CN103412568A - Method for obtaining remote-sensing images by same-sortie variable-flight-height unmanned aerial vehicle - Google Patents
Method for obtaining remote-sensing images by same-sortie variable-flight-height unmanned aerial vehicle Download PDFInfo
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Abstract
Provided is a method for obtaining remote-sensing images by a same-sortie variable-flight-height unmanned aerial vehicle. The method comprises an unmanned aerial vehicle body, an unmanned aerial vehicle flight height control module and aerial photography equipment carried by the unmanned aerial vehicle body. The method is characterized in that in the flying process of the unmanned aerial vehicle, the flight height of the unmanned aerial vehicle is dynamically adjusted according to changes of heights of terrains. The method has the advantages that under the condition that the take-off and landing times are reduced, the situation that the ground resolution of the images is in a good state is effectively guaranteed, meanwhile, consistency of the ground resolution of the different images is good, and processing difficulty of the images in the later period is reduced.
Description
Technical field
The present invention relates to a kind of employing unmanned plane and carry out aerophotographic technology, relate in particular to a kind of same sortie and become flying height unmanned aerial vehicle remote sensing images acquisition methods.
Background technology
Undertaking of surveying and mapping is as one in social development and economic construction early stage property, basic work, and the town and country overall planning in area, mountain region and new countryside construction etc. all are of great practical significance; The unmanned plane technology is the emerging technology of rising in recent years, than before boat take the photograph the operation means, adopt unmanned plane to navigate and take the photograph have low cost, easy to operate advantage;
In prior art, the unmanned plane technology has been used in the mapping operation, but current applied environment also only limits to the remote sensing image of plains region is obtained, this is mainly because the plains region landform is comparatively mild, under the condition of not considering weather effect, unmanned plane is navigating to plains region while taking the photograph, and the relative height on unmanned plane and ground can maintain metastable height, obtaining the ground resolution of image can be controlled preferably, and interior industry is processed relatively easy;
For Mountainous Regions, because topographic relief is larger, the relative height on unmanned plane and ground is the dynamic change state, and relative height is the key factor that affects image resolution, therefore, in prior art, when unmanned plane is taken the photograph for the mountain area boat, exist the ground resolution ginseng of aerial stereo images inferior uneven, in-and-out situation, this has not only increased the difficulty of interior industry Image Matching, and in order to guarantee the consistance of ground resolution, need to drive more time ground frequently the landing unmanned plane to what the same area carried out differing heights, repeat to take operation, troublesome poeration, equipment loss is serious, and the increase of driving along with taking off time, the probability of appearance accident also increases relatively.
Summary of the invention
For the problem in background technology, the present invention proposes a kind of boat takes the photograph in unmanned plane aeroplane photography with sortie change flying height control method, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, its innovation is: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
After adopting aforementioned schemes, can be in the unmanned plane during flying process, according to theoretical ground resolution, dynamically regulate the flying height of unmanned plane, make the relative height on unmanned plane and ground maintain metastable state, guarantee that ground resolution meets the demands, avoid the same area is repeatedly repeated to take, the ground resolution that has also guaranteed simultaneously different images is relatively consistent, the difficulty of industry image processing in reducing.For the concrete regulating measure of unmanned plane during flying height, adopt existing unmanned plane during flying attitude control technology to realize, do not repeat them here.
In order further to improve the relative stability of the relative height on unmanned plane and ground, the present invention has also done following improvement: when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H in step 3):
ΔH=h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1=H0+ΔH。
After adopting this to improve, unmanned plane during flying height control module can be regulated the flying height of unmanned plane quantitatively according to Δ H, accurately controlled with the flying height that guarantees unmanned plane.
For fear of frequent adjusting of flying height caused controlling difficulty, increase, the present invention has also done following improvement: in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
Based on aforementioned schemes, the invention allows for a kind of same sortie and become flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of its flying height so:
ΔH=h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
Preferably, in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
Useful technique effect of the present invention is: under the condition that reduces the landing number of times, guarantee that effectively visual ground resolution is in better state, simultaneously, also make the consistance of the visual ground resolution of ground difference better, reduce the difficulty of later stage image processing.
Embodiment
A kind of boat is taken the photograph in unmanned plane aeroplane photography and is become the flying height control method with sortie, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, its innovation is: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
Further, in step 3), when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H:
ΔH=h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1=H0+ΔH。
Further, in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
A kind of same sortie becomes flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of its flying height so:
ΔH=h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
Further, in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
Claims (5)
1. a boat is taken the photograph in unmanned plane aeroplane photography and is become the flying height control method with sortie, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, it is characterized in that: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
2. boat according to claim 1 is taken the photograph with unmanned plane and is become the flying height control method with sortie, it is characterized in that: when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H in step 3):
ΔH=h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1=H0+ΔH。
3. boat according to claim 1 is taken the photograph with unmanned plane and is become the flying height control method with sortie, it is characterized in that: in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
4. one kind becomes flying height unmanned aerial vehicle remote sensing images acquisition methods with sortie, it is characterized in that:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of flying height so:
ΔH=h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
5. same sortie according to claim 4 becomes flying height unmanned aerial vehicle remote sensing images acquisition methods, it is characterized in that: in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
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CN107065932A (en) * | 2017-06-15 | 2017-08-18 | 西安电子科技大学 | A kind of the condition of a disaster detects the control method of four rotor wing unmanned aerial vehicles |
CN107131877A (en) * | 2016-02-29 | 2017-09-05 | 星克跃尔株式会社 | Unmanned vehicle course line construction method and system |
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CN108475071A (en) * | 2017-06-29 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method, control terminal and its control method |
CN108562279A (en) * | 2018-03-06 | 2018-09-21 | 平湖市城工建设测绘设计有限责任公司 | A kind of unmanned plane mapping method |
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CN107065932A (en) * | 2017-06-15 | 2017-08-18 | 西安电子科技大学 | A kind of the condition of a disaster detects the control method of four rotor wing unmanned aerial vehicles |
CN108475071A (en) * | 2017-06-29 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method, control terminal and its control method |
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CN108562279B (en) * | 2018-03-06 | 2021-06-22 | 平湖市城工建设测绘设计有限责任公司 | Unmanned aerial vehicle surveying and mapping method |
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CN109000524B (en) * | 2018-08-09 | 2021-11-05 | 长安大学 | Boundary control blasting method for reducing over-excavation and under-excavation |
CN111367302A (en) * | 2020-03-03 | 2020-07-03 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
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