CN103728637A - Farmland operation area boundary point and unmanned helicopter position point drawing method - Google Patents

Farmland operation area boundary point and unmanned helicopter position point drawing method Download PDF

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CN103728637A
CN103728637A CN201410002048.6A CN201410002048A CN103728637A CN 103728637 A CN103728637 A CN 103728637A CN 201410002048 A CN201410002048 A CN 201410002048A CN 103728637 A CN103728637 A CN 103728637A
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point
coordinate system
coordinate
frontier
farmland operation
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CN103728637B (en
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谭冠政
刘振焘
肖斯诺
胡建中
黄宇
李凯
旷世
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Central South University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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Abstract

The invention discloses a farmland operation area boundary point and unmanned helicopter position point drawing method. The method includes the steps of determining an appropriate coordinate transformation system according to longitude and latitude information uploaded to a mobile device through a GPS module and a handheld GPS device which are carried by an unmanned helicopter, correctly expressing a farmland operation area boundary point, represented by the longitude transmitted by the handheld GPS device and the latitude transmitted by the handheld GPS device, as a coordinate point in a two-dimensional rectangular coordinate system with scales, drawing a farmland operation area boundary on a screen display program of the mobile device, converting the point represented by the longitude transmitted by the handheld GPS device of the unmanned helicopter and the latitude transmitted by the handheld GPS device of the unmanned helicopter into the coordinate point in the two-dimensional rectangular coordinate system where a farmland operation area is located, and drawing the real-time flight path of the unmanned helicopter. The farmland operation area boundary drawn through the method is extremely high in accuracy, good in instantaneity and high in reliability; the operation difficulty of an unmanned helicopter controller is greatly lowered, the air safety coefficient of the unmanned helicopter is increased, and the mechanical work efficiency is improved.

Description

A kind of farmland operation zone boundary point and depopulated helicopter location point drawing practice
Technical field
The present invention relates to a kind of farmland operation zone boundary point and depopulated helicopter location point drawing practice.
Background technology
Under the carrying forward vigorously of the Ministry of Agriculture, in recent years China ploughing, broadcast, the Mechanization Level such as receipts had showing and improved, but pesticide spraying (particularly paddy rice pesticide spraying), substantially still traditional manual operation.China Shi Yige large agricultural country, how effectively to prevent agricultural pest to become one of important goal of China's agricultural production, particularly in country, advocate energetically in the process of promoting green agriculture, precision agriculture, the low cost of applicable China rural situation, pesticide spraying machineryization and robotization accurate, high-environmental become a requisite technology, and utilize small-sized depopulated helicopter to carry out pesticide spraying, are the optimal selections of pesticide spraying machineryization.
Under current China rural condition, using miniature self-service driving helicopter to spray insecticide is the more real a kind of feasible method in China, particularly southern area.Not only speed is fast for unmanned pesticide spraying helicopter, and uses ultra-low volume pesticide spraying, saves agricultural chemicals and water resource, reduces residues of pesticides and the environmental pollution of crops, and operated from a distance can also reduce the injury to dispenser personnel.Be adapted to various landform, meet city's road present situation, join a table top hired car and just can realize trans-regional operation.
In order effectively to have promoted the intensive style agricultural of low-cost high yield and the common development of environmentally friendly agricultural, at present, the sprinkling of the chemicals such as Insecticides (tech) & Herbicides (tech) and chemical fertilizer and use all need designed accurately and control.Utilize GPS accurately to draw out farmland area map, for depopulated helicopter spraying operation, the place that just can make chemicals only be sprayed to need, not only cost-saving but also protection of the environment.
At present, the civilian depopulated helicopter of China is in the initial development stage, aircraft is controlled the sprinkling situation that situation that hand sees on can only be by naked eyes when operating aircraft is observed aircraft, for larger farmland or the comparatively complicated farmland of landform, need on the border in farmland, arrangement personnel command airplane operation hand, guarantee the aircraft balk that can not fly out.So both increase human cost, there is no again good real-time, reduced the efficiency of mechanical work.
The step that the patent of Beijing Research Center for Agriculture Information Technology " gathers the method for farmland key point survey and mapping " is: step 1: obtain GPS positional information; Step 2: sketch the contours region contour to be measured; Step 3: the crucial separation in mapping farmland, and mark plot title and annotation; Step 4: in real time verification, point out and cut apart farmland; Step 5: upload surveying and mapping data; Step 6: obtain map vector.
Wherein step 2(sketches the contours region contour to be measured) specific implementation process be: 2) obtain positional information: a) wait for that search star instruction obtains positional information; B) obtain online remote sensing figure (for auxiliary mapping); C) obtain previously data (being applicable to increment mapping).
The hand of controlling of depopulated helicopter can be by observing while controlling depopulated helicopter the mode that this mode obtains profile diagram, the current aircraft of guestimate residing position and judge roughly the aircraft farmland operation region that whether flown out on map.
Obviously, existing technology, no matter from practicality, reliability and precision, all exists deficiency.
The farmland operation region contour figure that utilizes the auxiliary surveying and mapping technology of remote sensing figure to draw is a static map, for depopulated helicopter, control hand, the subsidiary function of this map can only provide a rough reference, in most cases, depopulated helicopter control hand still can only by oneself experience and intuition or in farmland operation zone boundary, arrange the mode of staff to judge the depopulated helicopter farmland operation zone boundary that whether flown out, neither directly perceived, unreliable again.
Summary of the invention
Technical matters to be solved by this invention is, not enough for prior art, a kind of farmland operation zone boundary point and depopulated helicopter location point drawing practice are provided, draw the farmland operation zone boundary that precision is high, real-time good, reliability is high, reduce depopulated helicopter and control the operation easier of hand, improve the flight safety coefficient of depopulated helicopter.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of farmland operation zone boundary point and depopulated helicopter location point drawing practice, and the method is:
1) receive longitude coordinate, the latitude coordinate of longitude coordinate, latitude coordinate and depopulated helicopter current location point that uploads to the frontier point in the polygon farmland operation region mobile device from GPS equipment, and according to the longitude coordinate of the frontier point in farmland operation region and depopulated helicopter current location point and latitude coordinate, set up polar coordinate system A, positioning boundary point and depopulated helicopter current location point in described polar coordinate system A; Wherein said frontier point refers to polygonal summit, farmland operation region;
2) take the pole axis of above-mentioned polar coordinate system A is X-axis forward, and α=90 ° direction is Y-axis forward, and described polar coordinate system A is converted into rectangular coordinate system B; Wherein α represents line and the pole axis angle in the counterclockwise direction of certain frontier point and described polar coordinate system A initial point;
3) by the X-axis of above-mentioned rectangular coordinate system B and Y-axis translation, obtain the rectangular coordinate system B ' after translation, make all first quartiles of the rectangular coordinate system B ' after translation of all frontier points and depopulated helicopter current location point;
4) system coordinate system using rectangular coordinate system O as mobile device, described rectangular coordinate system O refers to the coordinate system oppositely consisting of X-axis forward and Y-axis; Utilize following formula conversion rectangular coordinate system O, obtain the system coordinate system O ' of actual mobile device:
x ′ = x + baseX ; y ′ = n - baseY ;
Wherein, (x', y') is that the point (x, n) in rectangular coordinate system O is transformed into the coordinate after the system coordinate system of actual mobile device, (baseX, baseY) is transformed into the coordinate after the system coordinate system O ' of actual mobile device for the initial point of rectangular coordinate system O;
5) all frontier points in B ' in the rectangular coordinate system after translation in step 3) and depopulated helicopter current location point correspondence are plotted on the system coordinate system O ' of actual mobile device.
In the present invention, polygon farmland operation region is quadrilateral farmland operation region.
In described step 1), in described polar coordinate system, the method for positioning boundary point is:
1) obtain four, region of described quadrilateral farmland operation frontier point a, b, c, the longitude coordinate of d and latitude coordinate; The true origin that frontier point a is decided to be to polar coordinate system A;
2) utilize above-mentioned four frontier point a, b, c, the longitude coordinate of d and latitude coordinate, difference computation bound point a and frontier point b, c, the distance between d;
3) utilize above-mentioned four frontier point a, b, c, the longitude coordinate of d and latitude coordinate, difference computation bound point b, c, d is with respect to the position angle of frontier point a;
4) according to above-mentioned steps 3) the frontier point b that calculates, c, d, with respect to the position angle of frontier point a, obtains respectively frontier point b in polar coordinate system, c, the polar angle of d;
5) utilize above-mentioned steps 2) and definite distance and the polar angle of step 4), in polar coordinate system A, mark four frontier point a, b, c, d.
By four frontier point a, b, c, the detailed process that d moves to the rectangular coordinate system B ' after translation is: make four frontier point a, b, c, the coordinate of d in rectangular coordinate system B is respectively a (x a, y a), b (x b, y b), c (x c, y c), d (x d, y d), judge four frontier point a, b, c, the x coordinate figure of d in rectangular coordinate system B is less than the x coordinate of 0 frontier point, is designated as x min, by four frontier point a, b, c, x coordinate and the x of d in rectangular coordinate system B minabsolute value be added; Judge four frontier point a, b, c, the y coordinate figure of d in rectangular coordinate system B is less than the y coordinate of 0 frontier point, is designated as y min, by four frontier point a, b, c, y coordinate and the y of d in rectangular coordinate system B minabsolute value be added.
Compared with prior art, the beneficial effect that the present invention has is: drawing practice of the present invention is simple, utilizes GPS equipment, and in conjunction with coordinate transform of the present invention, the farmland operation zone boundary precision of drawing out is high, and real-time is good, and reliability is high; Utilize method of the present invention, can also by the current position of depopulated helicopter and farmland operation region, on a figure, real-time rendering be out, short and sweet, greatly reduce depopulated helicopter and control the operation easier of hand, prevent the depopulated helicopter farmland operation zone boundary that flies out, improve the flight safety coefficient of depopulated helicopter, thereby improved the efficiency of mechanical work.
Accompanying drawing explanation
Fig. 1 is one embodiment of the invention farmland operation area schematic;
Fig. 2 is one embodiment of the invention method flow diagram;
Fig. 3 is polar coordinates schematic diagram;
Fig. 4 is that one embodiment of the invention is set up polar coordinate system method flow diagram according to frontier point longitude coordinate and latitude coordinate;
Fig. 5 is that process flow diagram is calculated at one embodiment of the invention position angle;
Fig. 6 be one embodiment of the invention by frontier point coordinate setting the design sketch on polar coordinates;
Fig. 7 is that the translation of one embodiment of the invention rectangular coordinate system makes all method flow diagrams in first quartile of four frontier points;
Fig. 8 is the system coordinate system conversion schematic diagram of mobile device;
Fig. 9 is that the real-time flight path of depopulated helicopter is drawn design sketch.
Embodiment
As shown in Figure 1, the quadrilateral field boundary of arbitrary shape is take in the present invention, and to draw farmland operation region be example, supposes farmland operation region as shown in Figure 1.A wherein, b, c, d is frontier point.
Method flow diagram of the present invention as shown in Figure 2, is specifically divided into following four steps:
Step 1: receive and upload to longitude and the latitude coordinate of the field boundary point mobile device from handhold GPS equipment, and set up according to this polar coordinate system frontier point is located successively, note is coordinate system A.
In polar coordinate system, make a point and need two parameter: f (ρ, α)=0.Wherein ρ represents that certain point is apart from the distance (pole span) of the initial point O of polar coordinates A, and α represents line and the pole axis angle (polar angle) in the counterclockwise direction of certain point and initial point O.As shown in Figure 3.
First, the longitude of 4 frontier points of acquisition and latitude coordinate are respectively:
a(lnga,lata),b(lngb,latb),c(lngc,latc),d(lngd,latd)。Lng represents longitude, and lat represents latitude.Because the earth is the spheroid of an intimate standard, its equatorial radius is 6378.140 kms, and polar radius is 6356.755 kms, mean radius 6371.004 kms.At this, suppose that the earth is a perfect spheroid, its radius is exactly the mean radius of the earth so, is designated as R.According to the benchmark of 0 degree warp, regulation east longitude degree of learning from else's experience on the occasion of (Longitude), west longitude degree of learning from else's experience negative value (Longitude), north latitude is got 90-latitude value (90-Latitude), south latitude is got 90+ latitude value (90+Latitude).
The mentality of designing of setting up polar coordinates algorithm according to frontier point longitude and latitude value is: a point is decided to be to the true origin of polar coordinates A, then calculates b, c, these polar coordinates of 3 of d in A coordinate system.Owing to locating a point in polar coordinates, need two parameter ρ and α.So, next only need to try to achieve the orientation (polar angle) that distance (utmost point footpath) that b, c, these three points of d and a order and this three points are ordered with respect to a.
Method flow diagram is shown in Fig. 4.
1. the distance between calculating at 2 according to the longitude of 2 and latitude.
At spherical geometry, ask on sphere and in the bee-line between 2, have direct computing formula, see formula one:
S = 2 arcsin sin 2 m 2 + cos ( Lat 1 ) × cos ( Lat 2 ) × sin 2 n 2 × 6378.137
(formula one: 2 bee-line formula on sphere)
Wherein,
1.Lng1, Lat1 represents longitude and the latitude that a is ordered, Lng2, Lat2 represents longitude and the latitude that b is ordered;
2.m=Lat2-Lat1 is the poor of 2 latitudes, and n=Lng2-Lng1 is the poor of 2 longitudes;
3.6378.137 be earth radius, unit is km;
The result of calculating (being S) unit is km.
Use this formula, bring longitude and the latitude value of any two points into and can obtain distance between two points.
In the present invention, field boundary need to be take rice as unit count, so finally also will add scale transformation, retains the precision of 0.1m.When program realizes, after calculating distance according to formula, as long as add a step: result of calculation S is multiplied by 10000 and then rounds, then divided by 10, transform by take severals S that km is unit apart from result of calculation the number that as 0.1 meter, unit is meter for precision.
2. according to longitude and the latitude of, calculate the position angle of second point with respect to first at 2.
In spherical geometry, according to the sphere cosine law, known 2 longitudes and latitude can be obtained their central angle, see formula two:
△σ=arccos(sinφ 1sinφ 2+cosφ 1cosφ 2cos△λ)
(formula two: the sphere cosine law)
λ wherein 1, φ 1and λ 2, φ 2be respectively a little 1 and longitude and the latitude of point 2.△ λ, △ φ be respectively a little 2 and point 1 between difference of longitude and difference of latitude.
And then according to the position angle of spherical geometry, calculate formula and try to achieve a little 2 position angles with respect to point 1:
ang = arcsin ( cos λ 2 sin ( φ 2 - φ 1 ) sin 2 Δσ )
(formula three: sphere top parallactic angle computing formula)
Azimuth calculation method process flow diagram as shown in Figure 5.
3. according to b, c, 3 position angles of ordering with respect to a of d, obtain the polar angle of 3 of b, c in polar coordinate system A, d.
Because position angle is to take real north as initial angle (position angle is 0), clockwise turn to forward; And in polar coordinate system A, initial angle (polar angle is 0) is pole axis.If in regulation polar coordinate system A, α=90 ° overlap completely with real north, position angle d is transformed into the computing formula of polar polar angle α and is so:
α=90-d
This conversion formula is all applicable in d ∈ (0,360).
So far, just can in polar coordinates A, make a, b, c, tetra-frontier points of d.From polar process of establishing, the coordinate of making to these points is all very accurate relative coordinates of a relative distance and relative orientation.Actual effect as shown in Figure 6.
Step 2: take pole axis as X-axis forward, α=90 ° direction is Y-axis forward, and polar coordinate system A is converted into rectangular coordinate system B, then makes all first quartiles of the rectangular coordinate system B ' after translation of four frontier points by the X-axis of B coordinate system and Y-axis translation.
1. polar coordinates are converted to rectangular coordinate.
Four some a, b, c, d in step 1, longitude and latitude having been represented have been placed in polar coordinate system A, and their coordinate is respectively a (ρ a, α a), b (ρ b, α b), c (ρ c, α c), d (ρ d, α d).
Coordinate points in polar coordinate system is converted to the conversion formula of the coordinate points in corresponding rectangular coordinate system and sees formula four:
x = ρ cos α y = ρ sin α
(formula four: polar coordinates convert rectangular coordinate formula to)
2. rectangular coordinate system translation makes four frontier points all in first quartile.
Polar coordinates are converted into after rectangular coordinate, and the coordinates table that a, b, c, d are 4 is shown a (x a, y a), b (x b, y b), c (x c, y c), d (x d, y d).Suppose a translation m unit under X axis, the y coordinate that is equivalent to all coordinate points becomes y+m, n unit of X axis left, the x coordinate that is equivalent to all coordinate points becomes x+m, in order to allow four frontier points all in first quartile, as long as the x coordinate of four points is all added to x minimum in the x coordinate that is less than 0 sits the absolute value of target value | x min|, the y coordinate of four points is all added to y coordinate is less than the absolute value that 0 minimum y sits target value | y min|.Algorithm flow chart as shown in Figure 7.
Step 3: draw the final coordinate showing in the system coordinates of mobile device.
As shown in Figure 8, rectangular coordinate system O is the system coordinate system of mobile device, this coordinate system does not also meet routine use custom, so in step 2 to B ' coordinate system to be directly plotted in mobile device system coordinate system O(coordinate axis and scale be inner can not being presented in screen display program of using of program) in be inappropriate, the coordinate system that is actually used in displaying should be used as the represented coordinate system O ' of X ' O ' Y ' in Fig. 8.
First, according to actual displayed effect, determine that O ' initial point is arranged in the coordinate of coordinate system O, is assumed to be (baseX, baseY).So, the conversion formula from O coordinate to O ' just can be write as:
x ′ = x + baseX ; y ′ = n - baseY ;
Step 4: should be plotted on O ' coordinate system obtaining all-pair in B ' coordinate system in step 4.
When unmanned helicopter flight operation, only need to send gps signal to mobile device by Airborne GPS equipment, by the depopulated helicopter current location point representing with longitude and latitude, the step 1 repeating in 1 is processed to the algorithm of step 4, the real-time track points that longitude and latitude represents has just correctly converted the point that the rectangular coordinate in mobile device screen display program is fastened to, so it is upper just to may be plotted in the coordinate system O ' of displaying.The real-time flight path of depopulated helicopter is drawn, as shown in Figure 9.
The present invention controls the GPS information of the farmland operation zone boundary point that mobile device (as panel computer, smart mobile phone) that hand carries sends to depopulated helicopter by hand-held high-precision GPS equipment, the coordinate conversion system proposing through the present invention is processed, the farmland operation zone boundary point that longitude and latitude is represented converts the point that the rectangular coordinate in mobile device screen display program is fastened to, and then line is drawn out farmland operation zone boundary.
The farmland operation zone boundary precision high (position is accurate to 0.1m) that this mode is drawn, real-time good (measure at any time and become at any time figure), reliability is high.
The gps signal that depopulated helicopter sends in real time aircraft current location by Airborne GPS equipment when flight operation is to mobile device, the coordinate conversion system that mobile device just can utilize the present invention to propose again, converts the position coordinates of the depopulated helicopter representing with longitude and latitude to point that the rectangular coordinate in mobile device screen display program is fastened.So, the position that depopulated helicopter is current and farmland operation region just can be on a figure real-time rendering out, depopulated helicopter is controlled hand and is just only needed to observe the flow diagram in screen display program on mobile device, just can judge intuitively whether aircraft flies in correct farmland operation region.
Come by this way to assist depopulated helicopter to control manual manipulation, short and sweet, greatly reduce the operation easier that depopulated helicopter is controlled hand, improved the flight safety coefficient of depopulated helicopter.

Claims (4)

1. farmland operation zone boundary point and a depopulated helicopter location point drawing practice, is characterized in that, the method is:
1) receive longitude coordinate, the latitude coordinate of longitude coordinate, latitude coordinate and depopulated helicopter current location point that uploads to the frontier point in the polygon farmland operation region mobile device from GPS equipment, and according to the longitude coordinate of the frontier point in farmland operation region and depopulated helicopter current location point and latitude coordinate, set up polar coordinate system A, positioning boundary point and depopulated helicopter current location point in described polar coordinate system A; Wherein said frontier point refers to polygonal summit, farmland operation region;
2) take the pole axis of above-mentioned polar coordinate system A is X-axis forward, and α=90 ° direction is Y-axis forward, and described polar coordinate system A is converted into rectangular coordinate system B; Wherein α represents line and the pole axis angle in the counterclockwise direction of certain frontier point and described polar coordinate system A initial point;
3) by the X-axis of above-mentioned rectangular coordinate system B and Y-axis translation, obtain the rectangular coordinate system B ' after translation, make all first quartiles of the rectangular coordinate system B ' after translation of all frontier points and depopulated helicopter current location point;
4) system coordinate system using rectangular coordinate system O as mobile device, described rectangular coordinate system O refers to the coordinate system oppositely consisting of X-axis forward and Y-axis; Utilize following formula conversion rectangular coordinate system O, obtain the system coordinate system O ' of actual mobile device:
x ′ = x + baseX ; y ′ = n - baseY ;
Wherein, (x', y') is that the point (x, n) in rectangular coordinate system O is transformed into the coordinate after the system coordinate system of actual mobile device, (baseX, baseY) is transformed into the coordinate after the system coordinate system O ' of actual mobile device for the initial point of rectangular coordinate system O;
5) all frontier points in B ' in the rectangular coordinate system after translation in step 3) and depopulated helicopter current location point correspondence are plotted on the system coordinate system O ' of actual mobile device.
2. farmland operation zone boundary point according to claim 1 and depopulated helicopter location point drawing practice, is characterized in that, described polygon farmland operation region is quadrilateral farmland operation region.
3. farmland operation zone boundary point according to claim 2 and depopulated helicopter location point drawing practice, is characterized in that, in described step 1), in described polar coordinate system, the method for positioning boundary point is:
1) obtain four, region of described quadrilateral farmland operation frontier point a, b, c, the longitude coordinate of d and latitude coordinate; The true origin that frontier point a is decided to be to polar coordinate system A;
2) utilize above-mentioned four frontier point a, b, c, the longitude coordinate of d and latitude coordinate, difference computation bound point a and frontier point b, c, the distance between d;
3) utilize above-mentioned four frontier point a, b, c, the longitude coordinate of d and latitude coordinate, difference computation bound point b, c, d is with respect to the position angle of frontier point a;
4) according to above-mentioned steps 3) the frontier point b that calculates, c, d, with respect to the position angle of frontier point a, obtains respectively frontier point b in polar coordinate system, c, the polar angle of d;
5) utilize above-mentioned steps 2) and definite distance and the polar angle of step 4), in polar coordinate system A, mark four frontier point a, b, c, d.
4. farmland operation zone boundary point according to claim 3 and depopulated helicopter location point drawing practice, it is characterized in that, by four frontier point a, b, c, the detailed process that d moves to the rectangular coordinate system B ' after translation is: make four frontier point a, b, c, the coordinate of d in rectangular coordinate system B is respectively a (x a, y a), b (x b, y b), c (x c, y c), d (x d, y d), judge four frontier point a, b, c, the x coordinate figure of d in rectangular coordinate system B is less than the x coordinate of 0 frontier point, is designated as x min, by four frontier point a, b, c, x coordinate and the x of d in rectangular coordinate system B minabsolute value be added; Judge four frontier point a, b, c, the y coordinate figure of d in rectangular coordinate system B is less than the y coordinate of 0 frontier point, is designated as y min, by four frontier point a, b, c, y coordinate and the y of d in rectangular coordinate system B minabsolute value be added.
CN201410002048.6A 2014-01-03 2014-01-03 A kind of farmland operation zone boundary point and depopulated helicopter location point drawing practice Expired - Fee Related CN103728637B (en)

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