CN110285792A - A kind of fine grid earthwork metering method of unmanned plane oblique photograph - Google Patents
A kind of fine grid earthwork metering method of unmanned plane oblique photograph Download PDFInfo
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Abstract
Present disclose provides a kind of fine grid earthwork metering methods of unmanned plane oblique photograph, obtain aerophotogrammetry data using aerial survey of unmanned aerial vehicle and obtain outdoor scene threedimensional model to Data Integration and processing；The chaff interferents such as trees, the house in outdoor scene threedimensional model are rejected using model recovery technique, utilize the elevation deleted around the hole left after chaff interferent, fitting surface, utilize the surface filling hole, outdoor scene threedimensional model after finally being repaired generates real surface point cloud based on the outdoor scene threedimensional model after reparation；Triangulated irregular network model is constructed according to cloud, and then construct Rule acquisition, rule-based grid model, formula is measured by the fine grid earthwork, obtain Earthwork Calculation value, the disclosure can realize that the earthwork based on fine grid is filled out digging and accurately calculated, and have precision height, operation safety, the advantage for the cost that saves manpower and time.
Description
Technical field
The disclosure belongs to Highway Investigation Design and construction field, is related to a kind of fine grid earthwork meter of unmanned plane oblique photograph
Amount method.
Background technique
Only there is provided background technical informations relevant to the disclosure for the statement of this part, it is not necessary to so constitute first skill
Art.
Earthwork Calculation is the important process flow of Road Design construction field, currently, there are many calculation method of earth volume,
Including the method for section, square mesh method, DTM method etc..In recent years, unmanned plane oblique photograph technology is gradually risen, and is surveyed as International Photography
An amount field new and high technology developed in recent years, it can not only be truly reflected atural object situation, accurately obtain
Atural object texture information can also generate true three-dimensional scene models by technologies such as advanced positioning, fusion, modelings.
By on multi-rotor unmanned aerial vehicle flying platform carry five lens camera of oblique photograph may make up unmanned plane inclination take the photograph
Shadow measuring system, five lens cameras are formed by one perpendicular to ground and four inclined cameras in a certain angle with ground, energy
It is enough to acquire image from different angles such as vertical, inclinations simultaneously, obtain ground object more fully, accurate information.Select more rotations
Wing unmanned plane has flight stability, requires take-off venue lower, easy to operate, cheap advantage.
Currently, carrying the method that camera acquisition information carries out earthwork metering based on multi-rotor unmanned aerial vehicle, mostly presence can not be solved
Certainly influence of the factors such as surface vegetation, house to Earthwork Calculation, makes metric results there are error, and the disclosure passes through model reparation
Technology efficiently solves the problems, such as this.
Summary of the invention
The disclosure to solve the above-mentioned problems, proposes a kind of fine grid earthwork metering method of unmanned plane oblique photograph.
According to some embodiments, the disclosure is adopted the following technical scheme that
A kind of fine grid earthwork metering method of unmanned plane oblique photograph, comprising the following steps:
Aerophotogrammetry data is obtained using aerial survey of unmanned aerial vehicle, and outdoor scene threedimensional model is obtained to Data Integration and processing；
The chaff interferent on outdoor scene threedimensional model is rejected, the elevation deleted around the hole left after chaff interferent on model is utilized
Fitting surface generates real surface point cloud based on the outdoor scene threedimensional model after reparation using the surface filling hole；
Triangulated irregular network model is constructed according to cloud, and then constructs Rule acquisition, based on the fine grid earthwork
Amount method obtains Earthwork Calculation value.
It is limited as further, surveys before the first aerial survey of area's progress, survey Qu Qingbiao should be carried out.
Limited as further, before carrying out aerial survey of unmanned aerial vehicle, according to aerial survey range, survey area's shape, topography changes and
Cruise duration, the line of flight of unified plan unmanned plane.
It is limited as further, aerial survey range extends out certain range as boundary to carry out cubic metre of earth metering region, with reality
Now to the record of texture on the outside of zone boundary, extends out range and determined by the angle and earthwork measures range of inclined camera.
It is limited as further, the area aerial survey Qian Ce should lay photo control point and checkpoint, and photo control point should equably be laid
Need distance to survey area edge certain distance in entire coverage of survey area, when laying, checkpoint also answer it is uniformly distributed, what is paid close attention to
Checkpoint should be laid in region.
It is limited as further, Data Integration is carried out to the aerophotograph of acquisition, GPS data, photo control point data, is utilized with altogether
Line equation is that the flux of light method of basic mathematic model realizes region overall adjustment of the net, and creates space image by image dense Stereo Matching
It is right, the outdoor scene threedimensional model with surface and side grain is obtained by texture mapping.
It is limited as further, to realize to the precision controlling of calculated result, the precision of outdoor scene threedimensional model need to be detected,
If precision is met the requirements, next step calculating is carried out, otherwise, searches reason, until the precision satisfaction of outdoor scene threedimensional model is wanted
It asks.
It is limited as further, to remove the factors such as trees, vegetation, the house surveying and do not clear up completely in area to earthwork meter
The influence for measuring result, using outdoor scene threedimensional model as threedimensional model is referred to, interpretation differentiates by visual observation on reference threedimensional model
Chaff interferent is chosen and deleted to the chaff interferent for needing to reject out, total by the elevation around hole for the hole left after deleting
With a curved surface is fitted, using the surface filling hole, the model surface triangulation network is rebuild, makes to have with reference to threedimensional model
There is new geometry, be sequentially completed the rejecting of all chaff interferents and leave the repairing of hole, being formed has new geometry
With reference to threedimensional model；Reference threedimensional model with new geometry is completed model surface texture as three-dimensional modification model to reflect
It penetrates, the outdoor scene threedimensional model after obtaining the reparation that can be used for cubic metre of earth accurate measurement；According to the outdoor scene threedimensional model after reparation, building
It is able to record the earth's surface precision point cloud data of earth's surface three-dimensional information.
It limits as further, using the three dimensional point cloud of acquisition, is constructed by Delaunay Triangulation method
Triangulated irregular network model；Based on the Triangulated irregular network model of building, further create-rule grid model, and utilize
Plan boundary accurately cuts out the bounds of Rule acquisition.
It is limited as further, the earthwork fills out digging total amount and fills out the sum of digging amount for all grid, and the digging amount of filling out of grid is every
The product of the area of a grid and corresponding depth displacement, wherein depth displacement be each grid in corresponding original place table elevation and
The difference of design face elevation.
Filled soil quality in work progress is the sum of the filled soil quality of all grid in work progress, the filled soil quality of grid
For area and the product of corresponding depth displacement of each grid, wherein depth displacement is that corresponding stage is applied in each grid
The difference of the elevation after elevation and interim construction before work.
A kind of computer readable storage medium, wherein being stored with a plurality of instruction, described instruction is suitable for by terminal device
Reason device loads and executes the fine grid earthwork metering method.
A kind of terminal device, including processor and computer readable storage medium, processor is for realizing each instruction；It calculates
Machine readable storage medium storing program for executing is suitable for being loaded by processor and being executed the fine grid soil for storing a plurality of instruction, described instruction
Square metering method.
Compared with prior art, the disclosure has the beneficial effect that
(1) disclosure, which is realized, fills out digging meter to the earthwork of Road Design and construction field using unmanned plane oblique photograph technology
It calculates, compared with conventional metered dose method, the region division that the entire earthwork can be measured is fine grid, is realized with fine grid
Based on the fine earthwork fill out dig calculation amount, improve a cubic metre of earth measuring accuracy.
(2) disclosure can use the heavy field process of aerial survey of unmanned aerial vehicle substitution survey crew, reduce field process
Intensity, and realize that the high density to earthwork metering region, full coverage type measure, it can completely obtain surface and the side line in region
Information is managed, improves operating efficiency, and avoid the manually measurement to danger zone, there is operation safety, save manpower and time
The advantage of cost.Meanwhile it may be implemented to obtain the three-dimensional geographic coordinate information of Engineering Zone using the outdoor scene threedimensional model of acquisition
It takes, and to the three-dimensional record of construction speed.
(3) the present disclosure proposes outdoor scene threedimensional model restorative procedures, can reject trees, the house, construction at project scene
Machinery etc. influences the disturbing factor of earthwork metering, realizes the acquisition to real surface data, to improve earthwork metering just
True property and accuracy.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the disclosure.
Fig. 1 is the flow chart of the disclosure；
Fig. 2 is aerial survey of unmanned aerial vehicle range determining method schematic diagram；
Fig. 3 (a), Fig. 3 (b) are different photo control point distribution method schematic diagrames；
Fig. 4 (a) is original place table outdoor scene threedimensional model effect picture；
Fig. 4 (b) is the outdoor scene threedimensional model effect picture after interim construction；
Fig. 5 (a)-(c) is that front and back effect contrast figure is repaired according to the outdoor scene threedimensional model of one or more embodiments；
Fig. 6 is the accurate point cloud data obtained according to one or more embodiments；
Fig. 7 (a) is the original place table TIN data obtained；
Fig. 7 (b) is the TIN data after the interim construction obtained；
Fig. 7 (c) is the Grid data of the original place table obtained；
Fig. 7 (d) is the Grid data after the interim construction obtained；
Fig. 8 is to be filled out to dig calculated result figure according to the acquisition earthwork of one or more embodiments.
Specific embodiment:
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms used herein has usual with disclosure person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the disclosure.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
The characteristics of according to earthwork calculation amount situation in Road Design and work progress and unmanned plane oblique photograph technology, this implementation
Example proposes a kind of fine grid earthwork metering method of unmanned plane oblique photograph, this method by original outdoor scene obtaining three-dimensional model,
Real surface point cloud generates and the earthwork accurately calculates 3 core methed compositions.
Original outdoor scene three-dimensional model acquiring method is the basis of the present embodiment, and acquired outdoor scene threedimensional model is earthwork essence
The basic data really measured, this method include to survey the clear list processing in area；Unmanned plane flight course planning；Photo control point, checkpoint are laid；Nobody
Machine field operation aerial survey；Outdoor scene three-dimensional modeling；Model accuracy detects 6 key component compositions.
The clear list processing in area is surveyed, refers to and carries out the removing of earth's surface object to surveying area, it is main to remove the trees, miscellaneous for blocking original place table
Grass, house etc. enable camera to obtain earth surface image data.
Unmanned plane flight course planning refers to situations such as integration project region topography, range and unmanned plane cruising ability, rationally
Plan the line of flight of aerial survey of unmanned aerial vehicle.In order to realize the record to earthwork metering region outside boundaries texture, the reality of unmanned plane
Aerial survey range in border should extend out S distance by boundary of earthwork metering region.
Wherein: S=flying height * tan α, α is the angle of inclined camera and vertical direction in formula.Due to unmanned machine battery
Limitation in cruise duration, when coverage of survey area is larger, one group of battery is unable to complete the entire aerial survey for surveying area, needs according to survey area's shape
The factors such as shape, topography variation, battery life carry out piecemeal processing to area is surveyed.
When flight course planning, need to set image degree of overlapping, camera between flying height, main shipping track image degree of overlapping, main shipping track
The parameters such as exposure time interval.
Photo control point, checkpoint, which are laid, to be referred to realize region entirety adjustment and model and true geographical coordinate phase
Match, and model accuracy is controlled, needs surveying a large amount of photo control point of area's laying, in order to verify final outdoor scene threedimensional model
Data precision needs surveying the area multiple checkpoints of laying.
Photo control point should be equably laid in entire coverage of survey area, need distance to survey area edge certain distance when laying.As control
Point usually lays one every 150m, realizes and controls the entirety of model accuracy, and photo control point should be laid in that topography is flat, the visual field is opened
It is wealthy, blocked without trees, mark apparent region, capitalization " L " type mark is made into using white or red spray painting on the ground
Note, takes its interior angle point as measurement point, and by taking pictures, the modes such as writing record record photo control point position.
Checkpoint also should be equably laid in entire survey area, and be laid in the region paid close attention to emphatically, checkpoint
Different from photo control point, do not need to lay one every 150m, but other laying requirements are consistent with recording mode with photo control point.
Photo control point and checkpoint can be used province's CORS net or set up base station by RTK acquisition plane and elevation coordinate
Mode.
Unmanned plane field operation aerial survey refers at aerial survey scene, selects suitable landing point, real according to the line of flight of planning
Existing unmanned plane autonomous flight, completes aerophotogrammetry data field data acquisition.Landing point should select in one's respective area that topography is flat, the visual field is opened
It is wealthy, blocked without trees, on the hard surface without power transmission line.When in one's respective area without suitable landing point, also it may be selected suitable on periphery
The region of conjunction, but cannot be apart from this survey area too far.
Outdoor scene three-dimensional modeling refer to the aerophotograph to acquisition, GPS data, photo control point data etc. carry out Data Integration, utilize with
Collinearity equation is that the flux of light method of basic mathematic model realizes region overall adjustment of the net, and creates space image by image dense Stereo Matching
Right, finally, obtaining by texture mapping has true, clearly surface and side grain outdoor scene threedimensional model.
Model accuracy detection refers to be carried out by obtaining check point coordinates on outdoor scene threedimensional model, and with field measurement value
Compare, further verifies model accuracy.When precision is met the requirements, next step calculating and processing can be carried out, when being unsatisfactory for requiring
When, links need to be checked, problem analysis reason, be finally reached the purpose that model accuracy is met the requirements.
Real surface point cloud generation method includes that model reparation and earth's surface precision point cloud generate 2 cores.
Model reparation, which refers to, repairs the outdoor scene threedimensional model obtained.Although before aerial survey, to soil
Square metering region has carried out clear list processing, but on-the-spot meeting has trees, vegetation, house that do not clear up completely etc. and influences earthwork meter
The factor of amount, meanwhile, in the aerial survey after constructing in each stage, often there are the influence factors such as vehicle, construction machinery in scene, because
This is in the present embodiment purged the trees, vegetation, house etc. do not cleared up using outdoor scene threedimensional model recovery technique.Tool
Body surface is present: 1, exporting as the outdoor scene threedimensional model by accuracy detection generated with reference to threedimensional model, this refers to three
Dimension module includes the overlapping region between tile.2, interpretation determines what needs weeded out by visual observation on reference threedimensional model
These objects are chosen and deleted to the chaff interferents such as trees, house, for the hole left after deleting, passes through the elevation around hole
A curved surface is collective fitted to out, using the surface filling hole, and then rebuilds the model surface triangulation network, is made with reference to three-dimensional
Model has new geometry, is sequentially completed the rejecting of all chaff interferents and leaves the repairing of hole, and saves as and join with former
Examine the reference threedimensional model with new geometry of the identical name of threedimensional model.3, the reference with new geometry is three-dimensional
Model completes model surface texture mapping as three-dimensional modification model, is finally obtained the outdoor scene three that can be used for cubic metre of earth accurate measurement
Dimension module.
Earth's surface precision point cloud generates the outdoor scene threedimensional model referred to using after the reparation newly obtained, constructs earth's surface precision point cloud
Data, point cloud data can accurately record earth's surface three-dimensional information, and be the initial data for constructing real surface curved surface.
Cubic metre of earth Method for Accurate Calculation by building Triangulated irregular network model (TIN), building Rule acquisition (Grid) and
3 core compositions of Earthwork Calculation.
When calculating earthwork excavation and filling total amount, need to obtain the original place table point cloud data and design face number after first clear table
According to；When calculate the earthwork in work progress fill out dig situation when, then need to obtain earth's surface point cloud data before interim construction and
Earth's surface point cloud data after construction.
Building Triangulated irregular network model (TIN) refers to using the three dimensional point cloud obtained, passes through Delaunay triangle
Subdivision method constructs Triangulated irregular network model (TIN).
It constructs Rule acquisition (Grid) to refer to based on the TIN of building, further create-rule grid model
(Grid), the bounds of Grid and using plan boundary are accurately cut out.
Earthwork Calculation, which refers to, utilizes the Grid data accurately cut out with plan boundary to accurately calculate each grid model
Enclose interior volume change, grid partition it is smaller, volume calculated is more accurate.
The fine grid earthwork metering formula proposed is as follows:
(1) it fills out and digs total amount calculating:
Wherein: i is integer, and S is the area of grid；As Δ h < 0, V individually adds up；As Δ h > 0, V individually adds up；When
When Δ h=0, V individually adds up, and h is grid elevation, and n is the total quantity of grid.
(2) filled soil quality in work progress calculates
Wherein: i is integer, and S is the area of grid；As Δ h < 0, V individually adds up；As Δ h > 0, V individually adds up；When
When Δ h=0, V individually adds up, and h is grid elevation, and n is the total quantity of grid.
The earthwork can be calculated separately by above formula and fills out digging amount, as V>0, represents volume of excavation, and as V<0, representative is filled out
Cube product.
The application of the present embodiment method, the clothes are carried out by taking the newly-built service area Earthwork Calculation of certain domestic highway as an example
The original ground surface Wu Qu is mostly crops and trees, and the soil of construction stage service area place has been accurately calculated using the present embodiment method
Digging situation is filled out by side.
Digging situation is filled out in order to calculate the construction stage cubic metre of earth, is tied after the completion of the clear table in service area place with interim construction respectively
Aerial survey is carried out using unmanned plane oblique photograph technology after beam, and has carried out outdoor scene three-dimensional modeling, aerial survey twice is separated by 3 months or so
Time.
It surveys the clear list processing in area to refer to, before first time aerial survey, clear table is carried out to service area place, but there is also not complete
The clean trees of clear all, weeds, house etc..
Unmanned plane flight course planning refers to, according to the area of service area and topography situation, the line of flight is planned, by being used
Five camera lens oblique photographs measurement camera inclined camera and vertical direction be in 45 degree of angles, therefore, actual aerial survey range should
The range of a flying height is extended out, to carry out earthwork metering region as boundary to realize the note to texture on the outside of zone boundary
Record, referring to Fig. 2, drone flying height is finally set as 80m, flying speed is set as 8.0m/s, the overlapping of main shipping track image
Rate is set as 80%, and the image Duplication between course line is set as 70%, since place area is little, only needs a sortie can be complete every time
At aerial survey task.In figure: S=flying height * tan α, wherein α is the angle of inclined camera and vertical direction.
Photo control point, checkpoint, which are laid, to be referred to, in service area on-site, has been laid a large amount of photo control point and checkpoint, has been used
Coordinate system it is consistent with construction coordinate system, using white or red spray painting on the ground air brushing at capitalization " L " type, and
Point number is drawn around, takes its interior angle point as photo control point or checkpoint, position coordinate is obtained using RTK, and pass through and take pictures, text
The modes such as word record record photo control point position, please refer to Fig. 3 (a), Fig. 3 (b).
Unmanned plane field operation aerial survey refers to, according to the line of flight planned and landing point, passes through earth station's software control
Unmanned plane during flying obtains several high definition aerophotograph data of service area place.
Outdoor scene three-dimensional modeling refers to, Data Integration is carried out to the aerophotograph of acquisition, GPS data, photo control point data etc., by sky
The key technologies such as three intensive measurements, image dense Stereo Matching, texture mapping obtain the outdoor scene threedimensional model of service area place, twice
Outdoor scene threedimensional model acquired in aerial survey please refers to shown in Fig. 4 (a) (b).
Model accuracy detection refers to, by choosing check point coordinates on outdoor scene threedimensional model, and with field measurement value into
Row compares, and further verifies model accuracy.The precision analysis situation of the resulting outdoor scene threedimensional model of aerial survey twice, please refers to table 1.
1 outdoor scene threedimensional model precision analysis of table
It calculates analysis to obtain, error is ± 1.34cm, mean square error of height in the plan-position of original place table outdoor scene threedimensional model
For ± 1.33cm；Stage construction after outdoor scene threedimensional model plan-position in error be ± 2.21cm, mean square error of height be ±
0.73cm, error can carry out next step calculating within allowed band.
Model reparation refers to, although service area place has carried out clear list processing, scene still has not to be cleared up on a small quantity
Vegetation, trees etc. influence the factor of Earthwork calculation, and in order to improve the accuracy of Earthwork calculation, the present embodiment repairs skill using model
Art rejects the influence factors such as vegetation, trees, vehicle in original outdoor scene threedimensional model.Specific manifestation are as follows: 1, will
The reference threedimensional model that * .obj format is exported as by the original outdoor scene threedimensional model of accuracy detection of generation, this is with reference to three-dimensional
Model includes the overlapping region between tile.2, the reference threedimensional model of * .obj format is modified.Firstly, referring to three
Interpretation determines the chaff interferents such as trees, house, the vehicle for needing to weed out by visual observation on dimension module, chooses and deletes these objects
Body, for the hole left after deleting, collective fitting to out a surface filling by the elevation around hole, this leaves hole,
The model surface triangulation network is rebuild, and then makes that there is new geometry with reference to threedimensional model, is sequentially completed all chaff interferents
Rejecting and leave the repairing of hole, and save as with original with reference to the identical title of threedimensional model.3, by newly-generated * .obj lattice
The reference threedimensional model of formula completes model surface line as three-dimensional modification model, and with the new geometry of this three-dimensional modification model
Reason mapping, is finally obtained and can be used for the outdoor scene threedimensional model that the earthwork accurately calculates, and Fig. 5 (a)-(c) is that model repairs front and back
Three groups of comparison diagrams.
The earth's surface precision point cloud generation refers to, by the outdoor scene threedimensional model after repairing, obtains service area place original
Real surface precision point cloud data after earth's surface and interim construction, Points Sample dot density is 20cm, please refers to attached drawing
6。
Building Triangulated irregular network model (TIN) refers to that the accurate point cloud data that will acquire fills out digging meter as the earthwork is carried out
The basic surface data of calculation is constructed two stage TIN data respectively, is please referred to attached by Delaunay Triangulation method
Fig. 7 (a)-(b).
Building Rule acquisition (Grid) refers to, based on the TIN of building, further generates two stage Grid number
According to please referring to attached drawing 7 (c)-(d).The raster resolution of acquired Grid data is 20cm, and utilizes design drawing and Grid
Data conflation determines zoning, and the bounds of Grid are accurately cut out with design section boundary, with 20cm*20cm lattice
Net is unit of account, reaches the earthwork based on fine grid and fills out digging and accurately calculates.
Earthwork Calculation refers to, based on above-mentioned gained Grid data, the formula 2, is calculated through this embodiment
The earthwork of the service area on-site fills out digging as a result, please referring to attached drawing 8.The embankment volume in embankment region is 63786.71m in figure3,
The volume of excavation in excavation region is 294706.42m3。
It should be understood by those skilled in the art that, embodiment of the disclosure can provide as method, system or computer program
Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the disclosure
Apply the form of example.Moreover, it wherein includes the computer of computer usable program code that the disclosure, which can be used in one or more,
The computer program implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) produces
The form of product.
The disclosure is referring to method, the process of equipment (system) and computer program product according to the embodiment of the present disclosure
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
The foregoing is merely preferred embodiment of the present disclosure, are not limited to the disclosure, for the skill of this field
For art personnel, the disclosure can have various modifications and variations.It is all within the spirit and principle of the disclosure, it is made any to repair
Change, equivalent replacement, improvement etc., should be included within the protection scope of the disclosure.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (10)
1. a kind of fine grid earthwork metering method of unmanned plane oblique photograph, it is characterized in that: the following steps are included:
Aerophotogrammetry data is obtained using aerial survey of unmanned aerial vehicle, and outdoor scene threedimensional model is obtained to Data Integration and processing；
The chaff interferent on outdoor scene threedimensional model is rejected, the height fitting deleted around the hole left after chaff interferent on model is utilized
Curved surface generates real surface point cloud based on the outdoor scene threedimensional model after reparation using the surface filling hole；
Triangulated irregular network model is constructed according to cloud, and then constructs Rule acquisition, is based on fine grid Earthwork calculation side
Method obtains Earthwork Calculation value.
2. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: carrying out
Before aerial survey of unmanned aerial vehicle, survey Qu Qingbiao is carried out；
Or/and
According to aerial survey range, survey area's shape, topography variation and cruise duration, the line of flight of unified plan unmanned plane.
3. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: aerial survey model
The range that an added value is extended out to carry out earthwork metering region as boundary is enclosed, to realize the record to texture on the outside of zone boundary,
Range is extended out to be determined by the angle and earthwork measures range of inclined camera.
4. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: before aerial survey
Photo control point and checkpoint should be laid surveying area, photo control point is equably laid in entire coverage of survey area, needs distance to survey area when laying
Edge certain distance, checkpoint are also answered uniformly distributed, and checkpoint should be laid in the region paid close attention to.
5. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: to acquisition
Aerophotograph, GPS data, photo control point data carry out Data Integration, utilize real using collinearity equation as the flux of light method of basic mathematic model
Existing region overall adjustment of the net, and stereogram is created by image dense Stereo Matching, obtaining by texture mapping has surface and side
The outdoor scene threedimensional model of face texture；
Or,
The precision of detection outdoor scene threedimensional model carries out next step calculating if precision is met the requirements, and otherwise, searches reason, directly
Precision to outdoor scene threedimensional model is met the requirements.
6. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: by outdoor scene
Threedimensional model, which is used as, refers to threedimensional model, and interpretation determines the chaff interferent for needing to reject by visual observation on reference threedimensional model,
Chaff interferent is chosen and deleted, for the hole left after deleting, a curved surface is collective fitted to out by the elevation around hole, benefit
With the surface filling hole, the model surface triangulation network is rebuild, makes that there is new geometry with reference to threedimensional model, successively
It completes the rejecting of all chaff interferents and leaves the repairing of hole, form the reference threedimensional model with new geometry；
Model surface texture mapping is completed using the reference threedimensional model with new geometry as three-dimensional modification model, acquisition can
For the outdoor scene threedimensional model after the reparation of earthwork accurate measurement；
According to the threedimensional model after reparation, building is able to record the earth's surface precision point cloud data of earth's surface three-dimensional information.
7. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: using obtaining
The three dimensional point cloud taken constructs Triangulated irregular network model by Delaunay Triangulation method；With the irregular of building
Based on Triangulation Network Model, further create-rule grid model, and Rule acquisition is accurately cut out using plan boundary
Bounds.
8. a kind of fine grid earthwork metering method of unmanned plane oblique photograph as described in claim 1, it is characterized in that: the earthwork
Filling out and digging total amount is that all grid fill out the sum of digging amount, and grid fills out area that digging amount is each grid and corresponding depth displacement
Product, wherein depth displacement is the difference of corresponding original place table elevation and design face elevation in each grid；
Or,
Filled soil quality in work progress is the sum of the filled soil quality in work progress, and the filled soil quality of grid is each grid
The product of area and corresponding depth displacement, wherein depth displacement be elevation in each grid before corresponding interim construction and
The difference of elevation after stage construction.
9. a kind of computer readable storage medium, it is characterized in that: being wherein stored with a plurality of instruction, described instruction is suitable for being set by terminal
Standby processor load and perform claim requires fine grid earthwork metering method described in any one of 1-8.
10. a kind of terminal device, it is characterized in that: including processor and computer readable storage medium, processor is for realizing each
Instruction；Computer readable storage medium is for storing a plurality of instruction, and described instruction is suitable for by processor load and perform claim is wanted
Seek fine grid earthwork metering method described in any one of 1-8.
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