CN108050993A - Ground electromagnetic instrument field work area landform three-dimensional modeling method and device - Google Patents
Ground electromagnetic instrument field work area landform three-dimensional modeling method and device Download PDFInfo
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- CN108050993A CN108050993A CN201711063133.3A CN201711063133A CN108050993A CN 108050993 A CN108050993 A CN 108050993A CN 201711063133 A CN201711063133 A CN 201711063133A CN 108050993 A CN108050993 A CN 108050993A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method and devices, the data processed result of ground electromagnetic instrument can be presented in a manner that three-dimensional is into figure, the three-dimensional landform in rapid build field work area, to coordinate underground data interpretation results, realize that the three-dimensional in field work area is complete and explain and show.The three-dimensional landform in field work area is built with the approach of photographic image and threedimensional model, the state of ground and feature (such as surface soil layer rock conditions, vegetative coverage situation) during recordable operation, more fully information is collected convenient for operating personnel, be conducive to later data interpretive analysis and achievements exhibition, it can more directly perceived, image display achievement.
Description
Technical field
The present invention relates to geological exploration field, more particularly to a kind of ground electromagnetic instrument field work area landform three-dimensional is built
Mould method and device.
Background technology
Ground electromagnetic instrument is to calculate a kind of instrument of formation resistivity by measuring Electric field on earth surface and magnetic field signal,
It is used widely in fields such as mineral exploration, oil-gas exploration, underground water, underground heat.During ground electromagnetic field work, usually etc.
It is spaced and lays several surveys line (usual hundreds of meters of distance between adjacent two surveys line), several surveys of equidistant placement on every survey line
Point (usual hundreds of meters of adjacent measuring point spacing), instrument arrange measurement, a ground electromagnetic instrument operation area on measuring point successively
Domain is up to several square kilometres even tens square kilometres.
Currently, ground electromagnetic instrument interpretation of data process is to be carried out based on survey line section in two dimensional surface.People
Studying 3-D interpretation method, however, 3-D interpretation processing here is mainly directed towards subsurface formations information, and for ground
The three-dimensional information of table is then not directed to.
The content of the invention
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method and device,
For more directly perceived, image display achievement, the data processed result of future terrestrial electromagnetic method instrument, can be in a manner that three-dimensional be into figure
It presents, the three-dimensional landform in rapid build field work area, to coordinate underground data interpretation results, realizes the three-dimensional in field work area
It is complete to explain and show.The three-dimensional landform in field work area is built with the approach of photographic image and threedimensional model, can record operation
When the state of ground and feature (such as surface soil layer rock conditions, vegetative coverage situation), collected more fully convenient for operating personnel
Information is conducive to later data interpretive analysis and achievements exhibition.
In a first aspect, a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method provided by the invention, it should
For aircraft, the aircraft includes navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and flies control list
Member, the described method includes：
The flight photography Route Generation work planning file in the area of planning field work in advance；
The Aerial vehicle position initialization is carried out in the field work area and the work planning file download is described in
Aircraft；
The aircraft is flown under the winged control unit control according to the flight photography route with pre-set velocity
It photographs and utilizes the navigation elements record position coordinate, the airborne laser range finder gathers distance of the aircraft apart from ground
Information, the image data binding time axis and the position coordinates that the processor is gathered according to the multi-vision visual collecting unit
And the range information generation surveying and mapping data；
Image data in the surveying and mapping data is converted into dimensional topography landform model, and is combined with position coordinates,
Form the earth's surface three dimensional terrain reconstruction in field work area；
Point coordinates is laid with reference to instrument, test equipment, sensor are combined into earth's surface dimensional topography structure in the form of threedimensional model
Into entire field work area operation when instrument data explain earth's surface three-dimensional achievement；
The earth's surface dimensional topography is explained that three-dimensional achievement is combined with instrument data, form entire operation area earth's surface and
Subsurface three-dimensional achievement is completed data and is explained.
Optionally, the airborne laser range finder gathers range information of the aircraft apart from ground and includes：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, described in the winged control unit control
Aircraft carries out yawed flight to gather range information of the aircraft apart from ground.
Optionally, the aircraft further includes wireless communication unit, and the method further includes：
The flying quality of the aircraft is back to ground control centre using the wireless communication unit.
Optionally, it is described to carry out the Aerial vehicle position initialization and the work planning file in the field work area
It downloads to before the aircraft, further includes：
Coordinate north orientation is determined and corrected.
Optionally, it is described to the north to being determined and correct, including：
The aircraft flies under preset height along predetermined direction, hovers in first position and obtains the first position
The corresponding elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding positioning in first position
Coordinate, by the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine
Coordinate north orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
Second aspect, a kind of ground electromagnetic instrument field work area landform three-dimensional modeling apparatus provided by the invention should
For aircraft, the aircraft includes navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and flies control list
Member, the described method includes：
Planning unit, for planning the flight in field work area photography Route Generation work planning file in advance；
Initialization unit, for carrying out the Aerial vehicle position initialization and the work planning in the field work area
File download is to the aircraft；
Data acquisition unit, for it is described it is winged control unit control under according to it is described flight photograph route with pre-set velocity into
Row flight photographs and utilizes the navigation elements record position coordinate, and the airborne laser range finder gathers the aircraft apart from ground
Range information, the image data binding time axis and institute's rheme that the processor is gathered according to the multi-vision visual collecting unit
Put coordinate and range information generation surveying and mapping data；
Data processing unit is converted into dimensional topography landform model for the image data in the surveying and mapping data,
And combined with position coordinates, form the earth's surface three dimensional terrain reconstruction in field work area；
The data processing unit is additionally operable to combine instrument laying point coordinates, by test equipment, sensor with threedimensional model
Instrument data explains earth's surface three-dimensional achievement when form combination earth's surface dimensional topography forms the operation in entire field work area；
The data processing unit is additionally operable to the earth's surface dimensional topography explaining that three-dimensional achievement is combined with instrument data,
The earth's surface of entire operation area and subsurface three-dimensional achievement are formed, data is completed and explains.
Optionally, the data acquisition list is specifically used for：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, described in the winged control unit control
Aircraft carries out yawed flight to gather range information of the aircraft apart from ground.
Optionally, the aircraft further includes wireless communication unit, and described device further includes：
Data back unit, for the flying quality of the aircraft to be back to ground using the wireless communication unit
Control centre.
Optionally, described device further includes：
Amending unit, for coordinate north orientation to be determined and corrected.
Optionally, the amending unit is specifically used for：
The aircraft flies under preset height along predetermined direction, hovers in first position and obtains the first position
The corresponding elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding positioning in first position
Coordinate, by the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine
Coordinate north orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
As can be seen from the above technical solutions, the embodiment of the present invention has the following advantages：
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method and device,
The data processed result of ground electromagnetic instrument can be presented in a manner that three-dimensional is into figure, and rapid build field work area is dimensionally
Looks to coordinate underground data interpretation results, realize that the three-dimensional in field work area is complete and explain and show.The three-dimensional in field work area
Landforms are built with the approach of photographic image and threedimensional model, the state of ground and feature (such as surface soil layer rock when can record operation
State, vegetative coverage situation) etc., collect more fully information convenient for operating personnel, be conducive to later data interpretive analysis and into
Fruit displaying, can more directly perceived, image display achievement.
Description of the drawings
Fig. 1 is a kind of embodiment of ground electromagnetic instrument field work area landform three-dimensional modeling method provided by the invention
Flow chart.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model that the present invention protects
It encloses.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned attached drawing, "
The (if present)s such as four " are the objects for distinguishing similar, without being used to describe specific order or precedence.It should manage
The data that solution so uses can exchange in the appropriate case, so that the embodiments described herein can be with except illustrating herein
Or the order beyond the content of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that
Cover it is non-exclusive include, for example, containing the process of series of steps or unit, method, system, product or equipment need not limit
In those steps or unit for clearly listing, but may include not list clearly or for these processes, method, production
The intrinsic other steps of product or equipment or unit.
With reference to shown in Fig. 1, a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method provided by the invention,
Applied to aircraft, the aircraft includes navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and flies control
Unit, the described method includes：
S101, the flight photography Route Generation work planning file in the area of planning field work in advance；
S102, arrived in the field work area progress Aerial vehicle position initialization and the work planning file download
The aircraft；
S103, the aircraft are carried out under the winged control unit control according to the flight photography route with pre-set velocity
Flight photographs and utilizes the navigation elements record position coordinate, and the airborne laser range finder gathers the aircraft apart from ground
Range information, the image data binding time axis and the position that the processor is gathered according to the multi-vision visual collecting unit
Coordinate and range information generation surveying and mapping data；
S104, the image data in the surveying and mapping data are converted into dimensional topography landform model, and and position coordinates
With reference to the earth's surface three dimensional terrain reconstruction in composition field work area；
S105, point coordinates is laid with reference to instrument, test equipment, sensor is combined into earth's surface dimensionally in the form of threedimensional model
Instrument data explains earth's surface three-dimensional achievement when shape forms the operation in entire field work area；
S106, the earth's surface dimensional topography is explained that three-dimensional achievement is combined with instrument data, forms entire operation area
Earth's surface and subsurface three-dimensional achievement are completed data and are explained.
Optionally, the airborne laser range finder gathers range information of the aircraft apart from ground and includes：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, described in the winged control unit control
Aircraft carries out yawed flight to gather range information of the aircraft apart from ground.
Optionally, the aircraft further includes wireless communication unit, and the method further includes：
The flying quality of the aircraft is back to ground control centre using the wireless communication unit.
Optionally, it is described to carry out the Aerial vehicle position initialization and the work planning file in the field work area
It downloads to before the aircraft, further includes：
Coordinate north orientation is determined and corrected.
Optionally, it is described to the north to being determined and correct, including：
The aircraft flies under preset height along predetermined direction, hovers in first position and obtains the first position
The corresponding elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding positioning in first position
Coordinate, by the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine
Coordinate north orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
The satellite photography number of operation area can be obtained from GoogleEarth, this kind of three-dimensional map data storehouse of Baidu map
According to however, the resolution ratio of the database of this kind of large scale is usually relatively low, it is opposite to be not appropriate for ground electromagnetic instrument operating area
Smaller application scenarios displaying.The method photographed at the scene using unmanned plane, can obtain very high resolution ratio, can clearly show
Operation area three-dimensional state.
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method, in order to more
Add directly perceived, image display achievement, the data processed result of future terrestrial electromagnetic method instrument, can be presented in a manner that three-dimensional is into figure, soon
The three-dimensional landform in speed structure field work area, to coordinate underground data interpretation results, realizes the three-dimensional global solution in field work area
It releases and shows.The three-dimensional landform in field work area is built with the approach of photographic image and threedimensional model, ground when can record operation
State and feature (such as surface soil layer rock conditions, vegetative coverage situation) are collected more fully information convenient for operating personnel, are had
Beneficial to later data interpretive analysis and achievements exhibition.
A kind of ground electromagnetic instrument field work area landform three-dimensional modeling apparatus provided by the invention, applied to flight
Device, the aircraft include navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and fly control unit, the side
Method includes：
Planning unit, for planning the flight in field work area photography Route Generation work planning file in advance；
Initialization unit, for carrying out the Aerial vehicle position initialization and the work planning in the field work area
File download is to the aircraft；
Data acquisition unit, for it is described it is winged control unit control under according to it is described flight photograph route with pre-set velocity into
Row flight photographs and utilizes the navigation elements record position coordinate, and the airborne laser range finder gathers the aircraft apart from ground
Range information, the image data binding time axis and institute's rheme that the processor is gathered according to the multi-vision visual collecting unit
Put coordinate and range information generation surveying and mapping data；
Data processing unit is converted into dimensional topography landform model for the image data in the surveying and mapping data,
And combined with position coordinates, form the earth's surface three dimensional terrain reconstruction in field work area；
The data processing unit is additionally operable to combine instrument laying point coordinates, by test equipment, sensor with threedimensional model
Instrument data explains earth's surface three-dimensional achievement when form combination earth's surface dimensional topography forms the operation in entire field work area；
The data processing unit is additionally operable to the earth's surface dimensional topography explaining that three-dimensional achievement is combined with instrument data,
The earth's surface of entire operation area and subsurface three-dimensional achievement are formed, data is completed and explains.
Optionally, the data acquisition list is specifically used for：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, described in the winged control unit control
Aircraft carries out yawed flight to gather range information of the aircraft apart from ground.
Optionally, the aircraft further includes wireless communication unit, and described device further includes：
Data back unit, for the flying quality of the aircraft to be back to ground using the wireless communication unit
Control centre.
Optionally, described device further includes：
Amending unit, for coordinate north orientation to be determined and corrected.
Optionally, the amending unit is specifically used for：
The aircraft flies under preset height along predetermined direction, hovers in first position and obtains the first position
The corresponding elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding positioning in first position
Coordinate, by the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine
Coordinate north orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling apparatus, in order to more
Add directly perceived, image display achievement, the data processed result of future terrestrial electromagnetic method instrument, can be presented in a manner that three-dimensional is into figure, soon
The three-dimensional landform in speed structure field work area, to coordinate underground data interpretation results, realizes the three-dimensional global solution in field work area
It releases and shows.The three-dimensional landform in field work area is built with the approach of photographic image and threedimensional model, ground when can record operation
State and feature (such as surface soil layer rock conditions, vegetative coverage situation) are collected more fully information convenient for operating personnel, are had
Beneficial to later data interpretive analysis and achievements exhibition.
The present invention photographs by unmanned plane and realizes, basic principle is unmanned plane in ground electromagnetic instrument field work area
Carry out autonomous flight, the more mesh photography in flight, the processing of photo materials postmenstruation, can Three Dimensional Ground model, and and geographical coordinate
Match, realize that the three-dimensional landform of operation area reappears.
The present invention is needed using a kind of unmanned plane, with following feature：
Unmanned autonomous flight, compact, total amount is light (being usually no more than 15kg), is carried convenient for field；
High-precision satellite navigation (such as GPS, Beidou navigation), inertial navigation unit are configured, navigation accuracy is in decimeter grade, energy
Autonomous flight can hover over the point to specified coordinate point；
With wireless communication function, the remote-controlled setting flare maneuver (start and stop etc.) of operator and its parameter (speed, height
Deng), the coordinate value of airbound target point setting etc., can also report relevant parameter；
Multiple optical cameras (no less than 2) are configured, multiple video cameras image simultaneously during flight, form more mesh
Vision system；
Airborne laser range finder is configured, for measuring earth's surface elevation；
Superior performance processor is configured, can record and store the image of video camera, and pass through time shaft and position coordinates
Information, ranging information are synchronous, and record together；
With wireless communication function, the remote-controlled setting flare maneuver (start and stop etc.) of operator and its parameter (speed, height
Deng), the coordinate value of airbound target point setting etc., relevant parameter also can be read, download the data of storage.
The specific implementation step of method proposed by the present invention is as described below：
1st, indoor planning -- in the region in this stage engineering staff planning field work area, the regional location coordinate, according to
This regional extent, planning flight photography route, forms work planning file；
2nd, after planning that importing-engineering staff reaches operating area, unmanned plane is opened to complete autonomous positioning initialization, is led to
Remote manipulator is crossed by work planning file download into unmanned plane；
3rd, aeroplane photography-startup unmanned plane is flown with certain speed, this photographs in the process in flight, and records position
Put coordinate；
4th, after data fusion-unmanned plane finishes the flight of entire operating area, engineering staff grasps data by being remotely controlled
It is downloaded to as device on computer, it is synchronous according to time shaft to information such as camera shooting data, measurement of higher degree result, position coordinateses, it is fused into
Proprietary, data format；
5th, three-dimensional reconstruction -1) operation three-dimensional reconstruction program, more mesh photographed images data are converted into dimensional topography landforms mould
Type, and combined with position coordinates, fabrication process earth's surface three dimensional terrain reconstruction；2) combine instrument and lay point coordinates, by instrument, sensing
Device is combined in the form of threedimensional model in three-dimensional achievement, earth's surface three-dimensional achievement when forming the operation of entire operation area；
6th, achievements exhibition-be combined the three-dimensional achievement of step (5) with the three-dimensional achievement that instrument data is explained is formed whole
Earth's surface, the subsurface three-dimensional achievement of a operation area are completed data and are explained；
An embodiment of the present invention provides a kind of ground electromagnetic instrument field work area landform three-dimensional modeling apparatus, in order to more
Add directly perceived, image display achievement, the data processed result of future terrestrial electromagnetic method instrument, can be presented in a manner that three-dimensional is into figure, soon
The three-dimensional landform in speed structure field work area, to coordinate underground data interpretation results, realizes the three-dimensional global solution in field work area
It releases and shows.The three-dimensional landform in field work area is built with the approach of photographic image and threedimensional model, ground when can record operation
State and feature (such as surface soil layer rock conditions, vegetative coverage situation) are collected more fully information convenient for operating personnel, are had
Beneficial to later data interpretive analysis and achievements exhibition.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit may be referred to the corresponding process in preceding method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
Division is only a kind of division of logic function, can there is other dividing mode, such as multiple units or component in actual implementation
It may be combined or can be integrated into another system or some features can be ignored or does not perform.It is another, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be the indirect coupling by some interfaces, device or unit
It closes or communicates to connect, can be electrical, machinery or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can be located at a place or can also be distributed to multiple
In network element.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
The form that hardware had both may be employed in member is realized, can also be realized in the form of SFU software functional unit.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：Read-only memory (ROM, Read Only Memory), random access memory (RAM, Random
Access Memory), disk or CD etc..
Above to a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method provided by the present invention and dress
It puts and is described in detail, for those of ordinary skill in the art, according to the thought of the embodiment of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion this specification content should not be construed as limiting the invention.
Claims (10)
1. a kind of ground electromagnetic instrument field work area landform three-dimensional modeling method, which is characterized in that applied to aircraft, institute
Stating aircraft includes navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and flies control unit, the method bag
It includes：
The flight photography Route Generation work planning file in the area of planning field work in advance；
The Aerial vehicle position initialization and the work planning file download are carried out in the field work area to the flight
Device；
The aircraft carries out flight photography according to the flight photography route under the winged control unit control with pre-set velocity
And the navigation elements record position coordinate is utilized, the airborne laser range finder gathers distance letter of the aircraft apart from ground
Breath, the image data binding time axis and the position coordinates that the processor is gathered according to the multi-vision visual collecting unit with
And the range information generation surveying and mapping data；
Image data in the surveying and mapping data is converted into dimensional topography landform model, and is combined with position coordinates, forms
The earth's surface three dimensional terrain reconstruction in field work area；
Point coordinates is laid with reference to instrument, test equipment, sensor are formed with reference to earth's surface dimensional topography in the form of threedimensional model whole
Instrument data explains earth's surface three-dimensional achievement during the operation in a field work area；
The earth's surface dimensional topography is explained that three-dimensional achievement is combined with instrument data, forms earth's surface and the underground of entire operation area
Three-dimensional achievement, to complete data explanation.
2. ground electromagnetic instrument field work area landform three-dimensional modeling method according to claim 1, which is characterized in that
The airborne laser range finder, which gathers range information of the aircraft apart from ground, to be included：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, the winged control unit controls the flight
Device carries out yawed flight to gather range information of the aircraft apart from ground.
3. ground electromagnetic instrument field work area landform three-dimensional modeling method according to claim 1, which is characterized in that
The aircraft further includes wireless communication unit, and the method further includes：
The flying quality of the aircraft is back to ground control centre using the wireless communication unit.
4. ground electromagnetic instrument field work area landform three-dimensional modeling method according to claim 1, which is characterized in that
The Aerial vehicle position initialization and the work planning file download of being carried out in the field work area is to the flight
Before device, further include：
Coordinate north orientation is determined and corrected.
5. ground electromagnetic instrument field work area landform three-dimensional modeling method according to claim 4, which is characterized in that
It is described to the north to being determined and correct, including：
The aircraft flies under preset height along predetermined direction, and hovering in first position and obtaining the first position corresponds to
The elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding elements of a fix in first position,
By the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine coordinate
North orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
6. a kind of ground electromagnetic instrument field work area landform three-dimensional modeling apparatus, which is characterized in that applied to aircraft, institute
Stating aircraft includes navigation elements, multi-vision visual collecting unit, airborne laser range finder, processor and flies control unit, the method bag
It includes：
Planning unit, for planning the flight in field work area photography Route Generation work planning file in advance；
Initialization unit, for carrying out the Aerial vehicle position initialization and the work planning file in the field work area
Download to the aircraft；
Data acquisition unit, for being flown under the winged control unit control according to the flight photography route with pre-set velocity
Row photographs and simultaneously utilizes the navigation elements record position coordinate, the airborne laser range finder gather the aircraft apart from ground away from
From information, image data binding time axis and the position that the processor is gathered according to the multi-vision visual collecting unit are sat
It is marked with and the range information generates surveying and mapping data；
Data processing unit is converted into dimensional topography landform model for the image data in the surveying and mapping data, and with
Position coordinates combines, and forms the earth's surface three dimensional terrain reconstruction in field work area；
The data processing unit is additionally operable to combine instrument laying point coordinates, by test equipment, sensor in the form of threedimensional model
Instrument data explains earth's surface three-dimensional achievement when forming the operation in entire field work area with reference to earth's surface dimensional topography；
The data processing unit is additionally operable to the earth's surface dimensional topography explaining that three-dimensional achievement is combined with instrument data, forms
The entire earth's surface of operation area and subsurface three-dimensional achievement are completed data and are explained.
7. ground electromagnetic instrument field work area landform three-dimensional modeling method according to claim 6, which is characterized in that
The data acquisition list is specifically used for：
When the laser of airborne laser range finder transmitting is blocked by the aircraft fuselage, the winged control unit controls the flight
Device carries out yawed flight to gather range information of the aircraft apart from ground.
8. ground electromagnetic instrument field work area landform three-dimensional modeling apparatus according to claim 6, which is characterized in that
The aircraft further includes wireless communication unit, and described device further includes：
Data back unit, for the flying quality of the aircraft to be back to ground control using the wireless communication unit
Center.
9. ground electromagnetic instrument field work area landform three-dimensional modeling apparatus according to claim 6, which is characterized in that
Described device further includes：
Amending unit, for coordinate north orientation to be determined and corrected.
10. ground electromagnetic instrument field work area landform three-dimensional modeling apparatus according to claim 9, feature exist
In the amending unit is specifically used for：
The aircraft flies under preset height along predetermined direction, and hovering in first position and obtaining the first position corresponds to
The elements of a fix；
The aircraft reaches the second position to any direction flight pre-determined distance and obtains the corresponding elements of a fix in first position,
By the azimuth between horizontal limb record-setting flight direction and the first position and the second position to determine coordinate
North orientation and according to the coordinate north orientation configuration level scale with complete to coordinate north orientation determine and correct.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711063133.3A CN108050993B (en) | 2017-11-02 | 2017-11-02 | Terrain three-dimensional modeling method and device for field operation area of ground electromagnetic instrument |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711063133.3A CN108050993B (en) | 2017-11-02 | 2017-11-02 | Terrain three-dimensional modeling method and device for field operation area of ground electromagnetic instrument |
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| CN108050993A true CN108050993A (en) | 2018-05-18 |
| CN108050993B CN108050993B (en) | 2022-04-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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