range or not, if the overlapping degree of the first parallel route obtained at the position passing through the highest point or the lowest point is detected to be in the preset overlapping degree range and the ground resolution of the first parallel route is in the preset resolution range under the current judging reference plane, the current judging reference plane is directly used as the reference plane of the first parallel route, and the subsequent reference plane is not judged any more.

Through the embodiment, the terminal equipment can generate the real three-dimensional terrain scene of the area according to the sky map image data and the SRTM terrain data, and then calculate the route set in the area to be measured on the basis of the three-dimensional scene by utilizing a polygon filling algorithm. And judging whether the overlapping degree and the ground resolution of each parallel route in the route set under the reference planes of different elevation values in sequence meet the requirement or not to automatically adjust the height of the first parallel route, so that the problem of realizing accurate route planning in a complex terrain area can be solved, the route can meet the requirements of the overlapping degree and the resolution simultaneously, and accurate aerial photography can be effectively realized.

The method provided in this embodiment will be described in more detail. Fig. 2 is a schematic flow chart of a three-dimensional scene-based variable altitude route calculation method under a man-machine load according to an embodiment of the application.

S201, determining boundary points of the measuring area and coordinates of the boundary points of the measuring area after rotation according to the terrain-level three-dimensional scene.

After the terminal device generates a terrain-level three-dimensional scene of the area according to the sky map image data and the SRTM terrain data, the terminal device can determine the boundary of the area, and can place the boundary of the area in a two-dimensional plane so as to determine the coordinates of each boundary point. The boundary point coordinates of the rotating rear region can be calculated according to the route arrangement direction, and the formula for calculating the boundary point coordinates of the rotating rear region is as follows:

，/> wherein/> And/>The abscissa and ordinate, respectively,/>, of the boundary of the zoneAnd/>The abscissa and ordinate, respectively,/>, of the boundary of the rotation-back zoneFor the directional angle of the route arrangement.

S202, horizontal rays are emitted from the lowest point of the rotating area, the rays are paved on the whole area, and the route set in the area is obtained.

After obtaining the coordinates of the boundary points of the rotated area, the terminal device can determine the minimum value and the maximum value of the boundary of the rotated area in the Y-axis direction (ordinate) to obtain a range threshold value of the Y value, wherein the range threshold value of the Y value is the range threshold value of the horizontal ray or the parallel route.

The terminal equipment starts to emit horizontal rays from the lowest point of the rotated area, wherein the lowest point of the rotated area is the position of the horizontal rays when the Y value obtains the minimum value, the horizontal rays are translated from the lowest point to the Y axis positive direction at intervals of a side base line length until the horizontal rays are paved on the whole area, and the horizontal rays in the area are parallel airlines, so that an airline set in the area is obtained.

S203, judging whether the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than a preset amplitude threshold value.

After determining the route set, the terminal device sequentially sets the parallel routes in the route set as a first parallel route, and then judges whether the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than a preset amplitude threshold value, if yes, the step S204 is entered, and if no, the step S205 is entered.

The magnitude of the preset amplitude threshold reflects the variation amplitude of the relief elevation in the terrain level three-dimensional scene corresponding to the first parallel route, when the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is larger than or equal to the preset amplitude threshold, the variation amplitude of the relief elevation in the terrain level three-dimensional scene corresponding to the first parallel route is larger, and when the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than the preset amplitude threshold, the variation amplitude of the relief elevation in the terrain level three-dimensional scene corresponding to the first parallel route is smaller.

S204, setting the average elevation value of the terrain-level three-dimensional scene corresponding to the first parallel route as the average elevation value of the first parallel route.

When the terminal equipment detects that the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel air route is smaller than a preset amplitude threshold value, the average value of the altitudes in the terrain-level three-dimensional scene corresponding to the first parallel air route is directly set as the average elevation value of the first parallel air route.

S205, setting the median value of the altitudes in the terrain-level three-dimensional scene corresponding to the first parallel route as the average elevation value of the first parallel route.

When the terminal equipment detects that the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel air route is larger than or equal to a preset amplitude threshold value, the median value of the elevation in the terrain-level three-dimensional scene corresponding to the first parallel air route is directly set as the average elevation value of the first parallel air route.

The elevation value of the highest point of the first parallel course refers to the elevation of the highest point in the terrain level three-dimensional scene corresponding to the first parallel course, and the elevation value of the lowest point of the first parallel course refers to the elevation of the lowest point in the terrain level three-dimensional scene corresponding to the first parallel course.

S206, sequentially setting the reference planes corresponding to the average elevation value of the first parallel route, the elevation value of the highest point and the elevation value of the lowest point as the current reference plane.

The terminal equipment determines three reference surfaces corresponding to the first parallel route, wherein the three reference surfaces are a first reference surface, a second reference surface and a third reference surface respectively, the elevation of the first reference surface is an average elevation value of the first parallel route, the elevation of the second reference surface is an elevation value of the highest point of the first parallel route, and the elevation of the third reference surface is an elevation value of the lowest point of the first parallel route.

When planning a route, the terminal equipment firstly sets the first reference plane as the reference plane of the first parallel route, if the first reference plane is detected to be not satisfactory, the reference plane of the first parallel route is switched to the second reference plane, and if the second reference plane is also not satisfactory, the reference plane of the first parallel route is switched to the third reference plane.

The standard meeting the requirements of the reference plane of the first parallel route is that the overlapping degree and the ground resolution are respectively in a preset overlapping degree range and a preset resolution range.

S207, calculating the minimum side overlap degree and the maximum side overlap degree of the first parallel route according to the elevation value of the current reference plane.

After detecting that the reference plane changes, the terminal equipment calculates the minimum side overlap degree and the maximum side overlap degree of the first parallel route under the current reference plane, and the specific calculation formula is as follows:

，/>，，/> wherein H is the relative altitude of photography,/> For the elevation value of the highest point of the first parallel route,/>For the elevation value of the lowest point of the first parallel route,/>For the elevation value of the current reference plane,/>Is of side-by baseline length,/>Is the side-wise image length, f is the camera focal length,/>Is the minimum of the actual ground resolution,/>For maximum of actual ground resolution,/>To be the minimum of the actual side lap,Pix is the camera pixel, which is the maximum value of the actual side-by overlap;

in addition, the relative altitude of the photography is the distance from the plane to the reference plane, and the side image length is the length of the CCD size of the camera.

The minimum value of the ground resolution of the first parallel route of the current reference plane can be calculated by the formula) And maximum value%) Minimum side overlap (/ >)) And maximum side overlap (/ >)）。

S208, judging whether the actual side direction overlapping degree is in a preset overlapping degree range or not, and judging whether the actual ground resolution is in a preset resolution range or not.

After determining the minimum side overlapping degree and the maximum side overlapping degree of the first parallel air route under the current reference plane, the terminal equipment judges whether the actual side overlapping degree is in a preset overlapping degree range or not and whether the actual ground resolution is in a preset resolution range or not to judge whether the overlapping degree and the ground resolution of the first parallel air route under the current reference plane meet the requirements or not. Specifically, under the current reference plane, the first parallel course under the current reference plane meets the requirements only when the minimum value of the actual side overlap and the maximum value of the actual side overlap of the first parallel course are both in the preset overlap range and the minimum value and the maximum value of the ground resolution of the first parallel course are both in the preset resolution range.

It should be noted that, in the embodiment of the present application, the minimum side overlap of the first parallel route may also be referred to as the minimum value of the actual side overlap of the first parallel route; the maximum side lap of the first parallel course may also be referred to as the maximum of the actual side lap of the first parallel course.

S209, if the overlapping degree of the first parallel route is not in the preset overlapping degree range or the ground resolution is not in the preset resolution range under the reference plane of the current judgment, selecting the next reference plane in the reference planes with different heights in sequence for judgment.

The terminal equipment sequentially sets the reference surfaces corresponding to the average elevation value of the first parallel route, the elevation value of the highest point and the elevation value of the lowest point as current reference surfaces, judges the overlapping degree and the ground resolution of the first parallel route under each reference surface, and sequentially selects the next reference surface in a plurality of reference surfaces with different elevations to judge if the overlapping degree of the first parallel route is detected not to be in a preset overlapping degree range or the ground resolution is detected not to be in a preset resolution range under the current judging reference surfaces, wherein the judging sequence of the reference surfaces is respectively the first reference surface, the second reference surface and the third reference surface.

S210, if the overlapping degree of the first parallel route cannot be simultaneously satisfied under all the reference planes and the ground resolution is in the preset overlapping degree range and the ground resolution is in the preset resolution range, setting the reference plane corresponding to the elevation value of the highest point of the first parallel route as the reference plane of the first parallel route.

The terminal equipment judges the overlapping rate and the ground separating rate of the first parallel route under the first reference plane, the second reference plane and the third reference plane respectively in sequence, and if the terminal equipment detects that the overlapping rate of the first parallel route is in a preset overlapping rate range and the ground resolution is in a preset resolution range, which cannot be met at the same time under all the reference planes, the terminal equipment directly sets the reference plane corresponding to the elevation value of the highest point of the first parallel route as the reference plane of the first parallel route.

It will be appreciated that during course planning, the overlap of the flight course is inversely proportional to the ground resolution, with greater ground resolution and lesser course overlap on the same plane. However, in order to ensure the accuracy and the integrity of the aerial result, when planning the route, if the ground resolution and the overlapping degree cannot be met at the same time, the overlapping degree of the route should be preferentially ensured, so that the aerial result is not missed, and all areas in the area are covered by aerial. As for the same parallel route, when the elevation of the reference plane is equal to the elevation value of the highest point of the parallel route, the parallel route obtains the maximum altitude value in all the reference planes, and the overlapping degree of the parallel route at the same elevation position obtains the maximum value at the moment, thereby preferentially guaranteeing the overlapping degree of the routes.

S211, calculating a first exposure point coordinate and other exposure point coordinates according to the intersection point coordinates of the route and the boundary of the measuring area.

The terminal equipment starts to emit horizontal rays from the lowest point of the rotated area, spreads the rays over the whole area to obtain an air route set in the area, and calculates the intersection point coordinates of each parallel ray and the rotated area boundary, wherein the formula for calculating the intersection point coordinates of each parallel ray and the rotated area boundary is as follows:

，/> wherein/> For the length of the lateral base line, P1 and P2 are two end points of the side where the horizontal ray and the rotated polygon of the measured area are possibly intersected, X is the abscissa of intersection of the parallel ray and the rotated boundary of the measured area,/>For the minimum value of the rotated zone boundary in the Y-axis direction (ordinate),Is the maximum value of the rotation-postzone boundary in the Y-axis direction (ordinate).

Terminal equipment is according to the length of the side base lineIncrease/>Calculating the intersection point coordinates of each parallel ray and the rotated boundary of the measuring area in sequence until/>≥/>Until all airlines have been calculated.

After the terminal device calculates the intersection point coordinates of all the horizontal rays and the boundary of the rotation rear region, the intersection point coordinates of the boundary of the rotation rear region need to be converted into the intersection point coordinates of the boundary of the rotation front region. The conversion formula of the coordinates is as follows:

， wherein/> And/>The abscissa and ordinate, respectively,/>, of the boundary of the zone before rotationAnd/>The abscissa and ordinate, respectively,/>, of the boundary of the rotation-back zoneFor the directional angle of the route arrangement.

After the terminal equipment calculates the coordinates of the horizontal ray and the boundary point of the measuring area (the boundary point of the measuring area before rotation), determining the first intersection point coordinate (the starting point coordinate) and the last intersection point coordinate (the end point coordinate) of each horizontal ray and the boundary of the measuring area, and calculating according to the first intersection point coordinate and the last intersection point coordinate to obtain the first exposure point coordinate and other exposure point coordinates of the horizontal ray, wherein the calculation formula of the first exposure point coordinate is as follows:

After the terminal equipment calculates the first exposure point coordinate, the value of H is increased by the course baseline length to obtain a new value of H, and the new value of H is substituted into a calculation formula of the first exposure point coordinate to obtain the next exposure point coordinate, and other exposure point coordinates except the first exposure point coordinate can be obtained in the same way. The calculation formula of the new value of H is as follows:

wherein/> Is long in heading base line.

S212, after the reference plane of the first parallel route is determined, the first exposure point coordinates and other exposure point coordinates are adjusted according to the altitude of the first parallel route.

Because the altitude is equal to the sum of the altitude of the reference plane and the relative altitude of the preset photography, after the reference plane of the first parallel route is determined, the altitude of the first parallel route is also determined, and because the altitude of the same parallel route is the same, the first exposure point coordinate and other exposure point coordinates in the terrain-level three-dimensional scene are determined according to the altitude of the first parallel route.

S213, the step is the same as step S107, and will not be described here again.

And in particular to fig. 5, an exemplary scenario is schematically illustrated in which a terminal device selects a reference plane of a first parallel route in an embodiment of the present application.

The elevations of the reference plane a, the reference plane b and the reference plane c respectively correspond to the elevation value of the lowest point, the average elevation value and the elevation value of the highest point of the first parallel route. The terminal equipment firstly sets a reference plane b as the reference plane of the first parallel route, judges whether the overlapping degree and the ground resolution meet the requirements, and if so, the reference plane b is used as the reference plane of the first parallel route; if the overlapping degree or the ground resolution of the first parallel air route under the reference plane b is not satisfied, setting the reference plane c as the reference plane of the first parallel air route, judging whether the overlapping degree and the ground resolution are satisfied, if the overlapping degree and the ground resolution of the first parallel air route under the reference plane c are satisfied, taking the reference plane c as the reference plane of the first parallel air route, otherwise, if the overlapping degree or the ground resolution of the first parallel air route under the reference plane c is not satisfied, setting the reference plane a as the reference plane of the first parallel air route, judging whether the overlapping degree and the ground resolution are satisfied, if so, taking the reference plane a as the reference plane of the first parallel air route, and if not, directly taking the reference plane c as the reference plane of the first parallel air route, so that the overlapping degree of the first parallel air route is maximum.

And setting other parallel airlines in the airlines as first parallel airlines in turn to obtain all planning airlines in the area.

The variable-altitude course calculation method based on the three-dimensional scene under the load of the man-machine provided by the embodiment of the application has the following beneficial effects:

The terminal equipment can generate a real three-dimensional terrain scene of the area according to the sky map image data and the SRTM terrain data, and then calculate a route set in the area to be measured on the basis of the three-dimensional scene by utilizing a polygon filling algorithm. And judging whether the overlapping degree and the ground resolution of each parallel route in the route set under the reference planes of different elevation values in sequence meet the requirement or not to automatically adjust the height of the first parallel route, so that the problem of realizing accurate route planning in a complex terrain area can be solved, the route can meet the requirements of the overlapping degree and the resolution simultaneously, and accurate aerial photography can be effectively realized.

The terminal equipment determines a boundary point set of a region according to a three-dimensional terrain scene, then starts to emit horizontal rays at a certain interval from the lowest point of the region after rotation, utilizes a single route and a route set determined by the intersection point of the horizontal rays and the boundary, and determines a first exposure point and other exposure point coordinates according to the intersection point coordinates of the parallel routes and the boundary of the region, thereby planning the position of a shooting point in each parallel route, calculating the altitude of the first parallel route after determining the reference plane of the first parallel route, and determining the coordinates of the first exposure point and other exposure points in the terrain-level three-dimensional scene by combining the determined coordinates of the first exposure point and the determined coordinates of other exposure points, so that aerial photography is better suitable for the change of a complex region.

The terminal device can sequentially set reference planes with different elevation values, and sequentially calculate the maximum value and the minimum value of the side lap and the ground resolution under each reference plane according to a formula. And determining the reference plane of the first parallel route by judging whether the maximum value and the minimum value of the side overlap degree and the ground resolution of the current reference plane meet the preset overlap degree and resolution range. The average elevation value of the first parallel route can be determined according to the topography features of the topography level three-dimensional scene corresponding to the first parallel route, so that the selected average elevation value of the first parallel route meets the requirements of overlapping degree and resolution ratio as directly as possible. In addition, when the ground resolution requirements of the overlapping degree cannot be met at the same time under all the reference surfaces, the reference surface corresponding to the elevation value of the highest point of the first parallel air route is set as the reference surface of the first parallel air route, so that the overlapping degree of the first parallel air route is preferentially ensured to meet the requirements.

The following describes a terminal device provided in the embodiment of the present application, where the terminal device may implement the above-mentioned method for calculating a altitude-changing route based on a three-dimensional scene under a man-machine load, and as shown in fig. 6, is a schematic block structure diagram of the terminal device in the embodiment of the present application, and specifically includes:

the terrain-level three-dimensional scene construction module 601 is configured to generate a terrain-level three-dimensional scene of the region according to the sky map image data and the SRTM terrain data;

The preset range determining module 602 is configured to receive a preset resolution range and a preset overlap range input by a user;

the parallel course calculation module 603 is configured to calculate a course set in the region according to a boundary of the region of the terrain-level three-dimensional scene and a polygon filling algorithm, where the course set includes a plurality of parallel courses, and distances between adjacent parallel courses are equal;

a first parallel route selection module 604, configured to respectively perform altitude adjustment for each parallel route in the route set as a first parallel route, where the altitude is equal to a sum of an altitude of a reference plane and a preset photography relative altitude, where the altitude of the reference plane is an altitude of the reference plane, and the preset photography relative altitude is a distance between the organic vehicle and the reference plane;

The overlapping degree and resolution judging module 605 is configured to judge whether the overlapping degree of the first parallel route is in a preset overlapping degree range and whether the ground resolution of the first parallel route is in a preset resolution range, sequentially under the reference planes of a plurality of different elevations; the elevation values of the datum planes with different elevations are sequentially as follows: the average elevation value of the first parallel course, the elevation value of the highest point of the first parallel course and the elevation value of the lowest point of the first parallel course;

the reference plane selection module 606 is configured to sequentially select a next reference plane from the plurality of reference planes with different heights for determining if the overlapping degree of the first parallel route is not in the preset overlapping degree range or the ground resolution is not in the preset resolution range under the reference plane currently determined;

The reference plane determining module 607 is configured to take the currently determined reference plane as the reference plane of the first parallel course if the overlapping degree of the first parallel course is within the preset overlapping degree range and the ground resolution is within the preset resolution range under the currently determined reference plane.

In some embodiments, the parallel course calculation module 603 further includes:

the boundary point coordinate calculation unit is used for determining a boundary point set of the area according to the terrain-level three-dimensional scene; calculating the boundary point coordinates of the rotated area according to the route arrangement direction and the area boundary point set;

And the route set determining unit is used for transmitting horizontal rays from the lowest point of the rotated measuring area, and spreading the rays over the whole measuring area to obtain a route set in the measuring area, wherein the route is a horizontal ray segment between the horizontal rays and the first intersection point and the last intersection point of the rotated measuring area.

In some embodiments, the above-mentioned route set determination unit further includes:

The exposure point coordinate calculation subunit is used for calculating a first exposure point coordinate according to the intersection point coordinate of the route and the boundary of the measuring area;

Calculating to obtain other exposure point coordinates according to a course baseline length and a first exposure point coordinate, wherein the course baseline length is determined according to the width of the CCD size of the camera, the course overlapping degree, the focal length of the camera and the preset relative aerial height of the camera;

The calculation formula of the first exposure point coordinate is as follows:

the exposure point coordinate adjusting subunit is used for determining the altitude of the first parallel route according to the elevation value of the reference surface of the first parallel route after determining the reference surface of the first parallel route;

and adjusting the first exposure point coordinates and other exposure point coordinates according to the altitude of the first parallel route.

In some embodiments, the above-mentioned overlap and resolution determination module 605 further includes:

The overlapping degree and resolution ratio calculation unit is used for sequentially setting the average elevation value of the first parallel route, the elevation value of the highest point, the elevation value of the lowest point and the corresponding reference plane as the current reference plane;

The minimum side overlapping degree and the maximum side overlapping degree of the first parallel route are calculated according to the elevation value of the current reference plane, and the calculation formulas of the minimum side overlapping degree and the maximum side overlapping degree are as follows:

，/>，，/> wherein H is the relative altitude of photography,/> For the elevation value of the highest point of the first parallel route,/>For the elevation value of the lowest point of the first parallel route,/>For the elevation value of the current reference plane,/>Is of side-by baseline length,/>For the side-by image length, f is the camera focal length, pix is the camera pixel,Is the minimum of the actual ground resolution,/>For maximum of actual ground resolution,/>Is the minimum of the actual side overlap,/>Is the maximum of the actual side lap;

The overlapping degree and resolution judging unit is used for judging whether the minimum value of the actual side overlapping degree and the maximum value of the actual side overlapping degree are in a preset overlapping degree range or not, and whether the minimum value of the actual ground resolution and the maximum value of the actual ground resolution are in a preset resolution range or not, wherein the minimum value and the maximum value of the preset overlapping degree range are respectively the designed minimum side overlapping degree and the designed maximum side overlapping degree, and the minimum value and the maximum value of the preset resolution range are respectively the preset minimum resolution and the preset maximum resolution.

In some embodiments, the terminal device further comprises:

The average elevation value determining module is used for judging whether the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than a preset amplitude threshold value;

if not, setting the median value of the altitudes in the terrain-level three-dimensional scene corresponding to the first parallel route as the average elevation value of the first parallel route;

And the overlapping degree priority guaranteeing module is used for setting the reference plane corresponding to the elevation value of the highest point of the first parallel air route as the reference plane of the first parallel air route when detecting that all the reference planes can not simultaneously meet that the overlapping degree of the first parallel air route is in a preset overlapping degree range and the ground resolution is in a preset resolution range.

Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions (computer programs) or by control of associated hardware by instructions (computer programs), which may be stored in a computer-readable storage medium and loaded and executed by a processor. The electronic device of the present embodiment includes a storage medium and a processor, where the storage medium stores a plurality of instructions that can be loaded by the processor to perform any of the steps of the methods provided by the embodiments of the present invention.

In particular, the storage medium and the processor are electrically connected, either directly or indirectly, to enable transmission or interaction of data. For example, the elements may be electrically connected to each other by one or more signal lines. The storage medium has stored therein computer-executable instructions for implementing the data access control method, including at least one software functional module that may be stored in the storage medium in the form of software or firmware, and the processor executes the software programs and modules stored in the storage medium to perform various functional applications and data processing. The storage medium may be, but is not limited to, random Access Memory (RAM), read Only Memory (ROM), programmable read only memory (ProgrammableRead-only memory, PROM), erasable read only memory (ErasableProgrammableRead-only memory, EPROM), electrically erasable read only memory (ElectricErasableProgrammableRead-only memory, EEPROM), etc. The storage medium is used for storing a program, and the processor executes the program after receiving the execution instruction.

Further, the software programs and modules within the storage media described above may also include an operating system, which may include various software components and/or drivers for managing system tasks (e.g., memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components. The processor may be an integrated circuit chip with signal processing capabilities. The processor may be a general-purpose processor, including a Central Processing Unit (CPU), a network processor (NetworkProcessor NP), etc., which may implement or execute the methods, steps, and logic flow diagrams disclosed in the embodiments. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Because the instructions stored in the storage medium may perform steps in any of the methods provided in the embodiments of the present invention, the beneficial effects of any of the methods provided in the embodiments of the present invention may be achieved, and detailed descriptions of the foregoing embodiments are omitted herein.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. The method for calculating the variable-altitude course based on the three-dimensional scene under the load of the man-machine is characterized by comprising the following steps of:

calculating to obtain a route set in a region according to a region boundary of the terrain-level three-dimensional scene and a polygon filling algorithm, wherein the route set comprises a plurality of parallel routes, and the distances between adjacent parallel routes are equal;

Respectively performing altitude adjustment by taking each parallel route in the route set as a first parallel route, wherein the altitude is equal to the sum of the altitude of a reference surface and the relative altitude of a preset photography, the altitude of the reference surface is the altitude of the reference surface, and the relative altitude of the preset photography is the distance between the man and the reference surface;

Sequentially judging whether the overlapping degree of the first parallel route is in a preset overlapping degree range or not under a plurality of reference planes with different heights, and judging whether the ground resolution of the first parallel route is in a preset resolution range or not; the elevation values of the datum planes with different elevations are sequentially as follows: the average elevation value of the first parallel course, the elevation value of the highest point of the first parallel course and the elevation value of the lowest point of the first parallel course;

if the overlapping degree of the first parallel route is not in a preset overlapping degree range or the ground resolution is not in a preset resolution range under the current judging reference plane, sequentially selecting the next reference plane in the reference planes with different heights for judging;

2. The method according to claim 1, wherein the step of calculating the course set in the region according to the region boundary and polygon filling algorithm of the terrain-level three-dimensional scene comprises:

And (3) starting to emit horizontal rays from the lowest point of the rotation back region, and spreading the rays over the whole region to obtain a route set in the region, wherein the route is a horizontal ray segment between the horizontal rays and the first intersection point and the last intersection point of the rotation back region.

3. The method of claim 2, further comprising, after the step of emitting horizontal rays from a lowest point of the rotated zone, spreading the rays across the zone, obtaining a collection of routes within the zone:

Calculating to obtain other exposure point coordinates according to a course baseline length and the first exposure point coordinates, wherein the course baseline length is determined according to the width of the CCD size of the camera, the course overlapping degree, the focal length of the camera and the preset relative navigational height of the camera;

The calculation formula of the first exposure point coordinate is as follows:

4. The method of claim 3, further comprising, after said step of calculating other exposure point coordinates from said heading base line length and said first exposure point coordinates:

5. The method according to claim 1, wherein the step of determining whether the overlapping degree of the first parallel course is within a preset overlapping degree range and whether the ground resolution of the first parallel course is within a preset resolution range sequentially under the reference planes of a plurality of different elevations specifically comprises:

Sequentially setting the average elevation value of the first parallel route, the elevation value of the highest point, the elevation value of the lowest point and the corresponding reference plane as the current reference plane;

，/>，，/> wherein H is the relative altitude of photography,/> For the elevation value of the highest point of the first parallel route,/>For the elevation value of the lowest point of the first parallel route,/>For the elevation value of the current reference plane,/>Is of side-by baseline length,/>Is the side-by image length, f is the camera focal length, pix is the camera pixel,/>Is the minimum of the actual ground resolution,/>At the maximum value of the actual ground resolution,Is the minimum of the actual side overlap,/>Is the maximum of the actual side lap;

6. The method of claim 1, wherein the step of determining whether the degree of overlap of the first parallel course is within a predetermined degree of overlap range and whether the ground resolution of the first parallel course is within a predetermined resolution range is preceded by the step of:

judging whether the difference value between the elevation value of the highest point and the elevation value of the lowest point of the first parallel route is smaller than a preset amplitude threshold value or not;

7. The method of claim 1, further comprising, after the step of sequentially selecting a next reference plane of the plurality of reference planes of different elevations for determination if the degree of overlap of the first parallel course is not within a preset degree of overlap range or the ground resolution is not within a preset resolution range below the currently determined reference plane:

And if the overlapping degree of the first parallel air route cannot be simultaneously satisfied under all the reference planes, and the ground resolution is in a preset overlapping degree range, setting the reference plane corresponding to the elevation value of the highest point of the first parallel air route as the reference plane of the first parallel air route.

8. The terminal equipment is used for realizing the three-dimensional scene-based variable altitude route calculation method under the load of a man-machine, and is characterized by comprising the following steps:

The first parallel route selection module is used for respectively carrying out altitude adjustment on each parallel route in the route set as a first parallel route, wherein the altitude is equal to the sum of the altitude of a reference plane and the relative altitude of a preset photography, the altitude of the reference plane is the altitude of the reference plane, and the relative altitude of the preset photography is the distance between an man and the reference plane;

The reference plane determining module is used for taking the reference plane which is currently judged as the reference plane of the first parallel course if the overlapping degree of the first parallel course is in a preset overlapping degree range and the ground resolution is in a preset resolution range under the reference plane which is currently judged.

9. A terminal device, comprising: one or more processors and memory;

the memory is coupled with the one or more processors, the memory for storing computer program code comprising computer instructions that are invoked by the one or more processors to cause the terminal device to perform the method of any of claims 1-7.

10. A computer readable storage medium comprising instructions which, when run on a terminal device, cause the terminal device to perform the method of any of claims 1-7.