CN109341666A - A kind of unmanned plane aerial photography anti-side wind course line determines method - Google Patents
A kind of unmanned plane aerial photography anti-side wind course line determines method Download PDFInfo
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- CN109341666A CN109341666A CN201811286035.0A CN201811286035A CN109341666A CN 109341666 A CN109341666 A CN 109341666A CN 201811286035 A CN201811286035 A CN 201811286035A CN 109341666 A CN109341666 A CN 109341666A
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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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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Abstract
The present invention provides a kind of unmanned plane aerial photography anti-side wind course line and determines method, specifically includes the following steps: step 1, route design parameter is calculated, by taking the photograph area's landform, aerial surveying camera parameter, specification precision index COMPREHENSIVE CALCULATING route design parameter；Step 2, it draws in wind resistance course line, the track spacing in route design parameter and flying height above mean sea level that are obtained according to step 1 simultaneously combine and take the photograph area's mapping coverage line and be laid with regular course line, setting boat takes the photograph landing point, determine first course back number, then it carries out wind resistance course line sequence to draw, adjusts intermediate track spacing, finally return that boat takes the photograph landing point.This unmanned plane aerial photography anti-side wind course line determines that method to take the photograph area half course line course and is consistent that the other half course line is reversed；Sidelapping degree is taken the photograph between area course line under the influence of lasting crosswind uniformly without loophole, be not under the conditions of crosswind traditional " one along the line of the other one so as to plough deeper course line " every air strips sidelapping is uneven and aerial photographic gap problem, effectively promote photogrammetric aerial triangulation uniform precision.
Description
Technical field
The present invention relates to low altitude photogrammetry technical fields, and in particular to a kind of unmanned plane aerial photography anti-side wind course line determination side
Method.
Background technique
Unmanned Aerial Vehicle Photogrammetric Technique has been widely used for mapping, and the reliability of quality of achievement relies on aerial stereo images
Ship's control and sidelapping degree reach code requirement.Under the pressure of duration pressure in practical aerial flight, weather condition can not ten
Sub-argument is thought, is influenced by lasting lateral airflow, and flight attitude can be towards unilateral duration inclination, according to traditional " one along the line of the other one so as to plough deeper course line " design
It is insufficient to will lead to half quantity course line sidelapping degree, the course line sidelapping of half quantity is spent greatly, may cause aerial photographic gap
Or excessive workload.
Summary of the invention
The problem of in order to overcome existing course line sidelapping to spend greatly, may cause aerial photographic gap or excessive workload, this
Invention provides a kind of unmanned plane aerial photography anti-side wind course line and determines that method, the present invention are continuing lateral wind effect aircraft side to inclination
When boat is taken the photograph, more uniform reliable course line sidelapping degree is provided, quality of aerophotography stability and photogrammetric aerial triangle are promoted
Measurement accuracy.
It is an object of the present invention to: the area Zhong She half course line of the present invention course is consistent, the other half course line is anti-
To.
The second object of the present invention is: the present invention takes the photograph the uniform nothing of sidelapping degree between area course line under the influence of lasting crosswind
Loophole is not in traditional under the conditions of crosswind " one along the line of the other one so as to plough deeper course line " every air strips sidelapping problem of non-uniform.
A kind of unmanned plane aerial photography anti-side wind course line determines method, specifically includes the following steps:
Step 1, route design parameter calculates, by taking the photograph area's landform, aerial surveying camera parameter, specification precision index COMPREHENSIVE CALCULATING course line
Design parameter；
Step 2, wind resistance course line are drawn, and the track spacing in route design parameter and flying height above mean sea level obtained according to step 1 is simultaneously
It is laid with regular course line in conjunction with area's mapping coverage line is taken the photograph, setting boat takes the photograph landing point, determines first course back number, then carry out wind resistance
Course line sequence is drawn, and is adjusted intermediate track spacing, is finally returned that boat takes the photograph landing point.
Specification precision index in the step one includes at least design ground resolution, ship's control and side to weight
Folded degree.
In the step one, route design parameter includes at least track spacing, terrain clearance, flying height above mean sea level, photography base
Line.
In the step one, aerial surveying camera is camera.
In the step one, aerial surveying camera parameter include at least effective film size, Pixel size and phase owner away from.
Wind resistance course line is drawn in the step 2, includes at least following steps:
Step 201: being established according to engineering attribute and survey area's project file, filed after being determined to air data；
Step 202: setting boat takes the photograph landing point coordinateA0(B, L, H),It is drawn since the point in course line；
Step 203: searching for coverage of survey area line longest edge in coverage of survey area line, select longest edge for main course-and-bearing；
Step 204: being laid with covering automatically according to the track spacing that is calculated in step 103, enroute altitude parameter and entirely take the photograph the boat in area
Linear array, course line sumN(N=1,2,3 ... N)Item；
Step 205: determining first course back numberR, whenNWhen for even number,R=N/2+1；WhenNWhen for odd number,R=(N+1)/2+1；
Step 206: anti-side wind line of flight drawing order is: 1, R, 2, R+1,3, R+2 ...,Until course line traversal finishes；
Step 207: determining whether to mend and fly encryption course line, when the photo of R-1 and two course lines R be averaged roll angle and average rotation drift angle
When being all larger than 10 degree, needs to mend a winged encryption course line among two course lines, execute step 208 later, it is ensured that this two
Course line photo degree of overlapping meets route design requirement；Otherwise, step 208 is executed；
Step 208: course line returns to landing point A0(B, L, H), course line, which is drawn, to terminate.
In step 203, coverage of survey area line longest edge is searched in coverage of survey area line, selects longest edge for main course-and-bearing,
Specific steps are as follows: calculate longest edge two-end-point and landing point distance, starting point, and boat are drawn using nearest endpoint as effective course line
Line azimuth starting point, another endpoint is as course bearing angle terminal, and calculation method is using grid azimuth calculating side in mapping science
Method carries out.
The engineering attribute includes at least job number, engineering name, mapping scale bar, responsible person, files the date.
The invention has the benefit that
The area Zhong She half course line of the present invention course is consistent, the other half course line is reversed.
Sidelapping degree is not in crosswind condition uniformly without loophole between the present invention takes the photograph area course line under the influence of lasting crosswind
It is lower tradition " one along the line of the other one so as to plough deeper course line " every air strips sidelapping problem of non-uniform.
The present invention provides more uniformly by reliable course line to weight when continuing lateral wind effect aircraft side and taking the photograph to inclination boat
Folded degree, promotes quality of aerophotography stability and photogrammetric aerial triangulation precision.
It is further detailed below with reference to attached drawing.
Detailed description of the invention
Fig. 1 is flying height and ground resolution relationship.
Fig. 2 is wind resistance route map.
Specific embodiment
Embodiment 1:
The problem of in order to overcome existing course line sidelapping to spend greatly, may cause aerial photographic gap or excessive workload, the present invention
It provides a kind of unmanned plane aerial photography anti-side wind course line as shown in Figs. 1-2 and determines method, the present invention flies continuing lateral wind effect
When machine lateral tilt boat is taken the photograph, more uniform reliable course line sidelapping degree is provided, quality of aerophotography stability and photography survey are promoted
Measure aerial triangulation precision.
It is an object of the present invention to: the area Zhong She half course line of the present invention course is consistent, the other half course line is anti-
To.
The second object of the present invention is: the present invention takes the photograph the uniform nothing of sidelapping degree between area course line under the influence of lasting crosswind
Loophole is not in traditional under the conditions of crosswind " one along the line of the other one so as to plough deeper course line " every air strips sidelapping problem of non-uniform.
A kind of unmanned plane aerial photography anti-side wind course line determines method, specifically includes the following steps:
Step 1, route design parameter calculates, by taking the photograph area's landform, aerial surveying camera parameter, specification precision index COMPREHENSIVE CALCULATING course line
Design parameter；
Step 2, wind resistance course line are drawn, and the track spacing in route design parameter and flying height above mean sea level obtained according to step 1 is simultaneously
It is laid with regular course line in conjunction with area's mapping coverage line is taken the photograph, setting boat takes the photograph landing point, determines first course back number, then carry out wind resistance
Course line sequence is drawn, and is adjusted intermediate track spacing, is finally returned that boat takes the photograph landing point.
The present invention is by improving " one along the line of the other one so as to plough deeper course line " of the unmanned plane aerial photography under crosswind long lasting effect, specific steps packet
Determine that parameter calculating module and wind resistance course line are drawn containing course line.Course line determine parameter calculating module be loaded with global dem data and
Area KML format range line is taken the photograph, the tight boat for take into account hypsography takes the photograph parameter calculating.It draws in wind resistance course line, it is necessary first to
Calculate first course back code nameR, which will entirely take the photograph area course line and is divided into two towards course line, draw according to wind resistance course line
Sequence draws all course lines, track spacing among final adjustment.So that between taking the photograph area course line under the influence of lasting crosswind it is other to
Degree of overlapping uniformly without loophole, be not under the conditions of crosswind traditional " one along the line of the other one so as to plough deeper course line " every air strips sidelapping problem of non-uniform.
Embodiment 2:
On the basis of embodiment 1, in the present embodiment, the specification precision index in the step one includes at least design ground
Face resolution ratio, ship's control and sidelapping degree.
In the step one, route design parameter includes at least track spacing, terrain clearance, flying height above mean sea level, photography base
Line.
In the step one, aerial surveying camera is camera.
In the step one, aerial surveying camera parameter include at least effective film size, Pixel size and phase owner away from.The present embodiment
In aerial surveying camera be camera.
The step 1 Intermediate Course calculation of design parameters, at least includes the following steps:
Step 101: selecting specific aerial surveying camera model or the customized aerial surveying camera parameter of input: valid pixel, Pixel size, phase owner
Away from；
Step 102: 30 meters of grid SRTM DEM terrain datas of load and survey area KML format range line vector file；
Step 103: after load step 102, according to demand, input design ground resolution, ship's control, sidelapping degree,
Area's minimum elevation is taken the photograph, area's highest elevation is taken the photograph and takes the photograph area's datum elevation；
Step 104: track spacing, photographic base, terrain clearance, minimum point point are calculated after the data parameters of input step 103
Resolution, highest point ship's control, highest point sidelapping degree.
The step 1 Intermediate Course calculation of design parameters, as shown in Fig. 2, including at least following steps:
Step 101: selecting specific aerial surveying camera model or the input customized camera technique call parameter of user: effective film size, pixel
Size, phase owner away from；
Step 102: the free disclosed 30 meters of grid SRTM DEM terrain datas of the load KML format range line arrow general with area is surveyed
File is measured, for ensuring that the whole district is completely up to standard because of hypsography ground resolution and degree of overlapping.
Step 103: according to Project Technical design requirement, input design ground resolution, ship's control, sidelapping
It spends, take the photograph area's minimum elevation, take the photograph area's highest elevation and take the photograph area's datum elevation.
Step 104: using unmanned plane aeroplane photography route design parameter software for calculation, calculate track spacing, photography base
Line, terrain clearance, minimum point resolution, highest point ship's control, highest point sidelapping degree.Flying height Computing Principle such as Fig. 1
Shown, calculation method is calculation method known in photogrammetric industry.
In formula: h- flying height；F- lens focus；
A- pixel dimension；GSD- ground resolution.
Wind resistance course line is drawn in the step 2, includes at least following steps:
Step 201: being established according to engineering attribute and survey area's project file, filed after being determined to air data；
Step 202: setting boat takes the photograph landing point coordinateA0(B, L, H),It is drawn since the point in course line；
Step 203: searching for coverage of survey area line longest edge in coverage of survey area line, select longest edge for main course-and-bearing；
Step 204: being laid with covering automatically according to the track spacing that is calculated in step 103, enroute altitude parameter and entirely take the photograph the boat in area
Linear array, course line sumN(N=1,2,3 ... N)Item；
Step 205: determining first course back numberR, whenNWhen for even number,R=N/2+1；WhenNWhen for odd number,R=(N+1)/2+1；
Step 206: anti-side wind line of flight drawing order is: 1, R, 2, R+1,3, R+2 ...,Until course line traversal finishes；
Step 207: determining whether to mend and fly encryption course line, when the photo of R-1 and two course lines R be averaged roll angle and average rotation drift angle
When being all larger than 10 degree, needs to mend a winged encryption course line among two course lines, execute step 208 later, it is ensured that this two
Course line photo degree of overlapping meets route design requirement；Otherwise, step 208 is executed.
Step 208: course line returns to landing point A0(B, L, H), course line, which is drawn, to terminate.
In step 203, coverage of survey area line longest edge is searched in coverage of survey area line, selects longest edge for main course-and-bearing,
Specific steps are as follows: calculate longest edge two-end-point and landing point distance, starting point, and boat are drawn using nearest endpoint as effective course line
Line azimuth starting point, another endpoint is as course bearing angle terminal, and calculation method is using grid azimuth calculating side in mapping science
Method carries out.
The engineering attribute includes at least job number, engineering name, mapping scale bar, responsible person, files the date.
In the step 2, anti-side wind course line drafting module includes at least following steps:
Step 201: according to engineering attribute (job number, mapping scale bar, responsible person, is filed the date at engineering name), establishing and survey
Area's project file, convenient for air data standardization filing；
Step 202: setting boat takes the photograph landing point coordinateA0(B, L, H),It is drawn since the point in course line；
Step 203: searching for coverage of survey area line longest edge in coverage of survey area line, select longest edge for main course-and-bearing.It is specific real
Existing mode is: calculating longest edge two-end-point and landing point distance, starting point and course line are drawn using nearest endpoint as effective course line
Azimuth starting point, another endpoint is as course bearing angle terminal, and calculation method is using grid azimuth calculation method in mapping science
It carries out.
Step 204: covering being laid with according to the track spacing of step 103 calculating, enroute altitude parameter automatically and entirely takes the photograph area
Course line array, course line sumN(N=1,2,3 ... N)Item.
Step 205: calculating first course back numberR.WhenNWhen for even number,R=N/2+1；WhenNWhen for odd number,R=(N+1)/2 +1。
Step 206: anti-side wind line of flight drawing order is: 1, R, 2, R+1,3, R+2 ...,Until course line traversal finishes.
Step 207: determining whether to mend winged encryption course line.WhenR-1WithRThe photo in two course lines is averaged roll angle and average rotation
When drift angle is all larger than 10 degree, needs to mend a winged encryption course line among two course lines, execute step 208 later, it is ensured that should
Two course line photo degrees of overlapping meet route design requirement；Otherwise, step 208 is executed.
Step 208: course line returns to landing pointA0(B, L, H),Course line, which is drawn, to terminate.
The present invention is by improving " one along the line of the other one so as to plough deeper course line " of the unmanned plane aerial photography under crosswind long lasting effect, specific steps packet
Determine that parameter calculating module and wind resistance course line are drawn containing course line.Course line determine parameter calculating module be loaded with global dem data and
Area KML format range line is taken the photograph, the tight boat for take into account hypsography takes the photograph parameter calculating.It draws in wind resistance course line, it is necessary first to
Calculate first course back code nameR, which will entirely take the photograph area course line and is divided into two towards course line, draw according to wind resistance course line
Sequence draws all course lines, track spacing among final adjustment.So that between taking the photograph area course line under the influence of lasting crosswind it is other to
Degree of overlapping uniformly without loophole, be not under the conditions of crosswind traditional " one along the line of the other one so as to plough deeper course line " every air strips sidelapping problem of non-uniform.
The foregoing examples are only illustrative of the present invention, does not constitute the limitation to protection scope of the present invention, all
It is within being all belonged to the scope of protection of the present invention with the same or similar design of the present invention.The portion that the present embodiment does not describe in detail
The well-known components and conventional means of part and the technique category industry, do not describe one by one here.
Claims (8)
1. a kind of unmanned plane aerial photography anti-side wind course line determines method, it is characterised in that: specifically includes the following steps:
Step 1, route design parameter calculates, by taking the photograph area's landform, aerial surveying camera parameter, specification precision index COMPREHENSIVE CALCULATING course line
Design parameter；
Step 2, wind resistance course line are drawn, and the track spacing in route design parameter and flying height above mean sea level obtained according to step 1 is simultaneously
It is laid with regular course line in conjunction with area's mapping coverage line is taken the photograph, setting boat takes the photograph landing point, determines first course back number, then carry out wind resistance
Course line sequence is drawn, and is adjusted intermediate track spacing, is finally returned that boat takes the photograph landing point.
2. a kind of unmanned plane aerial photography anti-side wind course line according to claim 1 determines method, it is characterised in that: the step
Specification precision index in rapid one includes at least design ground resolution, ship's control and sidelapping degree.
3. a kind of unmanned plane aerial photography anti-side wind course line according to claim 1 determines method, it is characterised in that: the step
In rapid one, route design parameter includes at least track spacing, terrain clearance, flying height above mean sea level, photographic base.
4. a kind of unmanned plane aerial photography anti-side wind course line according to claim 1 determines method, it is characterised in that: the step
In rapid one, aerial surveying camera is camera.
5. a kind of unmanned plane aerial photography anti-side wind course line according to claim 1 determines method, it is characterised in that: the step
In rapid one, aerial surveying camera parameter include at least effective film size, Pixel size and phase owner away from.
6. a kind of unmanned plane aerial photography anti-side wind course line according to claim 1 determines method, it is characterised in that: the step
Wind resistance course line is drawn in two, includes at least following steps:
Step 201: being established according to engineering attribute and survey area's project file, filed after being determined to air data；
Step 202: setting boat takes the photograph landing point coordinateA0(B, L, H),It is drawn since the point in course line；
Step 203: searching for coverage of survey area line longest edge in coverage of survey area line, select longest edge for main course-and-bearing；
Step 204: being laid with covering automatically according to the track spacing that is calculated in step 103, enroute altitude parameter and entirely take the photograph the boat in area
Linear array, course line sumN(N=1,2,3 ... N)Item；
Step 205: determining first course back numberR, whenNWhen for even number,R=N/2+1；WhenNWhen for odd number,R=(N+1)/2+1；
Step 206: anti-side wind line of flight drawing order is: 1, R, 2, R+1,3, R+2 ...,Until course line traversal finishes；
Step 207: determining whether to mend and fly encryption course line, when the photo of R-1 and two course lines R be averaged roll angle and average rotation drift angle
When being all larger than 10 degree, needs to mend a winged encryption course line among two course lines, execute step 208 later, it is ensured that this two
Course line photo degree of overlapping meets route design requirement；Otherwise, step 208 is executed；
Step 208: course line returns to landing pointA0(B, L, H),Course line, which is drawn, to terminate.
7. a kind of unmanned plane aerial photography anti-side wind course line according to claim 6 determines method, it is characterised in that: step 203
In, coverage of survey area line longest edge is searched in coverage of survey area line, selects longest edge for main course-and-bearing, specific steps are as follows: is calculated
Longest edge two-end-point and landing point distance draw starting point and course bearing angle starting point using nearest endpoint as effective course line, separately
End point is carried out as course bearing angle terminal, calculation method using grid azimuth calculation method in mapping science.
8. a kind of unmanned plane aerial photography anti-side wind course line according to claim 6 determines method, it is characterised in that: the work
Journey attribute includes at least job number, engineering name, mapping scale bar, responsible person, files the date.
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| CN111510686A (en) * | 2020-04-27 | 2020-08-07 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Vehicle-mounted unmanned aerial vehicle power inspection flight management and control method and system |
| CN111536977A (en) * | 2020-05-19 | 2020-08-14 | 广东电网有限责任公司 | Unmanned aerial vehicle inspection route planning method and related device |
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| CN113188520A (en) * | 2021-04-30 | 2021-07-30 | 成都睿铂科技有限责任公司 | Planning method and system for regional block surrounding type route and aerial photography method |
| CN116149350A (en) * | 2022-10-12 | 2023-05-23 | 浙江点创信息科技有限公司 | Unmanned aerial vehicle route planning and data acquisition method for mountain terrain |
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| CN116149350A (en) * | 2022-10-12 | 2023-05-23 | 浙江点创信息科技有限公司 | Unmanned aerial vehicle route planning and data acquisition method for mountain terrain |
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| CN109341666B (en) | 2021-07-20 |
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