KR101767648B1 - Aviation Survey data processing software system - Google Patents

Abstract

The present invention relates to a drone device including data processing software for preprocessing data of Korean sounding equipment. More specifically, a user visually checks a target area, photographed by aerial survey equipment, in one screen, but a parameter for processing data of the target area is efficiently managed so that the user can easily process the data without confusion about a data processing procedure. According to the present invention, the drone device including data processing software includes: a main interface receiving and synchronizing a raw data file and an SBET file required for processing the data of the photographed target area; a globe viewer displaying a vector file and an image of the target area by being interconnected based on an air position indicator (AIP) and the data processed by the main interface; a layer viewer displaying a layer structure of the raw data file and the SBET file, inputted through the main interface, so that the structure is checked; and a status viewer outputting information about the raw data file, inputted through the main interface, to a screen. The SBET file contains information about the position, speed, and posture (angle) of a drone during a photographing period by using GPS and INS data when the photography of the target area is completed.

Description

[0001] The present invention relates to a drones flight data processing software for data preprocessing of a Korean type water depth measurement apparatus,

More particularly, the present invention relates to a structure of software for processing data through an aviation surveying apparatus, and more particularly, to a structure of software for processing data through an aviation surveying apparatus, The present invention relates to a drone flight device equipped with a data processing software for data preprocessing of a Korean type water depth measurement equipment capable of efficiently managing the parameters necessary for processing and easily processing without any confusion of the process necessary for data processing.

In general, surveying using flight means such as aircraft or drone is used as a method of surveying water depths and features by taking photographs from the air or using electronic devices to collect data. It is graphically displayed so that it can be output on the screen for use in various fields through a post-processing process by an operator using data processing software.

For example, as shown in FIG. 1, conventional data processing software includes a folder layer viewer, a file list to be processed, a list of processed result files, a data input and a data processing unit in a dialog form, After selecting the radio button according to the type of data and finally confirming the path of the file to be output, the button for performing the water depth data processing was clicked to perform the operation.

However, such a conventional technique does not include a viewer for confirming an actual target area photographed by the aviation photographing apparatus, and thus there is a problem that the photographing path and result of the aviation can not be specifically confirmed.

In addition, since there is no interface for managing parameters (operation elements that can be manipulated by the user) required for data processing, the user has a reliability problem that must be satisfied with the output result finally provided by the data processing software.

Also, as shown in the drawing, the configuration of the viewer displayed in a graphic is not clearly divided, which causes inconvenience in operation.

In the case of surveying through flight means, the measurement using aircraft or satellite is expensive, and recently, the drone is used, and the measurement using the drone is moved to the near area of the survey target area to be measured by the operator, There is a problem that it is troublesome to search for a place to land / land and to adjust by avoiding an obstacle near the drones in flight.

SUMMARY OF THE INVENTION The present invention has been proposed in order to solve the above-mentioned problems, and it is an object of the present invention to be able to specifically confirm a photographing route and a result of an aircraft including a viewer capable of confirming an actual object region photographed by the photographing apparatus.

Another object of the present invention is to provide an interface for managing parameters necessary for data processing and to obtain highly reliable output results according to the user's selection.

Another purpose of the present invention is to clarify the configuration of a graphically displayed viewer to thereby facilitate the operation.

Another object of the present invention is to provide a drone capable of avoiding an obstacle or recognizing a landing area to be landed or landed by a drone capable of low -

According to the present invention, which is devised to solve the above-described technical problems, a drone flight device equipped with data processing software for data preprocessing of a Korean type water depth measuring instrument is an airborne measurement device mounted on a flight means, A main interface 100 for receiving and synchronizing SBET files and raw data files required for processing; A globe viewer (200) for displaying an image and a vector file of a corresponding target area in cooperation with data processed by the main interface (100) and an air position indicator (AIP); A layer viewer 300 for displaying the layer hierarchy of the SBET file and the raw data file input through the main interface 100 so as to be able to check the layer hierarchy; And a status viewer (400) for outputting information on the original data file input to the main interface (100) on a screen, wherein the drone flight device (400) includes data processing software for data preprocessing The SBET file is a file that stores information on the position, speed, and posture (attitude angle) of the flying means during photographing time using GPS and INS data at the time of photographing at the time of photographing of the target area , The flying means includes a first main camera (11-1) for photographing a landing spot directly under the dron using the drones (D) and waiting for landing in the daytime, a second main camera A second main camera 11-2 which is spaced apart from the baseline L by a predetermined distance L and photographs a landing spot directly below the drones, A first infrared camera 12-1 for photographing a landing spot directly beneath the drones and a base line L set from the first infrared camera 120-1, A second infrared camera 12-2 for photographing a landing point present in the first main camera 12-2, a mode determiner 13 for determining whether the present time of the drones is in a day or night, A left image photographed by the first infrared camera 11-1 and a right image photographed by the second main camera 11-2 are stereo matched to provide a three dimensional image of the landing spot, -1) and stereo images of the right image photographed by the second infrared camera 12-2 to provide a three-dimensional image of the landing point, and a stereoscopic vision processor 14, (14) provided in the third A camera driver 15 for automatically adjusting at least one of a focal point of the camera and an interval of the baseline L according to an image so as to provide a three-dimensional image corrected by the stereo vision processor 14, A landing terrain reading unit 16 for analyzing the corrected three-dimensional image and analyzing whether there is an inclined terrain or an obstacle more than an angle set at the landing point and determining whether the terrain is landingable, And controls the plurality of drones 20 according to the topographic characteristics of the landing point analyzed through the corrected three-dimensional image to adjust the posture of the drones, And a landing position control unit (17) for controlling a rotating speed of the drones (20) to control the landing speed of the drones, wherein the drones Determine the coordinates of the flight line designed flying through the GPS receiver and the status viewer (400) and is characterized in that so that the drones can measure the depth of the water to move along the flight line.

According to the present invention, it is possible to visually confirm a target area photographed by a user through an airborne surveying equipment in a screen different from a conventional one, and efficiently manage parameters necessary for data processing of a photographed area, It has an effect that it can be easily processed without confusion of a necessary process.

In addition, the 3D terrain of the drone landing point is analyzed by stereo vision at daytime and nighttime, and the operator who adjusts the drone by automatically setting the landing point and the landing posture according to the analyzed 3D terrain has the effect of being able to adjust the distance from the distance .

1 is a view showing an output screen of data processing software using a conventional airborne surveying apparatus.
2 is a view showing an output screen of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
3 is a diagram illustrating a file input tab and a point creation tab of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
4 is a diagram showing a calibration dialog of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
5 is a view of a global viewer and a layer viewer of a data processing software structure for data preprocessing of a Korean type water depth measurement equipment according to the present invention.
6 shows a status viewer of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
FIG. 7 is a flow chart illustrating a structure design of a data processing software structure for data preprocessing in a Korean type water depth surveying instrument according to the present invention.
FIG. 8 is a flowchart showing an execution concept of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
9 shows a drone as a means of flight of a data processing software structure for data preprocessing of a Korean type water depth surveying instrument according to the present invention.
Fig. 10 is a partial view showing the stereo camera unit of the drone shown in Fig. 9. Fig.
FIG. 11 is a state diagram showing the landing state of the dron according to FIG. 9; FIG.
Figure 12 is a first terrain landing state diagram of the drones of Figure 9;
Figure 13 is a second terrain landing state diagram of the drones of Figure 9;

Hereinafter, a data processing software structure (hereinafter briefly referred to as a 'data processing software system') for data preprocessing of a Korean type water depth surveying instrument according to the present invention will be described with reference to the accompanying drawings. Prior to the description, the user defined in the present invention is defined as an operator who knows the entire notice of the depth measurement using the flight means.

The data processing software system according to the present invention includes a main interface 100, a globe viewer 200, a layer viewer 300, and a status viewer 400 as shown in FIG. 1)

The main interface 100 includes a file input tab 110, a point creation tab 120 and a calibration dialog 130 for inputting and receiving various types of files required for data processing. (See Table 2). ≪ tb > < TABLE > Id = Table 2 Columns =

The file input tab 110 allows the user to perform synchronization by inputting an aerial photographed information file, a Smoothed Best Estimate of Trajectory (SBET) file, and a raw data file, etc., through an airborne depth measuring device. In this case, it is preferable that the file input tab 110 and the point creation tab 120, which will be described later, are separately configured on one screen of the main interface 100 and are output on the screen according to a click of the user. a)

In addition, the SBET file stores information about the position, speed, and posture (posture angle) of the air vehicle during post-processing time using the GPS, INS data, In the file input tab, a file capable of achieving different synchronization with the above-described SBET file is input, so that point data corresponding to each photographing position and attitude angle with respect to the aircraft can be acquired.

The point creation tab 110 receives a parameter for generating a point cloud file in the LAS format. In this case, the point creation tab 110 allows the user to separately input the system parameters related to the laser, the scanner, and the IMU, and the software parameters such as the atmospheric environment and the marine environment, so that the user can finally use the point data, (See Fig. 3 (b)).

In addition, the LAS format in the point creation tab is a commercial format that is typically used in the field of surveying, and a detailed description thereof will be omitted so as not to obscure the gist of the present invention.

The calibration dialog 130 is used to determine a parameter correction value related to the attitude (attitude angle) of the flying means by comparing the actually acquired data after inputting the file as a reference of the calibration (see FIG. 4)

As shown in FIG. 5, the globe viewer 200 is output as a post-process of the file input tab 110, and is linked with a web-based map AIP (air-position indicator) The vector file is displayed on the screen.

In addition, the data acquisition status and the flight information in the target area can be confirmed based on the position information of the file information inputted when the globe viewer 200 is called.

The layer viewer 300 displays the layer hierarchy of the files input by the user in the file input tab 110 in relation to data processing.

In addition, when the user selects a file, the user can check the metadata of the file at the bottom of the layer viewer 300 interface.

As shown in FIG. 6, the status viewer 400 outputs the raw data input through the file input tab 110, that is, information about data acquired through the airborne depth measuring equipment.

In addition, the status viewer 400 enables the user to check the accurate position and data acquisition status in the globe viewer when the user selects raw data of a desired path in the list of status viewers, A flight line, which is a movement path of the flight means, is set so that the flight can be simulated.

As shown in FIG. 7, the structure design of the data processing software according to the present invention includes a core package 500 including job control, data provision and point data generation, map control, spatial information format management, A common package 600 including information editing, point creation parameter management, and data correction (see Table 3).

In addition, the core package 500 performs overall interface, control, and functions of the software of the present invention. The common package 600 is a concept of an auxiliary (sub) system of the core package 500, .

Job control 510 is a module that provides a set of functions related to the interface and overall flow of the data processing software system of the present invention.

The data provision 520 provides a series of functions for managing image data, vector data, and spatial information input / output to / from software.

Point data generation 530 provides functions such as variable input and algorithm application for generating point data.

The map control 610 is a module for managing various functions for API interworking.

The spatial information format management module 620 is a module for managing various spatial information formats input to / output from the software of the present invention.

The shooting information editing 630 is a module for providing variables and functions necessary for editing the flight trajectory and the point creating area of the aircraft.

The point generation parameter management 640 manages variables and functions for converting a waveform input through shooting into point data.

Data correction 650 refers to managing variables and functions for calibration of temporarily generated point data.

In addition, the components connected to the external engine and the library during the structural design include a map control 610, a spatial information format management 620, a shooting information editing 630, and a data correction 650, and various spatial information editing libraries including an OpenGL engine It is designed to be able to serve various additional functions for the photographing design to the user.

Hereinafter, the execution concept of the preferred data processing software system of the present invention will be described with reference to the above-described configuration design, structural design, and attached drawings.

First, as shown in FIG. 8, when the user executes software, the main viewer, which is the job control, is outputted, and SBET data is inputted through the job control to generate point data. At this time, It is desirable to input data and vector data to provide additional information necessary for generating pointer data.

Then, the main viewer is outputted through the map control, and at the same time, a map provided by Google is displayed on the screen, and the spatial information selected by the user is output on the screen through data provision.

Then, through the point parameter management, the user inputs system parameter parameters, environmental parameter parameters, and water parameter parameters.

The user then enters the reference point data. At this time, the position and attitude angle of the point data generated by the user's selection is moved as necessary to store the data correction parameter.

Next, the drone (D), which is a flight means for directly measuring the water depth, will be described in detail in order to utilize the data processing software system according to the present invention.

Referring to FIG. 9, the drone D includes a drone, which is composed of a drone body 10 and a drone blade 20, is remotely controlled by a user and includes a GPS receiver, a distance sensor 112, A signal generator 116, and a camera 114 are mounted.

10, the drone 110 further includes a battery, a remote transmission / reception unit R, a flight control unit C, a water depth meter, and the like as other essential components.

Among them, the battery, the remote transmission / reception unit R, the flight control unit C, and the water depth meter are installed inside the drone D. The drone wings 20 are arranged at regular intervals along the upper circumference of the drone body 10 and are respectively connected to the rotary shaft of the electric motor.

In this case, a rechargeable secondary battery is used, and the power source of the battery supplies electric power to the electric motor to which the drone blade 20 is connected through an electric circuit such as a regulator, a power conversion unit and a speed control unit, A normal depth meter for measuring the depth of the survey target area by irradiating a laser beam having a straightness from above the sea surface is used.

The distance sensor S measures and outputs the distance between the object on the ground and the drones.

The first notification signal generator 811 compares an output value of the distance sensor S with a predetermined reference value and generates a first alarm signal when the output value is less than a reference value.

The generation of the first alarm signal means that there is a risk that the drones will collide close to the object on the ground.

The first alarm signal generated by the first alarm signal generator 811 is transmitted by the communication device of the drones to the terminal 120, i.e., the user terminal managing the flight design software according to the present invention.

The camera 812 acquires an image in front of the drones, and the acquired image is transmitted to the user terminal by the communication device so that the administrator can visually identify the captured image, and the user (operator) To control the drones.

The remote transceiver R performs radio frequency communication with the radio controller in the allocated band (2.4 GHz, 4 GHz, etc.) so that the manager can control the dron remotely from a distance and reach the survey target area, (C) independently controls driving and rotating speeds of the electric motor in accordance with the received control signal.

At this time, it is preferable that the user confirms coordinate values of the flight line designed for flight through the GPS receiver provided in the drones and the status viewer 400 described above, and the dron can move along the flight line to measure the depth of water.

Thus, by controlling a number of electric motors and remotely adjusting each of the drones 20, it is possible to take off and fly, the advantage being the same as a general drones. However, the dron to which the present invention is applied enables landing automatically according to the terrain of the landing point.

For this purpose, as shown in Figs. 9 and 10, the dron is divided into a first main camera 11-1, a second main camera 11-2, a first infrared camera 12-1, a second infrared camera 12-2 A stereo determination unit 14, a camera driving unit 15, a landing terrain reading unit 16, and a landing position reading unit 16, which are landing control units for reading landing points of the drones, A landing attitude control unit 17, and a main controller 18. [

At this time, the first main camera 11-1 shoots a landing spot directly underneath the drones waiting for landing, and the second main camera 11-2 shoots a landing spot existing under the drones waiting for landing, A line (L) is set apart and a landing spot directly below the dron is photographed.

The first infrared camera 12-1 photographs a landing spot directly underneath the drones waiting for landing, and the second infrared camera 12-2 photographs a landing spot located below the drones waiting for landing, L), and photographs the landing spot directly beneath the drones.

The first main camera 11-1 and the second main camera 11-2 correspond to a stereo camera used for day time, and the first main camera 11-1 corresponds to a left camera And the second main camera 11-2 captures an image corresponding to the right-eye image.

The first infrared camera 12-1 and the second infrared camera 12-2 correspond to a stereo camera used at night time, and the first infrared camera 12-1 corresponds to the left eye image And the second infrared camera 12-2 captures an image corresponding to the right-eye image.

The first main camera 11-1 and the second main camera 11-2 and the first infrared camera 12-1 and the second infrared camera 12-2 which are used at night are used in the mode And may be designated and used according to the user's selection through the determination unit 13. In some cases, the drones may automatically determine and operate the drones through a timer (not shown) mounted in the drones 110. [

As shown in the preferred embodiment, the first main camera 11-1 and the first infrared camera 12-1 are installed together in the first module unit 30-1 on the left side (drawing reference). The second main camera 11-2 and the second infrared camera 12-2 are installed together in the second module unit 30-2 on the opposite side.

Accordingly, the first main camera 11-1 and the second main camera 11-2 provided on the first module unit 30-1 and the second module unit 30-2 are spaced from each other, (L) '. Likewise, the first infrared camera 12-1 and the second infrared camera 12-2 are also spaced apart from each other by the baseline L.

The first module unit 30-1 and the second module unit 30-2 are installed on the left and right support arms 50-1 and 50-2 respectively connected to both sides of the actuator 40, A motor and gears for rotating the support arms 50-1 and 50-2.

Therefore, when the first module unit 30-1 and the second module unit 30-2 are rotated within a certain range (e.g., 360 degrees), the photographing is performed while looking at the ground during landing, .

Further, the driver 40 draws the support arms 50-1 and 50-2 outward or inward in a set range. The distance between the first module unit 30-1 and the second module unit 30-2 is adjusted when the support arms 50-1 and 50-2 are horizontally reciprocated by the actuator 40, The baseline L 'is adjusted.

As will be described below, the adjustment of the base line L enables the drone 110, which is waiting in the air for landing, to accurately photograph the ground surface shape in the three-dimensional manner with respect to the landing spot directly underneath.

On the other hand, the mode determination unit 13 determines whether the present time of the drones in flight is the daytime or the nighttime. The daytime or nighttime distinction is distinguished by the amount of light received by the camera 114 being photographed, and is divided into a daytime in which the visible light is abundant and a nighttime in which it is not.

Therefore, the stereoscopic vision technique is applied to the images photographed by the first main camera 11-1 and the second main camera 11-2, or the first infrared camera 12-1 and the second infrared camera 12-2 ), The stereovision technique is applied.

The mode determination unit 13 may be a conventional light amount sensor. Also, the first main camera 11-1 and the second main camera 11-2 may analyze the R / G / B pixels and the brightness of the image captured in real time without using a separate sensor.

The stereo vision processor 14 acquires a three-dimensional image of the landing spot by stereo-matching the left eye image and the right eye image together with the focal length of the camera, the photographing posture of the camera, and the spacing of the baseline (L).

In accordance with the determination of the stereovision processing unit 14, the left image (i.e., the left eye image) and the right image (i.e., right eye image) captured by the first main camera 11-1 and the second main camera 11-2 Image) to provide a three-dimensional image of the landing point.

On the other hand, if it is nighttime as a result of the determination by the mode determination unit 13, the left image photographed by the first infrared camera 12-1 and the right image photographed by the second infrared camera 12-2 are stereo- And provides a three-dimensional image.

In the case of using the infrared camera, the stereo information is estimated by performing stereo matching on the extracted regions from the left and right infrared camera images, which is more complicated in the process, and by using the camera parameters and time difference information, Three-dimensional topography can be provided.

The camera driver 15 adjusts at least one of the focus of the camera and the interval of the baseline L according to the three-dimensional image provided by the stereovision processor 14. Accordingly, the stereo vision processor 14 can provide a 'corrected three-dimensional image' having an optimal image quality.

This is similar to the auto-focus function and is determined by the height of the drones' landing clearance. It is also a function that is automatically controlled according to the size and shape of obstacles or terrain at the landing point.

12 (a) and 12 (b), when the drones 110 have arrived at the landing standby position, the stop heights H1 and H2 of the drones are also different from each other according to the altitude . Therefore, the camera driving unit 15 performs the correction operation for accurate image acquisition.

The camera focus is adjusted by adjusting the focal lengths of the first main camera 11-1, the second main camera 11-2, the first infrared camera 12-1, and the second infrared camera 12-2 And the interval of the baseline L adjusts the interval between the first module unit 30-1 and the second module unit 30-2 as described above.

When the camera driver 15 transmits a command to the actuator 40, the actuator 40 moves the support arms 50-1 and 50-2 to the first module unit 30-1 and the second module 30-1, (I.e., the baseline) between the portions 30-2 is adjusted.

Preferably, if the camera focal length for each camera is adjusted first and the image of the set quality is not obtained, the interval of the baseline L is adjusted to provide a 'corrected three-dimensional image'.

The landing terrain reading unit 16 analyzes the 'corrected three-dimensional image' as described above to determine whether there is an inclined terrain larger than the angle set at the landing point or whether there is an obstacle, and determines whether the terrain is landing possible.

For example, if there is a rock or a tree at the landing point, landing will cause the loss and damage of the drone. When landing on the sloping terrain, the drone dl falls and the rotating wing collides with the ground and a fire occurs due to overloading. Therefore, the landing terrain reading unit 16 confirms the landing point through the corrected three-dimensional image.

If the landing terrain reading unit 16 determines that the landing is impossible, it is possible to re-search the landing points while moving in the forward / backward / left / right directions and re-search if necessary.

For example, as shown in FIG. 13, when there is an obstacle at the current landing waiting position and there is a width or peak portion that the dron can not seat at the upper end of the obstacle, it is analyzed with a three-dimensional image to move to the side and make a normal landing .

In addition, although the dron according to the present invention is described in which the dron automatically checks an obstacle or the like at a landing point through the landing / landing reading unit 16, this is an embodiment, It is obvious that the user can directly adjust the drones through the corrected image of the point.

The landing position control unit 17 controls the plurality of the drones 20 according to the topographic characteristics of the landing point to adjust the dron's position when the landing terrain reading unit 16 determines that the landing terrain is landingable, And controls the rotation speed of the drone blade 20 to control the speed of the drone.

Therefore, even when the drones are far away from the user's terminal, it is possible to read the terrain of the landing point with the stereo camera of the drone and automatically select a safe place to land.

For example, as shown in FIG. 13, when the landing is not possible at the point A1 and the landing is possible at the point A2 and A3, the point A2 of the landing point can land the drones horizontally.

However, in the case of the A3 point with slight inclination, it is desirable to correct the posture. Even if the drones land on a slight slope without any change of posture, the slope can be inclined sideways due to collision with the ground. Therefore, the drones 20 are adjusted to adjust the posture horizontally on the slope.

The main controller 18 is provided for the overall control of the drone and includes the mode determination unit 13, the stereo vision processing unit 14, the camera driving unit 15, the landing terrain reading unit 16, The landing posture control unit 17, and the like.

The data processing software system according to the present invention having the above-described structure identifies the target area photographed by the user through the aviation surveying equipment in a screen different from the conventional one, and determines parameters necessary for data processing of the photographed area So that the user can easily process the data without disruption of the process necessary for data processing.

In addition, the drone, a flying means for measuring water depth, can be adjusted based on a flight line even at a long distance, and it is possible to read the obstacles in flight or at landing points, thereby achieving economical depth measurement.

The specific embodiments of the present invention have been described above. It is to be understood, however, that the spirit and scope of the invention are not limited to these specific embodiments, but that various changes and modifications may be made without departing from the spirit of the invention, If you are a person, you will understand.

Therefore, it should be understood that the above-described embodiments are provided so that those skilled in the art can fully understand the scope of the present invention. Therefore, it should be understood that the embodiments are to be considered in all respects as illustrative and not restrictive, The invention is only defined by the scope of the claims.

100: main interface 110: file input tab
120: Point creation tab 130: Calibration dialog
200: Global Viewer 300: Layer Viewer
400: Status Viewer 500: Core Package
510: job control 520: data provision
530: Generation of point data 600: Common package
610: Map Control 620: Manage Spatial Information Format
630: Editing shooting information 640: Pointer generation parameter
650: Data correction 10: Drone body
20: drone blade 30-1, 30-2:
40: actuators 50-1, 50-2: support arms
11-1: First main camera 11-2: Second main camera
12-1: first infrared camera 12-2: second infrared camera
13: Mode determination unit 14: Stereo vision processor
15: camera driving unit 16: landing terrain reading unit
17: landing attitude control unit 18: main controller
C: Flight Control Department D: Drones

Claims (1)

A main interface 100 for receiving and synchronizing SBET files and raw data files necessary for processing data photographed by the aerial measurement equipment mounted on the flight means; A globe viewer (200) for displaying an image and a vector file of a corresponding target area in cooperation with data processed by the main interface (100) and an air position indicator (AIP); A layer viewer 300 for displaying the layer hierarchy of the SBET file and the raw data file input through the main interface 100 so as to be able to check the layer hierarchy; And a status viewer (400) for outputting information on the original data file input to the main interface (100) on a screen, wherein the drone flight device (400) includes data processing software for data preprocessing In this case,
The SBET file is a file that stores information on the position, speed, and attitude (attitude angle) of the flying means during shooting time using GPS and INS data at the time of shooting at the time of shooting of the target area,
The flying means includes a first main camera 11-1 for photographing a landing spot directly underneath the dron using the drones D and waiting for landing in the daytime, A second main camera 11-2 which is spaced apart from the baseline L by a predetermined distance L and photographs a landing spot immediately below the drones, A first infrared camera 12-1 for photographing a point located at a lower portion of the drones and a base line L set from the first infrared camera 120-1, A second infrared camera 12-2, a mode determination unit 13 for determining whether the present time of the drones is in flight during the day or night, Left side image and the right side image taken by the second main camera 11-2 A left image photographed by the first infrared camera 12-1 and a right image photographed by the second infrared camera 12-2 are provided at a time of night, A stereoscopic vision processor 14 for stereoscopically matching the landing spot to provide a three-dimensional image of the landing spot, and at least one of a focal point of the camera and an interval of the baseline L according to the three- A camera driver (15) for providing a three-dimensional image corrected by the stereovision processor (14) by automatically adjusting one or more images; a camera driver (15) for analyzing the corrected three- A landing terrain reading unit 16 for analyzing whether there is a terrain or an obstacle and determining whether the terrain is a landing terrain, The control unit controls the plurality of drones 20 according to the topographic characteristics of the landing point analyzed through the corrected three-dimensional image to adjust the posture of the drones 20, And a landing position control unit (17) for controlling a rotating speed of the drones to control a landing speed of the drones,
Wherein the drone ascertains coordinate values of a flight line designed to fly through the GPS receiver provided in the interior and the status viewer 400 so that the drone moves along the flight line to measure the depth of the water, Drone flight device with data processing software for data preprocessing of surveying equipment.

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