CN106017472A - Global path planning method, global path planning system and unmanned aerial vehicle - Google Patents
Global path planning method, global path planning system and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses a global path planning method, a global path planning system and an unmanned aerial vehicle. The global path planning method is applied to the unmanned aerial vehicle and comprises steps as follows: S1, a digital surface model image and a digital elevation model image of the same area in the same proportional scale are pre-processed, and the digital surface model image and the digital elevation model image with the same resolution are acquired; S2, a ground objective point cloud set of the digital surface model image is extracted; S3, the ground objective point cloud set is subjected to denoising processing, and then a bounding box of ground objectives is established; S4, a Thiessen polygon graph is established according to the bounding box, paths are searched in the Thiessen polygon graph with a single-source shortest path algorithm, and an optimal path is acquired with a cubic spline interpolation algorithm.
Description
Technical field
The present invention relates to fields of measurement, particularly relate to a kind of based on DSM (digital surface model) image with
The overall route planning method of DEM (digital elevation model) view data, overall situation route planning system and
Unmanned plane.
Background technology
Along with raising and the increasing market demand of science and technology, unmanned plane uses easily because of it
Mode and powerful function, become a multiduty sci-tech product.Unmanned plane presses application, can
It is divided into military and civilian.Military aspect, unmanned plane is divided into reconnaissance plane and target drone.Unmanned plane is at civilian aspect
Be widely used be mainly used in taking photo by plane, agricultural, plant protection, auto heterodyne, express transportation, disaster relief, observation wild
Lively thing, monitoring infectious disease, mapping, news report, electric inspection process, the disaster relief, movies-making, manufacture
Romantic etc..Unmanned plane avoidance technology in flight course mainly has: the ultrasonic measuring distance technology of orientation
With flight time (TOF) technology.
Unmanned plane installs additional in the ultrasonic ranging system of orientation once body surface reflectance ultrasound wave energy power
Deficiency, the barrier avoiding function of system will significantly reduce, and a unmanned plane typically can install multiple directions,
Unmanned plane deadweight and cost can be increased undoubtedly.
Flight time (TOF) technology, i.e. sensor send modulated near infrared light, after running into object
Reflection, sensor is launched by calculating light and reflex time is poor or phase contrast, the distance of the target that converts,
To produce depth information, in addition in conjunction with traditional camera imaging, just can be by the three-D profile of object with not
The topography mode representing different distance with color presents, light pollution in current urban environment and
Obstacle avoidance system can be caused the biggest interference by the sunlight on daytime, and path planning precision is relatively low.
Summary of the invention
The problems referred to above existed for existing unmanned plane avoidance technology in flight course, now provide one
Kind aim at and to decrease the deadweight of unmanned plane and the high overall route planning method of path planning precision, complete
Office's route planning system and unmanned plane.
Concrete technical scheme is as follows:
A kind of overall situation route planning method, is applied in unmanned plane, comprises the steps:
S1. digital surface model image and Digital Elevation Model image to the same area same ratio chi enter
Row pretreatment, to obtain the described digital surface model image of equal resolution and described digital elevation model
Image；
S2. the earth's surface object point extracted in described digital surface model image is converged；
S3. described earth's surface object point is converged the bounding box setting up earth's surface object after carrying out denoising；
S4. set up Thiessen polygon figure according to described bounding box, use signal source shortest path algorithm described
Searching route in Thiessen polygon figure, obtains optimal path by cubic spline interpolation algorithm.
Preferably, described step S1 comprises the steps:
S11. the described digital surface model image and the described numeral that obtain the same area same ratio chi are high
Journey model image；
S12. described digital surface model image and described Digital Elevation Model image are carried out pretreatment, with
Make described digital surface model image identical with the resolution of described Digital Elevation Model image；
S13. to the first pixel point set in pretreated described digital surface model image and institute
State the second pixel point set of Digital Elevation Model image and carry out registration alignment, to obtain corresponding point to collection,
Described first pixel point set includes that a plurality of first pixel, described second pixel point set include a plurality of
Two pixels, described first pixel that described first pixel is concentrated is concentrated with described second pixel
Described second pixel one_to_one corresponding, described point includes plurality of points pair to collection, every a pair one to one
It is right to put described in described first pixel and described second pixel composition one.
Preferably, described step S2 comprises the steps:
S21. according to described point to collection obtain one by one each point to difference coordinate；
S22. judge whether described difference coordinate meets pre-conditioned, if so, perform step S23；If it is not,
Then filter described point right；
S23. by described point to adding to during described earth's surface object point converges.
Preferably, the described pre-conditioned Z axis difference for difference coordinate is more than 0.
Preferably, in described step S3, the detailed process of described denoising is:
Use space cell lattice method that described earth's surface object point is converged foundation point cloud topological relation, carry out triangle
Mesh generation, sets up the k nearest neighbor point of each point, i.e. determines that k the point closest with described point is constituted
Neighborhood, it is judged that in nearest k point, described in distance, whether the distance of point more than predetermined threshold value, if then
Reject；If otherwise retaining；
Wherein k is positive integer.
Preferably, described earth's surface object point is converged carry out described denoising after use the default method will
Described earth's surface object point is converged and is divided into a plurality of closed area；
Described default method is: law vector method or Curvature Estimation method.
Preferably, the bounding box of described earth's surface object is axial bounding box.
Preferably, the detailed process setting up described axial bounding box is:
Extract the minimum angle point of each described closed area and maximum angle point respectively, and calculate each described envelope
The center of closed zone, size and volume, obtain institute according to center, size and the volume of each described enclosed area
State the scope of enclosed area, set up the bounding box of described earth's surface object according to the scope obtained.
A kind of unmanned plane, uses above-mentioned overall route planning method to carry out flight path planning.
A kind of overall situation route planning system, is applied in unmanned plane, including:
One registration unit, in order to high to the digital surface model image of the same area same ratio chi and numeral
Journey model image carries out pretreatment, to obtain the described digital surface model image of equal resolution and described
Digital Elevation Model image；
One extraction unit, connects described registration unit, in order to extract in described digital surface model image
Earth's surface object point is converged；
One processing unit, connects described extraction unit, carries out denoising in order to converge described earth's surface object point
The bounding box of earth's surface object is set up after process；
One planning unit, connects described processing unit, in order to set up Thiessen polygon according to described bounding box
Figure, uses signal source shortest path algorithm to searching route in described Thiessen polygon figure, passes through cubic spline
Interpolation algorithm obtains optimal path.
Preferably, described registration unit includes:
One acquisition module, in order to obtain the same area same ratio chi described digital surface model image and
Described Digital Elevation Model image；
One processing module, connects described acquisition module, in order to described digital surface model image and described
Digital Elevation Model image carries out pretreatment, so that described digital surface model image and described digital elevation
The resolution of model image is identical；
One registration module, connects described processing module, in order to through pretreated described digital surface
The first pixel point set and the second pixel point set of described Digital Elevation Model image in model image are joined
Quasi-alignment, to obtain corresponding point to collection, described first pixel point set includes a plurality of first pixel,
Described second pixel point set includes described first that a plurality of second pixel, described first pixel are concentrated
The described second pixel one_to_one corresponding that pixel is concentrated with described second pixel, collection is included by described point
Plurality of points pair, every a pair first pixel the most described and described second pixel form an institute
It is a little right to state.
A kind of unmanned plane, including above-mentioned overall route planning system.
The beneficial effect of technique scheme:
1) overall situation route planning method is directly obtained by digital surface model image and Digital Elevation Model image
Take the coordinate of earth's surface object accurately, thus calculate the bounding box of earth's surface object, use single source shortest path
Footpath algorithm calculates the avoidance path of optimum, and the speed of computing is fast and precision is high；
2) overall situation route planning system passes through registration unit to digital surface model image and digital elevation model
Image carries out the coordinate precision registrating to heighten earth's surface object, is set up the bag of earth's surface object by processing unit
Enclosing box, utilize planning unit to cook up the avoidance path of optimum, this system can embed unmanned aerial vehicle control system
In, high with the deadweight and planning precision reducing unmanned plane, it is simple to implement.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of a kind of embodiment of overall situation route planning method of the present invention；
Fig. 2 is the module map of a kind of embodiment of overall situation route planning system of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not making
The every other embodiment obtained on the premise of going out creative work, broadly falls into the scope of protection of the invention.
It should be noted that in the case of not conflicting, the embodiment in the present invention and the spy in embodiment
Levy and can be mutually combined.
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as the present invention's
Limit.
As it is shown in figure 1, a kind of overall situation route planning method, it is applied in unmanned plane, comprises the steps:
S1. digital surface model image and Digital Elevation Model image to the same area same ratio chi enter
Row pretreatment, to obtain digital surface model image and the Digital Elevation Model image of equal resolution；
S2. the earth's surface object point extracted in digital surface model image is converged；
S3. earth's surface object point is converged the bounding box setting up earth's surface object after carrying out denoising；
S4. set up Thiessen polygon figure according to bounding box, use signal source shortest path algorithm polygon at Tyson
Searching route in shape figure, obtains optimal path by cubic spline interpolation algorithm.
DEM in the present embodiment contains only the elevation information of landform, does not comprise other earth's surface information,
Comparing with DEM, DSM contains the ground elevation model of the height such as surface buildings, bridge and trees.
DSM is on the basis of DEM, has further contemplated that the elevation of other earth's surface information in addition to ground.
In the present embodiment, overall situation route planning method is by digital surface model image and digital elevation mould
Type image directly obtains the coordinate of earth's surface object accurately, thus calculates the bounding box of earth's surface object, adopts
Calculate the avoidance path of optimum with signal source shortest path algorithm, the speed of computing is fast and precision is high.
In a preferred embodiment, step S1 comprises the steps:
S11. digital surface model image and the digital elevation model figure of the same area same ratio chi are obtained
Picture；
S12. digital surface model image and Digital Elevation Model image are carried out pretreatment, so that numeral table
Surface model image is identical with the resolution of Digital Elevation Model image；
S13. high to the first pixel point set sum word in pretreated digital surface model image
Second pixel point set of journey model image carries out registration alignment, to obtain corresponding point to collection, and the first pixel
Point set includes that a plurality of first pixel, the second pixel point set include a plurality of second pixel, the first picture
The second pixel one_to_one corresponding that first pixel of vegetarian refreshments concentration and the second pixel are concentrated, point is to Ji Bao
Including plurality of points pair, every a pair first pixel and the second pixel composition are the most right one to one.
In the present embodiment, pretreatment is normalized in step s 12, is made by normalized
Obtain digital surface model image identical with the resolution of Digital Elevation Model image (i.e. data precision is identical)；
Marking of control point is used to be registrated with Digital Elevation Model image by digital surface model image in step s 13
Alignment, is put one to one to collection.
In a preferred embodiment, step S2 comprises the steps:
S21. according to point to collection obtain one by one each point to difference coordinate；
S22. judge whether difference coordinate meets pre-conditioned, if so, perform step S23；If it is not, then
It is a little right to filter；
S23. by point to adding to during earth's surface object point converges.
In the present embodiment, for the first pixel point set Q in digital surface model image, and numeral is high
Second pixel point set P of journey model image, has and puts (X one to onew,Yw,Zw) ∈ Q and
(Xe,Ye,Ze) ∈ P, ask difference to obtain (Δ X, Δ Y, Δ Z) it.In the case of registration accuracy meets requirement
Δ X ≈ Δ Y ≈ 0, if meeting pre-conditioned i.e. Δ Z ＞ 0, then it is believed that herein with the presence of object on earth's surface.
In practical situations both, a threshold value can be set, if Δ Z is more than this threshold value, think herein with the presence of atural object.
Traversal all-pair, it is possible to obtain all earth's surfaces object coordinate on digital surface model image, to obtain final product
S is converged to all earth's surfaces object point.
In a preferred embodiment, in step S3, the detailed process of denoising is:
Use space cell lattice method that earth's surface object point is converged foundation point cloud topological relation, carry out triangle gridding
Subdivision, sets up the k nearest neighbor point of each point, i.e. determines the neighborhood that k the point closest with point is constituted,
Judge that in k nearest point, whether the distance of range points is more than predetermined threshold value, if then rejecting；If otherwise
Retain；
Wherein k is positive integer.
In the present embodiment, the earth's surface object point tried to achieve in step S2 is converged, utilizes space cell lattice
Method is set up some cloud topological relation and is carried out triangular mesh generation, sets up the k nearest neighbor of each earth's surface object point with this
Point, i.e. determines the neighborhood that k the point closest with this point is constituted, sets a threshold value, more than this threshold
Value be noise points deleting, less than or equal to the then reservation of this threshold value.
Further, then to the earth's surface object point retained law vector or Curvature Estimation are carried out, to find method
These points are linked to be boundary line, boundary line surround each closed area thus reality by vector catastrophe point or curvature
Now the closed area of earth's surface object point is divided.
In a preferred embodiment, the detailed process setting up axial bounding box is:
Extract the minimum angle point of each closed area and maximum angle point respectively, and calculate in each enclosed area
The heart, size and volume, obtain the scope of enclosed area according to center, size and the volume of each enclosed area,
The bounding box of earth's surface object is set up according to the scope obtained.
Further, the bounding box of earth's surface object is axial bounding box (AABB).The axle of one object
It is defined as comprising this object to bounding box and each limit is parallel to coordinate axes minimum hexahedron.Axially bounding box
The x on each element summit in the primitive geometric element set that only need to calculate composition object respectively that sets up sit
Mark, y-coordinate, the minima of z coordinate, maximum coordinate, describing an axial bounding box only needs
Want 6 scalars.
In the present embodiment, first extract the minimum angle point of each closed area and maximum angle point, then carry
Take eight summits of closed area or specify a summit, calculate the center of object, size and volume with
Whether this resets the scope of closed area object, finally judge to have between bounding box crossing.Bag
Enclose the Coordinate Conversion of box to earth coordinates, it is also possible to the longitude and latitude obtaining bounding box is overall situation route planning
And GPS navigation provides data basis.It is multiple that the technical program approximates replacement by simple bounding box shape
The shape of miscellaneous solid, can improve the efficiency of geometric operation.And the simplest object is easier
Check overlap each other.
A kind of unmanned plane, uses above-mentioned overall route planning method to carry out flight path planning.
As in figure 2 it is shown, a kind of overall situation route planning system, it is applied in unmanned plane, including:
One registration unit 1, in order to the digital surface model image of the same area same ratio chi and numeral
Elevation Model image carries out pretreatment, high with the digital surface model image and numeral obtaining equal resolution
Journey model image；
One extraction unit 2, connects registration unit 1, in order to extract the earth's surface thing in digital surface model image
Body point converges；
One processing unit 3, connects extraction unit 2, after converging earth's surface object point and carrying out denoising
Set up the bounding box of earth's surface object；
One planning unit 4, connects processing unit 3, in order to set up Thiessen polygon figure according to bounding box, adopts
With signal source shortest path algorithm to searching route in Thiessen polygon figure, obtained by cubic spline interpolation algorithm
Take optimal path.
Thiessen polygon figure (Voronoi) is by one group of perpendicular bisector shape connecting straight line between two adjoint points
The continuous polygon composition become, the most distinguishing N number of point, divide plane according to closest principle.
The present embodiment forms, mainly by distance on polygonal limit, the characteristic that polygonal generatrix is farthest,
Three dimensions structure initial path network.First discrete point builds the triangulation network automatically, i.e. builds solid line polygon
Shape (Delaunay) triangulation network, then finds out the numbering of all trianglees adjacent with each discrete point,
And record.Again to the triangle adjacent with each discrete point by sorting clockwise or counterclockwise,
So that next step connects generates Thiessen polygon.Finally ask the circumscribed circle center of circle of each triangle, connect this
A little centers of circle, i.e. obtain Tyson triangle.
The signal source shortest path algorithm (Dijkstra) used can obtain shortest path in directed graph.It is main
The summit that outside the next summit of selection is labelling point when feature is each iteration, distance source point is nearest.
Such as: assume that in road network, each node has label (dt, pt), dtBe from starting point s to
The shortest path length of some t；ptRepresent the previous point of t point in the shortest path from s to t.Use
The signal source shortest path Algorithm for Solving basic process from starting point s to the shortest path first of a t is:
1. starting to read data, initialize, starting point is set to:
dt=0, labelling originating point s, remember k=s, and other are set to a little unmarked.
2. inspection is from the distance of all marked some k to other unlabelled some j being directly connected to, and
Arrange: dj=min [dj,dk+ w (k, j)] wherein, (k j) represents the path from k to j to w.
3. choose next point, from all unlabelled points, choose the some i of minimum, some i be chosen as
A bit in short path, and it is set to marked.
4. find the former point of an i.The point being directly connected to an i is found from the most labeled some set,
And it is labeled as pi。
5. labelling point i, marked if all of point, then algorithm terminates；Otherwise, remember k=i, forward to
Step 2 continues.
Distribution situation according to known bounding box and the beginning and end in overall avoidance path, take encirclement
Box central point constructs the three dimensions improved Voronoi diagram of obstacle distribution, at the base of Voronoi diagram
On plinth, utilize dijkstra's algorithm searching route on the way, constitute rough optimal path.Then by one
The cubic spline of series, is simpler problem complicated PROBLEM DECOMPOSITION, finally with the side of quadratic programming
Method tries to achieve optimal solution.
In the present embodiment, overall situation route planning system passes through registration unit 1 to digital surface model image
The coordinate precision that registrates to heighten earth's surface object is carried out, by processing unit 3 with Digital Elevation Model image
Setting up the bounding box of earth's surface object, utilize planning unit 4 to cook up the avoidance path of optimum, this system can
Embed in unmanned aerial vehicle control system, high with the deadweight and planning precision reducing unmanned plane, it is simple to implement.
Some cycles is there is, it is thus possible to exist and plan owing to the data of digital surface model image update
Optimal path above there is the situation on emerging earth's surface object (barrier), therefore can use local
Route avoidance module revises flight path in real time.The route input avoidance module that will have planned, then profit
With alignment system real-time positioning unmanned plane, and make the flight path figure of unmanned plane, when flight path and rule
The optimal path pulled produces deviation, is modified flight path.If occurring new in flight path
Barrier, uses avoidance module manual cut-through thing and comes back to continue on path planning flight.
In a preferred embodiment, registration unit 1 includes:
One acquisition module 11, in order to obtain the digital surface model image sum of the same area same ratio chi
Word Elevation Model image；
One processing module 12, connects acquisition module 11, in order to digital surface model image and digital elevation
Model image carries out pretreatment, so that digital surface model image and the resolution of Digital Elevation Model image
Identical；
One registration module 13, connects processing module 12, in order to through pretreated digital surface model
Second pixel point set of the first pixel point set sum word Elevation Model image in image carries out registration alignment,
To obtain corresponding point to collection, the first pixel point set includes a plurality of first pixel, the second pixel point set
Including a plurality of second pixels, the first pixel of the first pixel concentration and the second pixel are concentrated
Second pixel one_to_one corresponding, point includes plurality of points pair to collection, every a pair first pixel one to one
Point and the second pixel composition are the most right.
A kind of unmanned plane, including above-mentioned overall route planning system.
In order to be further elucidated with the principle of the present invention, it is illustrated below in conjunction with a case:
Unmanned plane flies (such as photograph, take pictures) in certain path according to schedule, overhead, region.It is embodied as
Step is as follows:
A, system off-line preparatory stage
A1. obtain this area same precision DEM and DSM, based on data calculate earth's surface
Obstacle object point cloud coordinate；
A2. cloud data is carried out denoising, then calculates barrier bounding box；
A2. overall situation route planning, finds optimum flight path.
B, system on-line implement stage
B1. inputting flight path, unmanned plane returns changing coordinates in real time by alignment system, utilizes coordinate
Make flight path figure；
If b2. flight path and programme path have deviation, revise route；If there is no deviation, continue according to
Programme path flies；
If b3. there being new barrier (such as newly-built building) on initial planning route, avoidance module is used to walk around barrier
Hinder thing and return to continue on path planning flight.
The invention have the benefit that
1) digital surface model image and Digital Elevation Model image directly calculation earth's surface object (obstacle are used
Thing) concrete coordinate rather than atural object is classified on image simply by POP, at DSM
New direction is provided with the application of DEM；
2) approximate spatial locations shared by barrier is calculated by Box technology, it is not necessary to strictly sketch the contours
Go out the profile of barrier, reduce computational complexity, accelerate whole module arithmetic speed, advise for route
Draw and provide the foundation；
3) structure unmanned plane can fly able air route collection, show with Voronoi diagram, use Dijkstra
Algorithm search obstacle scattergram, it is possible to preferably obtain the optimal path of unmanned plane；
4) in the embedded system that can run on unmanned aerial vehicle platform of the present invention, it is possible to run on and unmanned plane
Carrying out on the fixing of communications and liaison or mobile terminal, control mode is flexible and changeable, it is simple to implement；
5) present invention also can add navigation system, manually or automatically revises course line, make in flight course
Unmanned plane can be real-time carry out avoidance.
The foregoing is only preferred embodiment of the present invention, not thereby limit embodiments of the present invention and
Protection domain, to those skilled in the art, it should can appreciate that all utilization description of the invention
And the equivalent done by diagramatic content and the scheme obtained by obvious change, all should comprise
Within the scope of the present invention.
Claims (12)
1. an overall route planning method, is applied in unmanned plane, it is characterised in that include following step
Rapid:
S1. digital surface model image and Digital Elevation Model image to the same area same ratio chi enter
Row pretreatment, to obtain the described digital surface model image of equal resolution and described digital elevation model
Image；
S2. the earth's surface object point extracted in described digital surface model image is converged；
S3. described earth's surface object point is converged the bounding box setting up earth's surface object after carrying out denoising；
S4. set up Thiessen polygon figure according to described bounding box, use signal source shortest path algorithm described
Searching route in Thiessen polygon figure, obtains optimal path by cubic spline interpolation algorithm.
2. overall situation route planning method as claimed in claim 1, it is characterised in that described step S1
Comprise the steps:
S11. the described digital surface model image and the described numeral that obtain the same area same ratio chi are high
Journey model image；
S12. described digital surface model image and described Digital Elevation Model image are carried out pretreatment, with
Make described digital surface model image identical with the resolution of described Digital Elevation Model image；
S13. to the first pixel point set in pretreated described digital surface model image and institute
State the second pixel point set of Digital Elevation Model image and carry out registration alignment, to obtain corresponding point to collection,
Described first pixel point set includes that a plurality of first pixel, described second pixel point set include a plurality of
Two pixels, described first pixel that described first pixel is concentrated is concentrated with described second pixel
Described second pixel one_to_one corresponding, described point includes plurality of points pair to collection, every a pair one to one
It is right to put described in described first pixel and described second pixel composition one.
3. overall situation route planning method as claimed in claim 2, it is characterised in that described step S2
Comprise the steps:
S21. according to described point to collection obtain one by one each point to difference coordinate；
S22. judge whether described difference coordinate meets pre-conditioned, if so, perform step S23；If it is not,
Then filter described point right；
S23. by described point to adding to during described earth's surface object point converges.
4. overall situation route planning method as claimed in claim 3, it is characterised in that described pre-conditioned
Z axis difference for difference coordinate is more than 0.
5. overall situation route planning method as claimed in claim 1, it is characterised in that described step S3
Described in the detailed process of denoising be:
Use space cell lattice method that described earth's surface object point is converged foundation point cloud topological relation, carry out triangle
Mesh generation, sets up the k nearest neighbor point of each point, i.e. determines that k the point closest with described point is constituted
Neighborhood, it is judged that in nearest k point, described in distance, whether the distance of point more than predetermined threshold value, if then
Reject；If otherwise retaining；
Wherein k is positive integer.
6. overall situation route planning method as claimed in claim 1, it is characterised in that to described earth's surface thing
Body point converges and uses default method described earth's surface object point to be converged after carrying out described denoising to be divided into
A plurality of closed areas；
Described default method is: law vector method or Curvature Estimation method.
7. overall situation route planning method as claimed in claim 1, it is characterised in that described earth's surface object
Bounding box be axial bounding box.
8. overall situation route planning method as claimed in claim 6, it is characterised in that set up described axially
The detailed process of bounding box is:
Extract the minimum angle point of each described closed area and maximum angle point respectively, and calculate each described envelope
The center of closed zone, size and volume, obtain institute according to center, size and the volume of each described enclosed area
State the scope of enclosed area, set up the bounding box of described earth's surface object according to the scope obtained.
9. a unmanned plane, it is characterised in that use the overall route planning as described in claim 1-8
Method carries out flight path planning.
10. an overall route planning system, is applied in unmanned plane, it is characterised in that including:
One registration unit, in order to high to the digital surface model image of the same area same ratio chi and numeral
Journey model image carries out pretreatment, to obtain the described digital surface model image of equal resolution and described
Digital Elevation Model image；
One extraction unit, connects described registration unit, in order to extract in described digital surface model image
Earth's surface object point is converged；
One processing unit, connects described extraction unit, carries out denoising in order to converge described earth's surface object point
The bounding box of earth's surface object is set up after process；
One planning unit, connects described processing unit, in order to set up Thiessen polygon according to described bounding box
Figure, uses signal source shortest path algorithm to searching route in described Thiessen polygon figure, passes through cubic spline
Interpolation algorithm obtains optimal path.
11. overall situation route planning systems as claimed in claim 10, it is characterised in that described registration list
Unit includes:
One acquisition module, in order to obtain the same area same ratio chi described digital surface model image and
Described Digital Elevation Model image；
One processing module, connects described acquisition module, in order to described digital surface model image and described
Digital Elevation Model image carries out pretreatment, so that described digital surface model image and described digital elevation
The resolution of model image is identical；
One registration module, connects described processing module, in order to through pretreated described digital surface
The first pixel point set and the second pixel point set of described Digital Elevation Model image in model image are joined
Quasi-alignment, to obtain corresponding point to collection, described first pixel point set includes a plurality of first pixel,
Described second pixel point set includes described first that a plurality of second pixel, described first pixel are concentrated
The described second pixel one_to_one corresponding that pixel is concentrated with described second pixel, collection is included by described point
Plurality of points pair, every a pair first pixel the most described and described second pixel form an institute
It is a little right to state.
12. 1 kinds of unmanned planes, it is characterised in that include the overall route as described in claim 10-11
Planning system.
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