CN210592433U - Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device - Google Patents
Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device Download PDFInfo
- Publication number
- CN210592433U CN210592433U CN201921122574.0U CN201921122574U CN210592433U CN 210592433 U CN210592433 U CN 210592433U CN 201921122574 U CN201921122574 U CN 201921122574U CN 210592433 U CN210592433 U CN 210592433U
- Authority
- CN
- China
- Prior art keywords
- module
- gnss receiver
- image control
- unmanned aerial
- mapping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The utility model belongs to the technical field of unmanned aerial vehicle photogrammetry, a device of many rotor unmanned aerial vehicle exempt from image accuse point three-dimensional modeling and mapping is related to. The utility model discloses a many rotor flight platform, power module, triaxial photography cloud platform, the aerial camera, machine carries GNSS difference module, communication module, self-driving appearance module and control module's organic setting, and through the accurate survey of camera parameter, three-dimensional course design, erect the basic station, automatic flight and shooting, it checks and data arrangement to fall to the ground, seven steps are calculated to the accurate determination of exposure point external square position line element and the aerial triangulation of exempting from image control point, need not to carry out ground image control point measurement work, can accomplish the aerial triangulation that the precision reaches national large scale mapping required precision, aerial survey interior trade product processing directly goes on. The utility model discloses field ground image control point measurement process has been got rid of to the operation flow, realizes that the operation mode is from the direct linking of taking photo by plane to interior trade calculation, has reduced field image control point measuring time and spending, effectively avoids the safety risk.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle photogrammetry, concretely relates to many rotor unmanned aerial vehicle exempts from device of image control point three-dimensional modeling and mapping.
Background
In the operation flow of the traditional photogrammetry or oblique photogrammetry technology of the existing unmanned aerial vehicle, in order to ensure the geometric accuracy of aerial triangulation, a certain number of ground image control points are often required to be mapped outdoors, coordinates of the ground image control points participate in block adjustment calculation, but under the working conditions that the construction period is increasingly short, the measurement cost of the image control points is increasingly high, and ground personnel cannot reach the area due to danger, the ground image control point measurement procedures are reduced or even avoided, and the ground image control point measurement procedures are increasingly urgent.
However, the traditional downward-looking single-lens aerial photography or 'multi-lens' oblique photography of the existing multi-rotor unmanned aerial vehicle carries out mapping or three-dimensional modeling, and if the ground image control point measurement is completely avoided, the following technical problems still exist:
(1) the existing photogrammetry and three-dimensional modeling aerial triangulation rely on a large amount or a small amount of ground image control to meet the necessary elimination of air-three system errors, and the real avoidance of image control points to carry out forward intersection measurement positioning cannot be realized.
(2) The plane and elevation precision of aerial triangulation, particularly the elevation precision, is influenced by the strict conversion relation between a gravity field model and a shooting area, and the precision often cannot meet the standard requirement so as to meet the national standard precision requirement of large-scale topographic survey or three-dimensional modeling.
SUMMERY OF THE UTILITY MODEL
The utility model provides a device of many rotor unmanned aerial vehicle exempt from image control point three-dimensional modeling and mapping, aim at provide one kind and realize that ground does not have image control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001: 10001:2000) mapping precision and method.
In order to achieve the above object, the utility model adopts the following technical scheme:
many rotor unmanned aerial vehicle exempt from device of image accuse point three-dimensional modeling and mapping, include
A multi-rotor flight platform is provided,
the power supply module is connected to the multi-rotor flight platform;
the three-axis photography holder is connected right below the multi-rotor flight platform;
the aerial camera is connected below the triaxial photographing holder and is in electrical signal connection with the triaxial photographing holder;
the airborne GNSS differential module is connected to the multi-rotor flight platform;
the communication module is connected to the multi-rotor flight platform;
the self-driving instrument module is connected to the multi-rotor flight platform, is in electrical signal connection with the airborne GNSS differential module, the communication module and the triaxial photography holder, and is connected with the aerial camera through camera exposure lines;
the control module is in electric signal connection with the communication module;
and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
The airborne GNSS differential module at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the autopilot module.
The control module comprises a ground reference station GNSS receiver and a static base station radio station assembly; the ground reference station GNSS receiver is in electric signal connection with the communication module, and the static base station radio assembly is in electric signal connection with the ground reference station GNSS receiver.
The static base station radio assembly comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
The device also comprises a tripod; the tripod is connected to the ground, and the ground reference station GNSS receiver and the static base station radio station assembly are connected to the tripod.
The aerial camera is a multi-lens or a single lens.
Has the advantages that:
1. the utility model discloses after the aerial photography is accomplished, need not to carry out any ground and look like the measuring work of accuse point, can accomplish aerial triangulation promptly, aerial survey interior product processing can directly go on.
2. The aerial triangulation precision of the image control point-free aerial triangulation measuring device reaches the geometric requirement of the mapping precision of a national large scale (1: 5001: 10001: 2000).
3. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The above description is only an overview of the technical solution of the present invention, and in order to clearly understand the technical means of the present invention and to implement the technical solution according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the control module of the present invention;
fig. 3 is a flow chart of the present invention.
In the figure: 1-a multi-rotor flying platform; 2-an onboard GNSS difference module; 3-a three-axis photography holder; 4-aerial camera; 5-a reference station GNSS receiver; 6-static base station radio assembly; 7-a tripod.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment is as follows:
according to figure 1 and figure 2 show a device that many rotor unmanned aerial vehicle exempt from three-dimensional modeling of image accuse point and mapping, include
The multi-rotor flight platform 1 is provided with a plurality of rotors,
the power supply module is connected to the multi-rotor flight platform 1;
the three-axis photography holder 3 is connected under the multi-rotor flight platform 1;
the aerial camera 4 is connected below the triaxial photographing holder 3 and is in electric signal connection with the triaxial photographing holder 3;
the airborne GNSS differential module 2 is connected to the multi-rotor flight platform 1;
the communication module is connected to the multi-rotor flying platform 1;
the self-driving instrument module is connected to the multi-rotor flying platform 1, is in electric signal connection with the airborne GNSS differential module 2, the communication module and the triaxial photography holder 3, and is connected with the aerial camera 4 through camera exposure rays;
the control module is in electric signal connection with the communication module;
and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
In actual use, the airborne GNSS differential module 2 is used for airborne accurate positioning, and the autopilot module is responsible for controlling the flight of the whole multi-rotor flight platform 1, the rotation of the triaxial photography holder 3 and the exposure pulse of the aerial camera 4. The communication module is used for receiving external instructions, and the power supply module is responsible for supplying power to the multi-rotor flying platform 1 and various electronic modules thereon. Many rotor flying platform is for can adopting multiaxis rotor unmanned aerial vehicle flight platform such as four-axis, six-axis, eight. The six rotor unmanned aerial vehicle flight platform that this embodiment adopted. In the specific application, the parameters of the aerial camera 4 are accurately determined, then a tight three-dimensional route design considering terrain fluctuation is carried out, a base station is erected after the three-dimensional route design is finished, after the preparation work is finished, the multi-rotor unmanned aerial vehicle is automatically flown and shot by the image control point-free three-dimensional modeling and mapping device, after the flight is finished, the ground is landed for inspection and data arrangement, the lower coordinate value of the local coordinate system of the external orientation element of the exposure point is obtained by adopting two modes of RTK or PPK, the final value of the external orientation element of the adjustment exposure point is obtained by calculation of the image control point-free aerial triangulation meter, and the result of the image control point-free aerial triangulation calculation is used in the later-stage processing.
The autopilot module in the embodiment adopts unmanned aerial vehicle autopilot equipment in the prior art, and is used for automatic flight control and aerial photography operation pulse signal sending and control. In actual use, the aircraft is provided to fly autonomously according to a preset three-dimensional air route, and the aerial camera and the airborne GNSS receiver are driven to record acquired data.
The communication module in this embodiment is a GNSS-RTK field reference station and rover signal transmission module in the prior art, and is used for real-time positioning information communication between the aerial camera and the ground reference station. The data transmission signal and the positioning coordinate signal of the real-time and ground control system of the flight platform are stably and efficiently transmitted.
The utility model discloses after the aerial photography is accomplished, need not to carry out any ground and look like the measuring work of accuse point, can accomplish aerial triangulation promptly, aerial survey interior product processing can directly go on. The aerial triangulation precision of the image control point-free aerial triangulation measuring device reaches the geometric requirement of the mapping precision of a national large scale (1: 5001: 10001: 2000). The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
Example two:
according to the device of three-dimensional modeling of many rotor unmanned aerial vehicle exempting from image control point and mapping shown in figure 1, the difference with the embodiment one lies in: the airborne GNSS differential module 2 at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the autopilot module.
The airborne multimode high-frequency GNSS receiver in the embodiment adopts the space coordinate acquisition equipment assembled by the light unmanned aerial vehicle in the prior art, can simultaneously realize the data receiving and processing of the global positioning system with 4 modes of GPS, GLONASS, Galileo and Beidou navigation, and solves the problem of inaccurate positioning of a single navigation mode in a sheltered area.
The acquisition frequency of the airborne multimode high-frequency GNSS receiver epoch is not lower than 20HZ, the reading and writing speed of the epoch data memory is not lower than 100MB/s, the communication radius of the RTK communication link radio station is not lower than 5km when the RTK communication link radio station is not shielded, and the marking time difference recorded by the electronic coupling connection accessory from the transmission of the autopilot pulse signal to the airborne multimode high-frequency GNSS receiver is not more than 1 ms.
When in actual use, when many rotor unmanned aerial vehicle flight platform navigational speed is not more than 20 meters per second, the space coordinate of exposure point is accurately obtained to two kinds of modes of usable static PPK of GNSS airborne difference module or developments RTK.
Example three:
according to the device that many rotor unmanned aerial vehicle exempted from three-dimensional modeling of image control point and mapping shown in fig. 2, the difference with the embodiment one lies in: the control module comprises a ground reference station GNSS receiver 5 and a static base station radio station assembly 6; the ground reference station GNSS receiver 5 is in electric signal connection with the communication module, and the static base station radio station assembly 6 is in electric signal connection with the ground reference station GNSS receiver 5.
Preferably, the static base station radio assembly 6 comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
Preferably also a frame 7; the frame 7 is connected to the ground, and the ground reference station GNSS receiver 5 and the static base station radio set assembly 6 are connected to the frame 7.
In actual use, the ground reference station GNSS receiver epoch sampling frequency is not lower than 1HZ, and continuous complete static data without losing satellite lock can be output; the static data memory is connected with the ground reference station GNSS receiver and used for storing the GNSS static data of the reference station and providing the real-time coordinates of the reference station for the data transmitting radio station of the dynamic RTK reference station. One end of the dynamic RTK reference station data transmitting radio station is connected with the ground reference station GNSS receiver, the other end of the dynamic RTK reference station data transmitting radio station is connected with the radio station antenna, and the working principle is that the dynamic RTK reference station data transmitting radio station transmits real-time base station coordinate data of the ground reference station GNSS receiver to the airborne multimode high-frequency GNSS receiver through the radio station antenna.
The technical scheme of the tripod 7 can fix the ground reference station on a known point under a shooting area ground coordinate system, simultaneously provide real-time dynamic coordinates for an RTK mode and provide static coordinate data of a base station for a PPK mode, and guarantee is provided for accurately measuring the data. In specific applications, the tripod 7 may also be a frame body in other forms as long as it has the function of stable support.
The equipment of the embodiment is simple to assemble, can provide static coordinate data and real-time dynamic coordinate data of the base station at the same time, provides two processing modes for accurate determination of elements of the outer square orientation line of the subsequent exposure point, meets different application scenes, and realizes double-insurance storage of data.
Example four:
according to the device of three-dimensional modeling of many rotor unmanned aerial vehicle exempting from image control point and mapping shown in figure 1, the difference with the embodiment one lies in: the aerial camera 4 is a multi-lens or a single lens.
In actual use, a multi-lens aerial photography technical scheme is adopted for completing a three-dimensional modeling task, large-overlap images at different angles are acquired at one time, and a single-lens downward-looking aerial photography emergency technical scheme is adopted for completing a mapping task. Above 2 kinds of aerial photography technical scheme homoenergetic enough realize many rotor unmanned aerial vehicle and exempt from like image accuse point and measure, adopt different schemes according to different tasks, can effectively practice thrift the cost.
Example five:
according to the method for three-dimensional modeling and mapping of multiple rotor unmanned aerial vehicles without image control points, which is shown in FIG. 3, the method comprises the following steps:
the method comprises the following steps: accurate determination of camera parameters
Accurately calibrating the internal orientation elements of the aerial camera 4 based on an outdoor three-dimensional calibration field, and acquiring accurate camera parameters, lens distortion parameters and camera GNSS antenna installation eccentricity;
step two: three-dimensional route design
According to the camera parameters measured in the first step, the reference shooting area range and the public DEM data, carrying out three-dimensional route design, and acquiring aerial data with qualified course overlapping degree, side overlapping degree and ground resolution by following the ground-imitating flight of topographic relief;
step three: erecting base station
Before the multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device takes off, erecting a base station consisting of a reference station GNSS receiver 5 and a static base station radio station assembly 6, and performing aerial positioning and exposure point differential calculation on the multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device;
step four: automatic flight and shooting
The base station erected in the third step is used for remote control or the self-driving instrument is used for controlling the multi-rotor unmanned aerial vehicle to automatically fly by the image-control-point-free three-dimensional modeling and mapping device according to the flying route designed in the second step, a downward-looking single-lens camera or an inclined multi-lens camera is carried for automatic aerial photography during flying, and the horizontal flying speed of the multi-rotor is less than or equal to 20 m/s;
step five: floor inspection and data collation
Landing after the flight is finished, correspondingly sorting the real-time dynamic differential RTK data or the post-differential PPK data and the aerial image acquired in the step four according to the electronic coupling relation, and finishing the aerial image;
step six: accurate determination of elements of external orientation lines of exposure points
According to the data arranged in the fifth step, 2 operation modes are applied in a scene, namely ① RTK mode, when an RTK differential signal exists, calculating the lower coordinate value of the external orientation element local coordinate system of the exposure point by combining the local conversion relation of the measurement area, ② PPK mode, when no RTK differential signal exists, calculating the static data of the ground reference station and the airborne data in combination, and calculating the lower coordinate value of the external orientation element local coordinate system of the exposure point by applying a PPK post-processing technology;
step seven: image control point-free aerial triangulation calculation
And according to the accurate camera parameters obtained in the first step and the exposure point external orientation line element file accurately determined in the sixth step, performing aerial triangulation calculation, setting accurate observation weights of the exposure point external orientation line elements through aerial triangulation, prohibiting adjustment correction of camera parameters through an adjustment model, ensuring that three internal orientation elements do not participate in adjustment calculation, according to the light beam method constraint conditions, adjusting the final values of the exposure point external orientation line elements, completing the aerial triangulation calculation without image control points, and using the calculation results for later-stage achievement processing.
In the time of the in-service use, the utility model discloses an accurate survey of camera parameter, three-dimensional course design, set up basic station, automatic flight and shooting, the inspection that falls to the ground and data arrangement, the accurate determination of exposure point outside dimension element and exempt from image control point aerial triangulation measurement calculation seven steps, solved prior art and can't realize that the ground does not have the image control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001: 10001:2000) mapping accuracy. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The camera parameters determined in the first step comprise: like principal point abscissa x0, ordinate y 0; a camera dominant distance f; lens distortion parameters (radial distortion coefficient K1, radial distortion coefficient K2, radial distortion coefficient K3, tangential distortion coefficient P1, tangential distortion coefficient P2, area array distortion coefficient B1, area array distortion coefficient B2); the mounting eccentricity coordinate value of the GNSS antenna relative to the camera is transverse eccentricity delta X, longitudinal eccentricity delta Y and vertical eccentricity delta Z.
Example six:
according to the method for three-dimensional modeling and mapping of multi-rotor unmanned aerial vehicle without image control points, which is shown in fig. 3, the difference from the fifth embodiment is that: in the first step, when the camera parameters are accurately measured, a terrain relief with a representative calibration field is selected, 30 meters by 30 meters grid image control is arranged on the ground, aerial self-calibration of the aerial camera is realized by using camera self-calibration regional grid adjustment function software, the internal orientation elements and distortion parameters of the camera are accurately measured, the initial values of the camera parameters adopt factory-leaving nominal values, the weight value of image control points is greater than 0.03 meter, and the calibration flying height is the same as the actual operation height.
When the aerial. And aerial images and ground image control points of a calibration field are adopted, and more reliable camera calibration parameters and installation eccentricity difference of the camera and the GNSS antenna are inversely calculated based on a self-calibration block adjustment mode, so that the influence of internal orientation elements and partial external orientation elements of the camera on a final result is eliminated.
Example seven:
according to the method for three-dimensional modeling and mapping of multi-rotor unmanned aerial vehicle without image control points, which is shown in fig. 3, the difference from the fifth embodiment is that: and the base station erected in the third step is erected on a known point under a ground coordinate system, the epoch sampling frequency of the ground static base station is not lower than 1HZ, the achievement form is a GNSS static measurement observation file, and the coverage radius of the base station is less than or equal to 7 km.
When the real-time RTK communication system is used actually, the technical scheme can still accurately calculate the accurate coordinate value of the exposure point under the ground coordinate system when the RTK real-time communication is interrupted. The achievement form is a GNSS static measurement observation file known in the surveying and mapping industry.
Example eight:
according to the method for three-dimensional modeling and mapping of multi-rotor unmanned aerial vehicle without image control points, which is shown in fig. 3, the difference from the fifth embodiment is that: and fifthly, the method for correspondingly arranging according to the electronic coupling relation interpolates the space position of the accurate exposure point by adopting the time stamp of the PPK data, and simultaneously, the image ID number corresponds to the sequence and the time stamp, so that the accurate space position coordinate of each image at the moment of exposure is obtained.
When the in-service use, adopt the technical scheme of the utility model, can arrange out the one-to-one relation that influences the exposure point coordinate that ID number and interpolation calculated fast, avoid the exposure delay problem that the electronic coupling time difference arouses simultaneously according to the timestamp, improve the precision that the exposure point coordinate was resolved.
Example nine:
according to the method for three-dimensional modeling and mapping of multi-rotor unmanned aerial vehicle without image control points, which is shown in fig. 3, the difference from the fifth embodiment is that: in the application scenario in the sixth step, when the static data of the ground reference station and the airborne data are jointly calculated in the PPK mode, GNSS differential post-processing software which is the same as Waypoint is adopted to jointly calculate the static data of the ground reference station and the airborne data, and a GNSS-PPK post-processing technology is used to obtain a lower coordinate value of a local coordinate system of an external orientation element of the exposure point; the PPK mode is applicable to any operation scenario, and when the RTK mode is available, the RTK mode result is used.
When the in-service use, adopt the technical scheme of the utility model, PPK difference aftertreatment has ensured that ground reference station and machine carried GNSS receiver communication lose the antithetical couplet back, still provides one set at least reliable high accuracy and solves the result. The waypoint software in this embodiment is the waypoint software in canada; in actual use, static data of the ground reference station and airborne data are input into software, and then coordinate values under the local coordinate system of the external orientation element of the exposure point can be obtained.
To sum up the utility model discloses a many rotor flight platforms, power module, triaxial photography cloud platform, aerial photography camera, machine carries GNSS difference module, communication module, self-driving appearance module and control module's organic setting, through the accurate survey of camera parameter, three-dimensional course design, erect the basic station, automatic flight and shooting, the inspection of falling to the ground and data arrangement, the accurate determination of exposure point outside bit line element and exempt from image control point aerial triangulation meter calculation seven steps, solved prior art and can't realize the ground not have the image control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001: 10001:2000) mapping precision. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the technical solution of the present invention.
Claims (6)
1. The utility model provides a device of many rotor unmanned aerial vehicle exempts from three-dimensional modeling of image accuse point and mapping, its characterized in that: comprises that
A multi-rotor flight platform (1),
the power supply module is connected to the multi-rotor flight platform (1);
the three-axis photography holder (3) is connected under the multi-rotor flight platform (1);
the aerial camera (4), the aerial camera (4) is connected below the triaxial photography holder (3) and is in electrical signal connection with the triaxial photography holder (3);
the airborne GNSS differential module (2) is connected to the multi-rotor flight platform (1);
the communication module is connected to the multi-rotor flight platform (1);
the self-driving instrument module is connected to the multi-rotor flight platform (1), is in electric signal connection with the airborne GNSS differential module (2), the communication module and the triaxial photography holder (3), and is connected with the aerial camera (4) through camera exposure lines;
the control module is in electric signal connection with the communication module;
and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
2. The device of claim 1 for three-dimensional modeling and mapping of multiple-rotor unmanned aerial vehicle without image control points, wherein: the airborne GNSS differential module (2) at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the autopilot module.
3. The device of claim 1 for three-dimensional modeling and mapping of multiple-rotor unmanned aerial vehicle without image control points, wherein: the control module comprises a ground reference station GNSS receiver (5) and a static base station radio station assembly (6); the ground reference station GNSS receiver (5) is in electric signal connection with the communication module, and the static base station radio station assembly (6) is in electric signal connection with the ground reference station GNSS receiver (5).
4. The device of claim 3 for three-dimensional modeling and mapping of multiple-rotor unmanned aerial vehicle without image control points, wherein: the static base station radio assembly (6) comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
5. The device of claim 3 for three-dimensional modeling and mapping of multiple-rotor unmanned aerial vehicle without image control points, wherein: also comprises a frame (7); the frame (7) is connected to the ground, and the ground reference station GNSS receiver (5) and the static base station radio station assembly (6) are connected to the frame (7).
6. The device of claim 1 for three-dimensional modeling and mapping of multiple-rotor unmanned aerial vehicle without image control points, wherein: the aerial camera (4) is a multi-lens or a single lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921122574.0U CN210592433U (en) | 2019-07-17 | 2019-07-17 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921122574.0U CN210592433U (en) | 2019-07-17 | 2019-07-17 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210592433U true CN210592433U (en) | 2020-05-22 |
Family
ID=70715586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921122574.0U Active CN210592433U (en) | 2019-07-17 | 2019-07-17 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210592433U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395390A (en) * | 2019-07-17 | 2019-11-01 | 中国电建集团西北勘测设计研究院有限公司 | A kind of multi-rotor unmanned aerial vehicle exempts from the device and method of photo control point three-dimensional modeling and mapping |
| CN115183746A (en) * | 2022-04-20 | 2022-10-14 | 贵州电网有限责任公司 | All-in-one image acquisition method applied to distribution network low-voltage line panoramic transparent user installation |
-
2019
- 2019-07-17 CN CN201921122574.0U patent/CN210592433U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395390A (en) * | 2019-07-17 | 2019-11-01 | 中国电建集团西北勘测设计研究院有限公司 | A kind of multi-rotor unmanned aerial vehicle exempts from the device and method of photo control point three-dimensional modeling and mapping |
| CN110395390B (en) * | 2019-07-17 | 2024-03-29 | 中国电建集团西北勘测设计研究院有限公司 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method |
| CN115183746A (en) * | 2022-04-20 | 2022-10-14 | 贵州电网有限责任公司 | All-in-one image acquisition method applied to distribution network low-voltage line panoramic transparent user installation |
| CN115183746B (en) * | 2022-04-20 | 2023-11-21 | 贵州电网有限责任公司 | Space-earth integrated image acquisition method applied to distribution network low-voltage line panoramic transparent user newspaper |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110395390B (en) | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method | |
| CN110736448A (en) | fixed wing unmanned aerial vehicle image control point-free three-dimensional modeling and mapping device and method | |
| CN110308457B (en) | Unmanned aerial vehicle-based power transmission line inspection system | |
| GREJNER‐BRZEZINSKA | Direct exterior orientation of airborne imagery with GPS/INS system: Performance analysis | |
| CN107807365A (en) | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude | |
| CN102538825B (en) | Optical axis orientation calibrating method of star sensor probe assembly | |
| CN110108984B (en) | Spatial relationship synchronization method for multiple sensors of power line patrol laser radar system | |
| CN114812512A (en) | Automatic imaging system of unmanned aerial photography based on AI exempts from image control point | |
| CN210592433U (en) | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device | |
| CN110220491A (en) | A kind of optics gondola fix error angle evaluation method of unmanned plane | |
| CN104360362A (en) | Method and system for positioning observed object via aircraft | |
| CN210862666U (en) | Device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle | |
| CN111694001A (en) | Real-time distance measurement positioning system for unmanned aerial vehicle | |
| CN112093065B (en) | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology | |
| CN112710236A (en) | Method for measuring installation attitude of spacecraft high-precision instrument based on laser tracker | |
| CN110926479A (en) | Method and system for automatically generating indoor three-dimensional navigation map model | |
| CN110220533A (en) | A kind of onboard electro-optical pod misalignment scaling method based on Transfer Alignment | |
| CN112269202A (en) | Motion carrier assisted space reference transmission system and method | |
| CN102538820A (en) | Calibration method of aerial remote sensing integrated system | |
| CN114755693A (en) | Infrastructure facility measuring system and method based on multi-rotor unmanned aerial vehicle | |
| CN109581523B (en) | Method and system for calibrating accelerometer by satellite tracking satellite device | |
| CN108205151B (en) | Low-cost GPS single-antenna attitude measurement method | |
| CN212206068U (en) | Low-altitude unmanned aerial vehicle photogrammetry device | |
| CN215767057U (en) | Dynamic adjusting device for improving precision of rock mass of complex slope investigated by unmanned aerial vehicle | |
| CN115346128A (en) | Optical three-dimensional satellite DEM elevation correction and fusion method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |