CN103884335A - Remote sensing and photographic measurement positioning method based on two-dimension code geographic information sign - Google Patents
Remote sensing and photographic measurement positioning method based on two-dimension code geographic information sign Download PDFInfo
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- CN103884335A CN103884335A CN201410140605.0A CN201410140605A CN103884335A CN 103884335 A CN103884335 A CN 103884335A CN 201410140605 A CN201410140605 A CN 201410140605A CN 103884335 A CN103884335 A CN 103884335A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention provides a remote sensing and photographic measurement positioning method based on a two-dimension code geographic information sign. The remote sensing and photographic measurement positioning method comprises the following steps: carrying out encoding data processing on each remote sensing and photographic measurement control point with coordinate and attribute information to generate two-dimension code geographic information; making the two-dimension code geographic information into a material capable of being identified by remote sensing and photographic measurement equipment and mounting the material on a corresponding ground control point; photographing a plurality of images with two-dimension code control points by using photographing equipment and extracting coordinates and attributes of the control points by using software; and working out a target point coordinate of an object to be tested by using an explanation aerial triangulation method. According to the remote sensing and photographic measurement positioning method based on the two-dimension code geographic information sign, the working efficiency of remote sensing and photographic measurement can be greatly improved.
Description
Technical field
The present invention relates to Quick Response Code, mapping and geographical information technology field, particularly remote sensing and camera work field.Particularly, the present invention relates to a kind of remote sensing and photogrammetric localization method and system based on Quick Response Code geography information mark.
Background technology
Remote sensing and photogrammetric technology are a kind of spatial information obtaining means efficiently, along with the development of carrying platform, this technology application is also more and more wider, such as satellite remote sensing, photogrammetric measurement, unmanned aerial vehicle low altitude photogrammetry, vehicle-mounted mobile measuring system and close-range photogrammetry etc.But remote sensing and photogrammetricly need to have some reference mark fixing, known coordinate as survey mark, could finally calculate the absolute coordinate space of measured object.But existing method needs manual intervention to mate in the process of resolving, this just need to expend a large amount of man-hours, has the problem that inefficiency, automaticity are not high.
Summary of the invention
Object of the present invention is intended at least solve one of described technological deficiency.
For this reason, one object of the present invention is to propose a kind of remote sensing and photogrammetric localization method based on Quick Response Code geography information mark, and the method can improve remote sensing and photogrammetric work efficiency.
To achieve these goals, the invention provides one based on the mark remote sensing of Quick Response Code geography information and photogrammetric localization method, comprise the steps:
Coded data processing generation Quick Response Code geography information is carried out in each remote sensing and photogrammetric reference mark with coordinate and attribute information;
Quick Response Code geography information is made to the material that remote sensing and photogrammetric equipment can identify and is arranged in corresponding ground control point;
Utilize capture apparatus to take the image at multiple reference mark with 2 D code information, and extract coordinate and the attribute at described reference mark;
Adopt and explain that aerotriangulation method calculates the coordinate of ground point of measured object.
In one embodiment of the invention, the measurement period that described attribute information is described reference mark.
In another embodiment of the present invention, described reference mark is stationary state.
According to the remote sensing based on Quick Response Code geography information mark and the photogrammetric localization method of the embodiment of the present invention, stamp geographic information tags by the form with Quick Response Code to remote sensing and photogrammetric reference mark, can automatically identify the coordinate containing in the target object Quick Response Code mark of reference mark, by capture apparatus, target object is taken to obtain the 2 D code information on target object, automatic acquisition remote sensing and photogrammetric reference mark coordinate and attribute, calculate for remote sensing and photogrammetric explanation aerotriangulator.The present invention has avoided the loaded down with trivial details work at artificial importing reference mark, has improved remote sensing and photogrammetric work efficiency, makes remote sensing and photogrammetric robotization enter a new stage.
Another object of the present invention is to provide a kind of remote sensing and photogrammetric positioning system based on Quick Response Code geography information mark, comprise: multiple Quick Response Code geography information unit, each described Quick Response Code geography information cellular installation is in corresponding ground control point, wherein, the 2 D code information that records Control point in each Quick Response Code geography information unit, described 2 D code information comprises coordinate and the attribute information of described target object; Capture apparatus, for taking the image at multiple reference mark with 2 D code information, and extracts coordinate and the attribute at described reference mark; Position computation module, explains that for adopting aerotriangulation method calculates the coordinate of ground point of measured object.
According to the remote sensing based on Quick Response Code geography information mark and the photogrammetric positioning system of the embodiment of the present invention, stamp geographic information tags by the form with Quick Response Code to reference mark target object, automatically the coordinate containing in recognition target object Quick Response Code mark, by capture apparatus, target object is taken to obtain the 2 D code information on target object, automatic acquisition remote sensing and photogrammetric reference mark coordinate and attribute, calculate for remote sensing and photogrammetric explanation aerotriangulator.The present invention has avoided the loaded down with trivial details work at artificial importing reference mark, has improved remote sensing and photogrammetric work efficiency, makes remote sensing and photogrammetric robotization enter a new stage.
The aspect that the present invention is additional and advantage in the following description part provide, and part will become obviously from the following description, or recognize by practice of the present invention.
Brief description of the drawings
Above-mentioned and/or additional aspect of the present invention and advantage accompanying drawing below combination is understood becoming the description of embodiment obviously and easily, wherein:
Fig. 1 is according to the remote sensing based on Quick Response Code geography information mark of the embodiment of the present invention and the process flow diagram of photogrammetric localization method;
Fig. 2 is according to the remote sensing based on Quick Response Code geography information mark of the embodiment of the present invention and the schematic diagram of photogrammetric localization method;
Fig. 3 is according to the remote sensing based on Quick Response Code geography information mark of the embodiment of the present invention and the structural drawing of photogrammetric positioning system.
Embodiment
Describe embodiments of the invention below in detail, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of identical or similar functions from start to finish.Be exemplary below by the embodiment being described with reference to the drawings, be intended to for explaining the present invention, and can not be interpreted as limitation of the present invention.
In the present invention, unless otherwise clearly defined and limited, the terms such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and for example, can be to be fixedly connected with, and can be also to removably connect, or connect integratedly; Can be mechanical connection, can be also electrical connection; Can be to be directly connected, also can indirectly be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, can understand as the case may be above-mentioned term concrete meaning in the present invention.
First planar bar code technology is introduced below.
Quick Response Code claims again two-dimensional bar code, and it is the chequered with black and white graphic recording data symbol information distributing in plane (on two-dimensional directional) according to certain rules with certain specific geometric figure.On coding, utilize dexterously " 0 ", the concept of " 1 " bit stream that form computer-internal logical foundations, represent word numerical information with several geometrical bodies corresponding with scale-of-two, automatically process to realize information by image input device or photoelectric scanning device automatically identifying and reading.Quick Response Code has some general character of barcode technology, and for example every kind of code system has its specific character set, and each character occupies certain width and has certain verifying function etc.And Quick Response Code also has the feature such as information automatic identification function and processing graphics rotation variation to different rows simultaneously.
The conventional code system of Quick Response Code comprises: Data Matrix, Maxi Code, Aztec, QR Code, Vericode, PDF417, Ultracode, Code49 and Code16K etc.Wherein, QR code (QR Code) is square, only has black-and-white two color.At wherein 3 of 4 corners, be printed on less, as the square pattern of " returning " word.These 3 is the pattern that helps decoding software location, and user does not need to aim at, no matter at any angle scanning, and data still can correctly be read.
Quick Response Code comprises following classification:
(1) stack/row row formula two-dimensional bar code
Coding principle is to be based upon on bar code basis, is piled on demand two row or multirow.It has inherited the Some features of bar code, recognizing apparatus and bar code printing and bar code technical compatibility at aspects such as code Design, verification principle, recognition modes.But due to the increase of line number, need to judge row, its decoding algorithm and software are not entirely identical to bar code yet.Representational row row formula two-dimensional bar code has: Code16K, Code49, PDF417 etc.
(2) matrix two-dimensional barcode
Matrix two-dimensional barcode is to encode by black, the different distributions of white pixel in matrix at a coffin.On matrix respective element position, represent binary one with the appearance of point (square point, round dot or other shapes), point not there is not representing binary " 0 ", the permutation and combination of point has been determined the meaning of matrix two-dimensional barcode representative.Matrix two-dimensional barcode is that a kind of New Graphics symbol automatically identifying and reading being based upon on the basis such as computer image processing technology, assembly coding principle is processed code system.Representative matrix two-dimensional barcode has: Code One, Maxi Code, QR Code, Data Matrix etc.
To sum up, Quick Response Code has following characteristics:
(1) high density coding and information capacity are large: can 1850 capitalizations of outfit as many as or 2710 numerals or 1108 bytes, or more than 500 Chinese character, approximately higher tens times than common bar code information capacity.
(2) coding range is wide: this bar code can digitized information be encoded picture, sound, word, signature, fingerprint etc., shows by bar code.Quick Response Code can represent multilingual word and view data.
(3) fault-tolerant ability is strong, has error correction: when this makes two-dimensional bar code cause local damage because of perforation, stained etc., can correctly be distinguished, damaged area reaches 50% still can recover information in the same old way.
(4) reliability of decode is high: it is more much lower than common bar code decoding error rate 2/1000000ths, and the bit error rate is no more than 1/10000000th.
(5) can introduce encryption measures: confidentiality, antifalsification are good.
(6) cost is low, easily makes durable.
(7) bar code symbol shape, size variable-scale.
(8) two-dimensional bar code can use laser or the recognition of CCD reader.
As shown in Figure 1, the remote sensing based on Quick Response Code geography information mark and the photogrammetric localization method of the embodiment of the present invention, comprise the steps:
Step S1, carries out coded data processing generation Quick Response Code geography information to each remote sensing and photogrammetric reference mark with coordinate and attribute information.
Reference mark can be remote sensing ground survey reference mark, photogrammetric measurement/laser radar reference mark, roof/ground emergency management and rescue mark, city assets (fire fighting equipment etc.), buildings etc.Coordinate can be longitude, dimension and the sea level elevation of position, reference mark, can be also the coordinate in local coordinate system, as (X, Y, Z).Attribute information is the measurement period at reference mark.
Each remote sensing with coordinate and attribute information is carried out to coded data processing to generate the 2 D code information that this reference mark target object is corresponding with photogrammetric reference mark.
Step S2, makes Quick Response Code geography information the material that remote sensing and photogrammetric equipment can identify and is arranged on corresponding reference mark.
In one embodiment of the invention, 2 D code information can be made to the material of semi-reflection-type, be formed by reflection and absorbing material, can be used for the remote sensing survey of different-waveband.
Design with geographic coordinate information and attribute information and made remote sensing and material that photogrammetric equipment can be identified by above-mentioned steps S1 and step S2.
Step S3, utilizes capture apparatus to take the image at multiple reference mark with 2 D code information, and extracts coordinate and the attribute at reference mark.
In example of the present invention, capture apparatus can stationary state or motion state., capture apparatus can be fixed on certain position to be taken, and also can be arranged in moving object and take.Capture apparatus can be for example camera etc.
Capture apparatus can be to each image setting timestamp, and wherein capture apparatus can be according to the each image setting timestamp of self clock to shooting.For example, capture apparatus is per second can take tens photos, and in fact each moment can be regarded a static image as.
Step S4, adopts and explains that aerotriangulation method calculates the coordinate of ground point of measured object.
The image of Quick Response Code geography information that what capture apparatus photographed have, then these Quick Response Code geography information are read and resolved, thereby obtain coordinate and the attribute information at corresponding reference mark, and obtain according to the timestamp carrying in image the shooting moment of this image.Then, adopt and explain that aerotriangulation method calculates the coordinate of ground point of measured object.
It should be noted that, in this step, can adopt one group of reference mark coordinate information and attribute information to calculate by explaining aerotriangulation method the positional information that capture apparatus is inscribed when the corresponding shooting.
Certainly, as shown in Figure 2, the present invention also can adopt many group reference mark coordinate informations and attribute information to calculate, for example, buildings, trees, meadow etc., the coordinate information at reference mark and the number of attribute information utilized are more, and the precision of the positional information that the capture apparatus measuring is inscribed in the time of corresponding shooting is also higher.
According to remote sensing and the positioning of photography method based on Quick Response Code measurement geography information mark of the embodiment of the present invention, stamp geographic information tags by the form with Quick Response Code to reference mark, can automatically identify the coordinate containing in the Quick Response Code mark of reference mark, by capture apparatus, the 2 D code information on reference mark is taken to obtain in reference mark, and according to the 2 D code information obtaining, capture apparatus is positioned in the position in each moment, avoid artificial importing, positioning precision and remote sensing and photogrammetric work efficiency are improved, make remote sensing and photogrammetric robotization enter a new stage.
As shown in Figure 3, remote sensing based on Quick Response Code geography information mark and the photogrammetric positioning system of the embodiment of the present invention, based on photogrammetric principle, comprise multiple Quick Response Code geographic information tags unit 10, remote sensing and photogrammetric measurement equipment 20 and position computation module 30.
Specifically, each Quick Response Code geography information unit 10 is installed in corresponding ground control point.Wherein, record the 2 D code information of Control point in each Quick Response Code geography information unit 10,2 D code information comprises coordinate and the attribute information at reference mark.
In one embodiment of the invention, Quick Response Code geography information unit 10 is made in the following ways: first coded data processing generation Quick Response Code geography information is carried out in each remote sensing and photogrammetric reference mark with coordinate and attribute information.Reference mark can be remote sensing ground survey reference mark, photogrammetric measurement/laser radar reference mark, roof/ground emergency management and rescue mark, city assets (fire fighting equipment etc.), buildings etc.Coordinate can be longitude, dimension and the sea level elevation of position, reference mark, can be also the coordinate in local coordinate system, as (X, Y, Z).Attribute information is the measurement period at reference mark.Then Quick Response Code geography information made to the material that remote sensing and photogrammetric equipment can identify and be arranged in corresponding ground control point.
Specifically, the installation site of Quick Response Code geography information unit 10 is the positions that have coordinate information, and is easy to install.
Remote sensing and photogrammetric measurement equipment 20, for by taking to obtain the image at multiple reference mark with 2 D code information, and extract coordinate and the attribute at reference mark.Wherein, remote sensing and photogrammetric measurement equipment 20 can be capture apparatus.
In example of the present invention, remote sensing and photogrammetric measurement equipment 20 can stationary state or motion states., remote sensing and photogrammetric measurement equipment 20 can be fixed on certain position to be taken, and also can be arranged in moving object and take.Remote sensing and photogrammetric measurement equipment 20 can be for example camera etc., can be also vehicle-mounted, boat-carrying, mobile system.
Remote sensing and photogrammetric measurement equipment 20 can be to each image setting timestamps, and wherein remote sensing and photogrammetric measurement equipment 20 can be according to the each image setting timestamp of self clock to shooting.For example, remote sensing and photogrammetric measurement equipment 20 are per second can take tens photos, and in fact each moment can be regarded a static image as.
Position computation module 30 explains that for adopting aerotriangulation method calculates the coordinate of ground point of measured object.
From multiple images of capture apparatus shooting 20, filter out and take the image that has Quick Response Code geography information unit 10,2 D code information in Quick Response Code geography information unit 10 is resolved to obtain to coordinate information and the attribute information at corresponding reference mark, and obtain according to the timestamp of image the shooting moment of this image.Position computation module 30, according to the image taking moment of the coordinate information at least one group of reference mark being obtained by the image analysis of Quick Response Code geography information unit 10 and attribute information and this Quick Response Code geography information unit 10, adopts the positional information of explaining that aerotriangulation method calculating capture apparatus 20 is inscribed in the time of corresponding shooting., the geographic coordinate that adopts corresponding software decode to go out to comprise in this Quick Response Code and attribute information, for remote sensing and photogrammetric calculating, calculate the coordinate of ground point of measured object.
According to the remote sensing based on Quick Response Code geography information mark and the photogrammetric positioning system of the embodiment of the present invention, stamp geographic information tags by the form with Quick Response Code to reference mark, can automatically identify the coordinate containing in the Quick Response Code mark of reference mark, by capture apparatus, the 2 D code information on reference mark is taken to obtain in reference mark, and according to the 2 D code information obtaining, capture apparatus is positioned in the position in each moment, avoid artificial importing, improved positioning precision and remote sensing and photogrammetric work efficiency.The present invention can automatic acquisition remote sensing and photogrammetric reference mark coordinate and attribute, realizes the automatic identification to reference mark coordinate information, thereby advances remote sensing and photogrammetric automation development, makes remote sensing and photogrammetric robotization enter a new stage.
In the description of this instructions, the description of reference term " embodiment ", " some embodiment ", " example ", " concrete example " or " some examples " etc. means to be contained at least one embodiment of the present invention or example in conjunction with specific features, structure, material or the feature of this embodiment or example description.In this manual, the schematic statement of above-mentioned term is not necessarily referred to identical embodiment or example.And specific features, structure, material or the feature of description can be with suitable mode combination in any one or more embodiment or example.
Although illustrated and described embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, those of ordinary skill in the art can change above-described embodiment within the scope of the invention in the situation that not departing from principle of the present invention and aim, amendment, replacement and modification.Scope of the present invention is extremely equal to and limits by claims.
Claims (4)
1. the remote sensing based on Quick Response Code geography information mark and a photogrammetric localization method, is characterized in that, comprises the steps:
Coded data processing generation Quick Response Code geography information is carried out in each remote sensing and photogrammetric reference mark with coordinate and attribute information;
Quick Response Code geography information is made to the material that remote sensing and photogrammetric equipment can identify and is arranged in corresponding ground control point;
Utilize capture apparatus to take the image at multiple reference mark with 2 D code information, and extract coordinate and the attribute at described reference mark;
Adopt and explain that aerotriangulation method calculates the coordinate of ground point of measured object.
2. remote sensing and the photogrammetric localization method based on Quick Response Code geography information mark as claimed in claim 1, is characterized in that the measurement period that described attribute information is described reference mark.
3. remote sensing and the photogrammetric localization method based on Quick Response Code geography information mark as claimed in claim 1, is characterized in that, described reference mark is stationary state.
4. the remote sensing based on Quick Response Code geography information mark and a photogrammetric positioning system, is characterized in that, comprising:
Multiple Quick Response Code geography information unit, each described Quick Response Code geography information cellular installation is in corresponding ground control point, wherein, record the 2 D code information of Control point in each Quick Response Code geography information unit, described 2 D code information comprises coordinate and the attribute information at described reference mark;
Remote sensing and photogrammetric measurement equipment, by taking to obtain the image at multiple reference mark with 2 D code information, and extract coordinate and the attribute at described reference mark;
Position computation module, explains that for adopting aerotriangulation method calculates the coordinate of ground point of measured object.
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| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN105842246A (en) * | 2016-05-27 | 2016-08-10 | 中国农业科学院农业信息研究所 | Farmland monitoring system and farmland monitoring method |
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| CN109564428A (en) * | 2016-07-29 | 2019-04-02 | 日本电气方案创新株式会社 | Operation of moving object system, operation signal send system, operation of moving object method, program and recording medium |
| CN109509221A (en) * | 2017-09-13 | 2019-03-22 | 蔡宏营 | Positioning measurement system based on image ruler |
| CN109509221B (en) * | 2017-09-13 | 2021-09-03 | 蔡宏营 | Positioning measurement system based on image ruler |
| CN108088421A (en) * | 2017-12-06 | 2018-05-29 | 云南航天工程物探检测股份有限公司 | A kind of method and system of aerial survey of unmanned aerial vehicle control point automatic identification |
| CN108088421B (en) * | 2017-12-06 | 2020-08-11 | 云南航天工程物探检测股份有限公司 | Method and system for automatically identifying aerial survey control points of unmanned aerial vehicle |
| CN110187402A (en) * | 2019-05-17 | 2019-08-30 | 北京三快在线科技有限公司 | A kind of object identification method applied to unmanned equipment |
| CN110274579A (en) * | 2019-07-19 | 2019-09-24 | 中兵勘察设计研究院有限公司 | Two dimensional code picture control device and application method for historical relic close-range photogrammetry |
| CN110649959A (en) * | 2019-09-29 | 2020-01-03 | 深圳航天东方红海特卫星有限公司 | Passive uplink data transmission method based on remote sensing image |
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