CN105527969A - Mountain vegetation vertical zone investigation monitoring method based on UAV - Google Patents
Mountain vegetation vertical zone investigation monitoring method based on UAV Download PDFInfo
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Abstract
The present invention provides a mountain vegetation vertical zone investigation monitoring method based on a UAV. The method comprises the steps of (S1) determining an investigation time, an investigation mode and investigation precision, (S2) planning a route and carrying out automatic monitoring according to a preset route if the investigation mode is a programmed control operation mode, and manually controlling an aircraft to carrying out image capturing and obtaining monitoring data if the investigation mode is a radio remote control operation mode, (S3) carrying out space correcting processing on each image in the monitoring data, realizing the space connection of images, carrying out visual interpretation or computer automatic classification by using the spectrum and texture structure differences of different vegetation zones in a remote sensing image, identifying a vegetation vertical zone boundary, and completing the statistical measurement analysis of a vegetation vertical zone structure and result output through a geographic information system. According to the mountain vegetation vertical zone investigation monitoring method, time and labor are saved, climbing a mountain to carry out sampling positioning by investigation and monitoring personnel is not needed, an investigation result is processed by using the image analysis technology, the vertical vegetation zone identification precision is high, and the positioning is more accurate.
Description
Technical field
The invention belongs to mountain garden type structure monitoring field, more specifically, relate to a kind of mountain garden belt investigation and monitoring method based on unmanned plane.
Background technology
The mountain garden type that refers to mountain garden belt increases with height above sea level and shows the Vertical differentiation phenomenon of a definite sequence and arrangement architecture.Mountain garden belt is the essential characteristic of mountain environment structure, be also earth science research through one of canonical form, be still mountain environment monitoring and the important content of scientific research now.
At present, mountain garden belt acquisition of information mainly contains artificial on-site inspection, Satellite Remote Sensing two kinds of modes.Wherein traditional mountain garden belt information getting method is mainly and carries out artificial on-site inspection along massif vertical laying circuit, identifies statistics vegetation pattern, measures the sea level elevation of differ ent vegetation band bound.Because mountain topography landforms are complicated, surface cover type is various, often accessibility is poor, and manual research workload is large, the field of investigation is little, investigation circuit is often restricted, and investigation result is often representative not enough, and easily Personal Risk occurs in work.
Mountain garden belt satellite remote sensing method is mainly through remote sensing image identification vegetation horizontal distribution information, and then superposition altitude figures obtains the vertical information of altitudinal vegetation zone.And often topographic relief is large in mountain area, vegetation pattern is complicated various and vertical heterogeneity obvious, the normal corresponding larger vertical discrepancy in elevation of less horizontal range and multiple altitudinal vegetation zone.Therefore, there is the problems such as mixed pixel phenomenon is outstanding, zone of vegetation identification difficulty is large, boundary line, zone of vegetation elevation location precision is low in the satellite remote sensing of mountain region Vertical vegetation zone.
Unmanned plane is as a kind of small-sized aircraft, and its flight line is flexible, and it is convenient to dispose, and can carry multiple sensors, obtain more application in ECOLOGICAL ENVIRONMENTAL MONITORING field.But current UAS stresses to overlook more vertically takes pictures or makes a video recording, and obtains data and mostly is earth's surface level to extension image, lack specially for the detection system of the vertical information in mountain region, now there is no the mountain garden belt monitoring system based on unmanned plane and method.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of mountain garden belt investigation and monitoring method based on unmanned plane, be intended to solve mountain region Vertical vegetation zone satellite remote sensing in prior art and there is the problem that mixed pixel phenomenon is given prominence to, zone of vegetation identification difficulty is large and boundary line, zone of vegetation elevation location precision is low.
The invention provides a kind of mountain garden belt investigation and monitoring method based on unmanned plane, comprise the steps:
S1: determine control time, investigation method and investigation precision;
Determine control time according to Various Seasonal vegetation phenology feature, the time selecting the tone of differ ent vegetation band and texture easily to distinguish on remote sensing image carries out investigation; Described investigation method comprises program control operating type and wireless remote control operating type; Described investigation precision requires according to concrete survey tasks and determines;
S2: if investigation method is program control operating type, then plan course line and automatically monitor by prebriefed pattern, obtains Monitoring Data; If investigation method is wireless remote control operating type, then remote manual control aircraft carries out filming image, obtains Monitoring Data;
Described course line comprises: keep the domatic horizontal fixed range of aircraft-massif extend along slope and keep the domatic horizontal fixed range level of aircraft-massif to extension;
S3: carry out free-air correction process to the every sub-picture in Monitoring Data, realizes the space splicing of image; And utilize the spectrum of differ ent vegetation band on remote sensing image, texture structure difference carries out visual interpretation or computer automatic sorting, identifies altitudinal vegetation zone boundary line; Statistic cls analysis and the result output of altitudinal vegetation zone structure is completed by Geographic Information System.
Further, in step S2, when investigation method is program control operating type, aircraft according to planning investigation course line automatically fly, aircraft carry multi-spectral imager in aircraft flight process, Automatic continuous filmed image.
Further, multi-spectral imager keeps horizontal attitude filmed image, and shooting position angle is vertical massif trend.
Further, in image captured by multi-spectral imager, adjacent image keeps the degree of overlapping of more than 3%.
Further, in step S2, when investigation method is wireless remote control operating type, by ground control station, remote manual control flight is carried out to aircraft and control; After aircraft lift-off, utilize laser range finder to measure horizontal range between aircraft and massif in real time, utilize CCD camera captured in real-time video image.
Further, according to real-time video Imaging Study aircraft flight environment, remotely-piloted vehicle avoids possible obstacle; According to laser range finder data, remotely-piloted vehicle makes itself and massif keep predeterminated level distance.
Further, utilize The Cloud Terrace to adjust multi-spectral imager attitude, make multi-spectral imager maintenance level and vertical massif moves towards filmed image.
Further, multi-spectral imager sequential shoot image, in captured image, adjacent image keeps the degree of overlapping of more than 3%.
Advantage of the present invention is: time saving and energy saving, climbs sampling location without the need to investigation and monitoring personnel up and down in mountain region; Accessibility is good, does not limit by the actual track in manual research, and investigation result is representative better; The Personal Risk in the field study work of mountain region can be reduced; Investigation result adopts image analysis technology process, and Vertical vegetation zone accuracy of identification is high, and it is more accurate to locate.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of mountain garden belt investigation and monitoring system based on unmanned plane provided by the invention;
Fig. 2 is the schematic flow sheet of a kind of mountain garden belt investigation and monitoring method based on unmanned plane provided by the invention.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The invention belongs to mountain garden type structure monitoring field, be specifically related to a kind of mountain garden belt investigation and monitoring system and method based on unmanned plane.The object of the invention is to in existing mountain garden belt investigation and monitoring technology, manual work workload is large, investigation circuit often limited and deficiency that boundary line, satellite remote sensing zone of vegetation elevation location precision is low, provides a kind of mountain garden belt monitoring system based on unmanned plane and method.This system and method can monitor mountain garden type vertical variations, identifies belt vertical structure information, measures differ ent vegetation band bound height, and can investigate the horizontal-extending general layout of altitudinal vegetation zone, realize the quantitative extraction of mountain garden belt information.
For achieving the above object, the present invention adopts following technical scheme:
Based on mountain garden belt monitoring system and the method for unmanned plane, this system is made up of ground control station, flight camera system and image processing and analyzing system three part.The camera system that wherein flies is made up of aircraft, communication system, satellite navigation system, The Cloud Terrace, remote sensor five part.
Aircraft can adopt fixed-wing, many rotors or helicopter polytype, preferred multi-rotor aerocraft.Described communication system, satellite navigation system are installed on aircraft, and remote sensor is equipped on aircraft by The Cloud Terrace.Remote sensor mainly comprises: multi-spectral imager, CCD camera, laser range finder.Multi-spectral imager is for obtaining the high spectral resolution image of target, and CCD camera is for taking vegetation true color picture, and CCD camera is used for recorded video in flight course, and laser range finder is for measuring the distance between aircraft and massif.
The sensor that The Cloud Terrace can realize for carrying carries out level to 360 ° of rotated detections in aircraft flight process.
Ground control station comprises computer, wireless communication apparatus, attitude-control device, can control the state of flight of aircraft in real time, and the image of display remote sensor acquisition in real time and video surveillance result.
Described image processing and analyzing system comprises computer and remote Sensing Image Analysis software, can realize multi-spectral imager and CCD camera obtain the function such as input and output, geometry correction, space splicing, spectral analysis, Images Classification, statistics measurement of vertical image.
The present invention also provides a kind of mountain garden belt monitoring method based on unmanned plane, comprises the following steps:
(1) control time, investigation method and investigation precision is determined; Wherein, determine control time according to Various Seasonal vegetation phenology feature, the time selecting the tone of differ ent vegetation band and texture easily to distinguish on remote sensing image carries out investigation.Investigation method is mainly divided into program control operating type and wireless remote control operating type.Investigation precision requires according to concrete survey tasks and determines, and for altitudinal vegetation zone investigation, the spatial resolution of General Requirements multi-spectral imager filmed image center pixel is not less than 10 meters.According to survey tasks accuracy requirement and multi-spectral imager specific performance parameter, determine the horizontal range in survey tasks between aircraft and massif.
(2) select to carry out program control operation, planning course line is also monitored automatically by prebriefed pattern.Adopt flight-line design software plan course line, course line is mainly divided into the domatic horizontal fixed range of maintenance aircraft-massif extend along slope and keep the domatic horizontal fixed range level of aircraft-massif to extension two kinds.Wherein, aircraft according to planning investigation course line automatically fly, aircraft carry multi-spectral imager in aircraft flight process, Automatic continuous filmed image.Multi-spectral imager keeps horizontal attitude filmed image, and shooting position angle is vertical massif trend.In image captured by multi-spectral imager, adjacent image keeps the degree of overlapping of more than 3%.
(3) select to carry out wireless remote control operation, remote manual control aircraft carries out filming image; Wherein, investigator utilizes ground control station to carry out remote manual control flight to aircraft.After aircraft lift-off, utilize laser range finder to measure horizontal range between aircraft and massif in real time, utilize CCD camera captured in real-time video image.According to real-time video Imaging Study aircraft flight environment, remotely-piloted vehicle avoids possible obstacle; According to laser range finder data, remotely-piloted vehicle makes itself and massif keep predeterminated level distance; Utilize The Cloud Terrace to adjust multi-spectral imager attitude, make multi-spectral imager maintenance level and vertical massif moves towards filmed image.Multi-spectral imager sequential shoot image, in captured image, adjacent image keeps the degree of overlapping of more than 3%.
In embodiments of the present invention, step (2) and step (3) can perform separately, complete independently field investigation task, also can in a survey tasks successively subregion use, comprehensively complete field investigation task.
(4) indoor unmanned plane Monitoring Data image processing and analyzing, altitudinal vegetation zone structure recognition, result export.Utilize remote sensing image processing software to carry out free-air correction process to every sub-picture, realize the space splicing of image; Utilize the spectrum of differ ent vegetation band on remote sensing image, texture structure difference carries out visual interpretation or computer automatic sorting, identify altitudinal vegetation zone boundary line; Geographic Information System (GIS) software is utilized to complete statistic cls analysis and the result output of altitudinal vegetation zone structure.
Advantage of the present invention is: time saving and energy saving, climbs sampling location without the need to investigation and monitoring personnel up and down in mountain region; Accessibility is good, does not limit by the actual track in manual research, and investigation result is representative better; The Personal Risk in the field study work of mountain region can be reduced; Investigation result adopts image analysis technology process, and Vertical vegetation zone accuracy of identification is high, and it is more accurate to locate.
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Specific embodiment described herein only for explaining the present invention, is not intended to limit the present invention.
As shown in Figure 1, the mountain garden belt monitoring system based on unmanned plane is made up of ground control station, flight camera system and image processing and analyzing system three part.The camera system that wherein flies comprises aircraft, communication system, satellite navigation system, The Cloud Terrace and remote sensor five part.Be different from current UAS to stress to overlook vertical taking pictures or shooting mode in geographical environment monitoring more, the main remote sensor level of native system detection mode is to detection, thus obtain the vertical information of massif, avoid the drawback of overlooking vertical compression vertical space distributed intelligence of taking pictures, outstanding vertical Informational Expression, thus the identification and the location that are better applicable to mountain garden belt structure.
In Fig. 1, dotted line indicates flight camera system two kinds of main course line bearing of trends in program control operation.In program control flight course, aircraft is relative fixing with the domatic horizontal range of massif, and concrete distance is determined according to predetermined detection requirement and multi-spectral imager specific performance parameter.
Longitudinal image that in Fig. 1, image processing and analyzing system can obtain for flight camera system carries out digital processing and analysis.
As shown in Figure 2, the mountain garden belt monitoring method based on unmanned plane is made up of five steps.Specific implementation process is as follows:
(1) control time, investigation method and investigation precision is determined.
According to Various Seasonal vegetation phenology feature, the time selecting the tone of differ ent vegetation band and texture easily to distinguish on remote sensing image carries out investigation.As broad leaved and deciduous broad leaved forest belt, slope, south, Mount Taibai and coniferous forest region, can choose autumn and winter season and investigate, after broad leaved and deciduous broad leaved forest belt vegetation fallen leaves and coniferous forest region is comparatively easy to distinguish from image tone.
Investigation method is mainly divided into program control operating type and wireless remote control operating type; Wherein, program control operating type refers to unmanned plane follow procedure, automatic flight operating type along prebriefed pattern.Wireless remote control operating type refers to that investigator handles the operating type of unmanned plane during flying by beeper.Preferred program control operating type under having topographic(al) data situation.
Investigation precision requires according to concrete survey tasks and determines, and for altitudinal vegetation zone investigation, the spatial resolution of General Requirements multi-spectral imager filmed image center pixel is not less than 10 meters.According to survey tasks accuracy requirement and multi-spectral imager specific performance parameter, determine the horizontal range in survey tasks between aircraft and massif.
(2) if investigation method is program control operation, then plan course line and automatically monitor by prebriefed pattern.
Adopt flight-line design software plan course line, course line is mainly divided into the domatic horizontal fixed range of maintenance aircraft-massif extend along slope and keep the domatic horizontal fixed range level of aircraft-massif to extension two kinds.Aircraft according to planning investigation course line automatically fly, aircraft carry multi-spectral imager in aircraft flight process, Automatic continuous filmed image.During filmed image, multi-spectral imager keeps level, and shooting position angle is vertical massif trend.In image captured by multi-spectral imager, adjacent image keeps the degree of overlapping of more than 3%.After completing planning airline operation task, terminate program control operation.
(3) if investigation method is wireless remote control operation, then remote manual control aircraft carries out filming image.
Investigator utilizes ground control station to carry out remote manual control flight to aircraft.After aircraft lift-off, utilize laser range finder to measure horizontal range between aircraft and massif in real time, utilize CCD camera captured in real-time video image.According to real-time video Imaging Study aircraft flight environment, remotely-piloted vehicle avoids possible obstacle; According to laser range finder data, remotely-piloted vehicle makes itself and massif keep predeterminated level distance; Utilize The Cloud Terrace to adjust multi-spectral imager attitude, make multi-spectral imager maintenance level and vertical massif moves towards filmed image.Sequential shoot image, in image captured by multi-spectral imager, adjacent image keeps the degree of overlapping of more than 3%.After image covers survey area, terminate radio remote sensing operation.
Described step (2) and step (3) can perform separately in a field investigation task, complete independently field investigation task, also can in a survey tasks successively subregion use, comprehensively complete survey tasks.
(4) indoor unmanned plane Monitoring Data image processing and analyzing, altitudinal vegetation zone structure recognition, result display translation.
Utilize remote sensing image processing software to carry out free-air correction process to every sub-picture, realize the space splicing of image; Utilize the spectrum of differ ent vegetation band on remote sensing image, texture structure difference carries out visual interpretation or computer automatic sorting, identify altitudinal vegetation zone boundary line; Geographic Information System (GIS) software is utilized to complete the statistic cls analysis of altitudinal vegetation zone structure; The various ways such as form, image is selected to carry out result display and output as requested.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1., based on a mountain garden belt investigation and monitoring method for unmanned plane, it is characterized in that, comprise the steps:
S1: determine control time, investigation method and investigation precision;
Determine control time according to Various Seasonal vegetation phenology feature, the time selecting the tone of differ ent vegetation band and texture easily to distinguish on remote sensing image carries out investigation; Described investigation method comprises program control operating type and wireless remote control operating type; Described investigation precision requires according to concrete survey tasks and determines;
S2: if investigation method is program control operating type, then plan course line and automatically monitor by prebriefed pattern, obtains Monitoring Data; If investigation method is wireless remote control operating type, then remote manual control aircraft carries out filming image, obtains Monitoring Data;
Described course line comprises: keep the domatic horizontal fixed range of aircraft-massif extend along slope and keep the domatic horizontal fixed range level of aircraft-massif to extension;
S3: carry out free-air correction process to the every sub-picture in Monitoring Data, realizes the space splicing of image; And utilize the spectrum of differ ent vegetation band on remote sensing image, texture structure difference carries out visual interpretation or computer automatic sorting, identifies altitudinal vegetation zone boundary line; Statistic cls analysis and the result output of altitudinal vegetation zone structure is completed by Geographic Information System.
2. mountain garden belt investigation and monitoring method as claimed in claim 1, it is characterized in that, in step S2, when investigation method is program control operating type, aircraft flies automatically according to the investigation course line of planning, aircraft carry multi-spectral imager in aircraft flight process, Automatic continuous filmed image.
3. mountain garden belt investigation and monitoring method as claimed in claim 2, is characterized in that, multi-spectral imager keeps horizontal attitude filmed image, and shooting position angle is vertical massif trend.
4. mountain garden belt investigation and monitoring method as claimed in claim 2 or claim 3, is characterized in that, in image captured by multi-spectral imager, adjacent image keeps the degree of overlapping of more than 3%.
5. mountain garden belt investigation and monitoring method as claimed in claim 1, is characterized in that, in step S2, when investigation method is wireless remote control operating type, carries out remote manual control flight control by ground control station to aircraft; After aircraft lift-off, utilize laser range finder to measure horizontal range between aircraft and massif in real time, utilize CCD camera captured in real-time video image.
6. mountain garden belt investigation and monitoring method as claimed in claim 5, it is characterized in that, according to real-time video Imaging Study aircraft flight environment, remotely-piloted vehicle avoids possible obstacle; According to laser range finder data, remotely-piloted vehicle makes itself and massif keep predeterminated level distance.
7. the mountain garden belt investigation and monitoring method as described in claim 5 or 6, is characterized in that, utilizes The Cloud Terrace to adjust multi-spectral imager attitude, makes multi-spectral imager maintenance level and vertical massif moves towards filmed image.
8. mountain garden belt investigation and monitoring method as claimed in claim 7, is characterized in that, multi-spectral imager sequential shoot image, and in captured image, adjacent image keeps the degree of overlapping of more than 3%.
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