CN110440762A - A kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure gridding photo control point distribution method - Google Patents
A kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure gridding photo control point distribution method Download PDFInfo
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- CN110440762A CN110440762A CN201910878942.2A CN201910878942A CN110440762A CN 110440762 A CN110440762 A CN 110440762A CN 201910878942 A CN201910878942 A CN 201910878942A CN 110440762 A CN110440762 A CN 110440762A
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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
- 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
- G01C11/04—Interpretation of pictures
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Abstract
The invention discloses a kind of aerial surveys of multi-rotor unmanned aerial vehicle mountain area into the gridding photo control point distribution method of figure, belongs to aerial mapping technical field；It the following steps are included: 1, determine mapping range；2, sizing grid is selected according to mapping scale and Topographic Complex Degree；3, photo control point layout scheme Preliminary design；4, photo control point layout scheme tentatively optimizes；5, photo control point layout scheme final optimization pass；6, photo control point scene is laid；7, photo control point coordinate arranges；By this gridding photo control point layout scheme, can very good solution vulnerable to windage cause to drift off the course due to unmanned plane light weight, to cause strip deformation degree big, the problem of photograph is unevenly distributed；With this solution, it solves the problem of that multi-rotor unmanned aerial vehicle carries the low poor reliability of pos data precision caused by navigational route type single-frequency GPS chip using the mathematical model of resection, improves the pos precision and reliability of photograph.
Description
Technical field
The present invention relates to aerial mapping technical fields, and in particular to a kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure grid
Change photo control point distribution method.
Background technique
Currently using unmanned plane, in the photogrammetric mapping of mountain area aviation progress large scale, there is following two
Problem: (1) since multi-rotor unmanned aerial vehicle sole mass is light, causing to drift off the course, cause strip deformation degree big vulnerable to windage,
Photograph is unevenly distributed；(2) since multi-rotor unmanned aerial vehicle carries navigational route type single-frequency GPS chip, pos data precision is low, reliability
Difference；For first problem, main reason is that the unmanned plane wind loading rating of lightweight is poor, if but by directly increasing nobody
Machine quality has then deviated from the conceptual design original intention that aerial survey is carried out using light-duty unmanned plane；And it is directed to second precision problem, mainly
Reason goes out to be difficult to directly meet aerial survey requirement in single-frequency GPS chip, but since the replacement cost of quality of hardware is excessively high, therefore in funds
It needs to improve using other means under the conditions of limited.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area into the gridding picture of figure
Control point distribution method, to solve currently to be unevenly distributed since the unmanned plane appeared in aerial survey process shoots photograph, data essence
Spend poor problem.
To solve the above problems, the present invention provides the following technical scheme that
A kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area at figure gridding photo control point distribution method, comprising the following steps:
S1, mapping range is determined on scale map according to aerial survey charter, and within the scope of mapping boundary line
Coordinate under different coordinates carries out coordinate conversion；
The size of grid is laid on S2, selection map；
S3, according to sizing grid identified in step S2, the mapping boundary line that is determined on measurement map by step S1
Grid is uniformly drawn in range；And processing is numbered to grid
S4, check landform in each grid determined by step S3, according to the map on landform determine the ground in grid
Shape characteristic point is uniformly arranged mesh point work using the features of terrain point at this as photo control point in the grid of no features of terrain point
For photo control point, and the coordinate of all photo control points is recorded；
S5, all photo control point coordinates obtained in step S4 are imported into Google Maps, and according to produced by Google Maps most
New satellite map advanced optimizes photo control point；
S6, the photo control point coordinate importing GNSS hand after step S5 optimization is thin, progress field photo control point laying, and root
According to GNSS instrument the collected photogrammetric control point surveying mark centre coordinate actually laid；
S7, Unified number is carried out to all photogrammetric control point surveying mark centre coordinate data, the photo control point of the number of volume is led
Enter the grid of number for comparing after CAD and obtaining in step S3 and compare inspection and amendment, finally obtains precision reliably as control
Point lays coordinate.
Preferably, the coordinate conversion carried out in step S1 converts to obtain by following formula:
x2=x1+Δx
y2=y1+Δy
In formula, x1、y1It is the coordinate before converting under coordinate system, Δ x, Δ y are that coordinate system is poor, can be according to control point
Coordinate is calculated, x2、y2It is the coordinate for converting coordinate system.
Preferably, if selecting 1:500 topographic maps, sizing grid range selected in step S2 is in 60~120m
Between；If selecting 1:1000 topographic maps, the sizing grid range of selection is between 80~150m；If selecting 1:2000 ratio
Example ruler topographic map, the sizing grid range of selection is between 100~200m；And specifically used sizing grid is carried out by following formula
It is calculated:
D=dmin+(dmax-dmin)×λ
In formula, d is the sizing grid finally used, dminFor sizing grid lower limit, dmaxFor the sizing grid upper limit, λ is ground
Shape complexity coefficient.
Preferably, the selection of the features of terrain point in grid includes mountain top point, foot of the hill point and shoulder side slope in step s 4
Point；Features of terrain point is defined as in the spikes/low- points of steep bank of the local height variation greater than 10m, steep cliff simultaneously.
Preferably, the optimization carried out in step s 5 to photo control point includes the photo control point that will be laid on building and pond
Mobile or deletion；Because increasing photo control point caused by building highway, house etc. at larger side slope at top of the slope and slope foot.
Preferably, it also needs to carry out precision point to the photogrammetric control point surveying mark centre coordinate data after number in the step s 7
Analysis, and reject precision and be unsatisfactory for desired photo control point.
The invention has the advantages that:
The present invention is laid in photo control point implements preceding progress conceptual design, passes through and chooses optimal photo control point layout scheme, cloth
If photo control point be evenly distributed, it is representative that there is good landform, and meet required precision.It is laid by this gridding photo control point
Scheme, can very good solution vulnerable to windage cause to drift off the course due to unmanned plane light weight, to cause strip deformation degree
Greatly, the problem of photograph is unevenly distributed；With this solution, multi-rotor unmanned aerial vehicle is solved using the mathematical model of resection to take
It is low to carry pos data precision caused by navigational route type single-frequency GPS chip, the problem of poor reliability, improves the pos precision of photograph and reliable
Property.
Specific embodiment
The present invention is described further below with reference to specific embodiment:
Embodiment:
The present embodiment provides a kind of aerial surveys of multi-rotor unmanned aerial vehicle mountain area into the gridding photo control point distribution method of figure, including with
Lower step:
S1, mapping range is determined on scale map according to aerial survey charter, and within the scope of mapping boundary line
Coordinate under different coordinates carries out coordinate conversion；At present aerial survey charter require mapping coordinate system be usually CGCS2000 or
Xi'an1980 coordinate system, and common scale map is generally Beijing 54 Coordinate System, so after needing to carry out it coordinate conversion again
Carry out using；
The size of grid is laid on S2, selection map；
S3, according to sizing grid identified in step S2, the mapping boundary line that is determined on measurement map by step S1
Grid is uniformly drawn in range；And processing is numbered to grid；
S4, check landform in each grid determined by step S3, according to the map on landform determine the ground in grid
Shape characteristic point is uniformly arranged mesh point work using the features of terrain point at this as photo control point in the grid of no features of terrain point
For photo control point, and the coordinate of all photo control points is recorded；When determining landform characteristic point, generally it is laid in course three pieces
Near overlapping and sidelapping middle line, it can be laid within the scope of endlap when difficult；Simultaneously in large area Non feature regions
Surrounding should also add photo control point；It needs to guarantee certain density simultaneously, prevents spacing between points from excessive；Temperature with
Under conditions of air pressure is suitable for, photo control point is carried out using RTK and lays work, it is general to make ground control point accurate and convenient for identification
Symbol carries out the laying of grid-net type ground photo control point；
S5, all photo control point coordinates obtained in step S4 are imported into Google Maps, and according to produced by Google Maps most
New satellite map advanced optimizes photo control point；In view of scale map production application has certain hysteresis quality,
The position of photo control point, quantity and density are optimized by newest satellite map, and then improve the accuracy of aerial survey task；
S6, the photo control point coordinate importing GNSS hand after step S5 optimization is thin, progress field photo control point laying, and root
According to GNSS instrument the collected photogrammetric control point surveying mark centre coordinate actually laid；Photo control point laying is carried out in field work
When, it is mainly carried out by a setting-out mode, is indicated according to GNSS instrument, after setting-out to corresponding position, lay photogrammetric control point surveying mark
Will acquires the photogrammetric control point surveying mark centre coordinate actually laid；
S7, Unified number is carried out to all photogrammetric control point surveying mark centre coordinate data, the photo control point of the number of volume is led
Enter the grid of number for comparing after CAD and obtaining in step S3 and compare inspection and amendment, finally obtains precision reliably as control
Point lays coordinate.
Preferably, the coordinate conversion carried out in step S1 converts to obtain by following formula:
x2=x1+Δx
y2=y1+Δy
In formula, x1、y1It is the coordinate before converting under coordinate system, Δ x, Δ y are that coordinate system is poor, can be according to control point
Coordinate is calculated, x2、y2It is the coordinate for converting coordinate system.
Preferably, if selecting 1:500 topographic maps, sizing grid range selected in step S2 is in 60~120m
Between；If selecting 1:1000 topographic maps, the sizing grid range of selection is between 80~150m；If selecting 1:2000 ratio
Example ruler topographic map, the sizing grid range of selection is between 100~200m；And specifically used sizing grid is carried out by following formula
It is calculated:
D=dmin+(dmax-dmin)×λ
In formula, d is the sizing grid finally used, dminFor sizing grid lower limit, dmaxFor the sizing grid upper limit, λ is ground
Shape complexity coefficient.In view of practical geomorphic feature, if landform is gentle, variation less, then takes the upper of above-mentioned grid value range
Limit；If with a varied topography, variation acutely, then takes the lower limit of above-mentioned grid value range, and considers appropriate encryption.
Preferably, the selection of the features of terrain point in grid includes mountain top point, foot of the hill point and shoulder side slope in step s 4
Point；Features of terrain point is defined as in the spikes/low- points of steep bank of the local height variation greater than 10m, steep cliff simultaneously.By
It is to control height difference, and then raising features of terrain point minute that features of terrain point, which is respectively set, in the height that height difference changes position greatly
The representativeness of cloth.
Preferably, the optimization carried out in step s 5 to photo control point includes the photo control point that will be laid on building and pond
Mobile or deletion；Because increasing photo control point caused by building highway, house etc. at larger side slope at top of the slope and slope foot.Since the mankind are living
Dynamic being affected for natural environment, and in a series of activity, photo control point is used as due to inconvenient on building and pond
The slope road situation that measurement mark is deleted, and artificially generated carries out supplement photo control point then to guarantee the accurate of measurement
Degree.
Preferably, it also needs to carry out precision point to the photogrammetric control point surveying mark centre coordinate data after number in the step s 7
Analysis, and reject precision and be unsatisfactory for desired photo control point.
Claims (6)
1. a kind of aerial survey of multi-rotor unmanned aerial vehicle mountain area is at the gridding photo control point distribution method of figure, it is characterised in that: including following
Step:
S1, mapping range is determined on scale map according to aerial survey charter, and to the difference within the scope of mapping boundary line
Coordinate under coordinate system carries out coordinate conversion；
The size of grid is laid on S2, selection map；
S3, according to sizing grid identified in step S2, the mapping boundary line range that is determined on measurement map by step S1
Interior uniform drafting grid；And processing is numbered to grid
S4, check landform in each grid determined by step S3, according to the map on landform determine the spy of the landform in grid
It levies point and is uniformly arranged mesh point as picture in the grid of no features of terrain point using the features of terrain point at this as photo control point
Point is controlled, and the coordinate of all photo control points is recorded；
S5, all photo control point coordinates obtained in step S4 are imported into Google Maps, and newest according to produced by Google Maps
Satellite map advanced optimizes photo control point；
S6, the photo control point coordinate importing GNSS hand after step S5 optimization is thin, progress field photo control point laying, and according to
GNSS instrument the collected photogrammetric control point surveying mark centre coordinate actually laid；
S7, Unified number is carried out to all photogrammetric control point surveying mark centre coordinate data, the photo control point of the number of volume is imported into CAD
The grid of number obtained in step S3 is compared afterwards and compares inspection and amendment, is finally obtained the reliable photo control point of precision and is laid
Coordinate.
2. a kind of multi-rotor unmanned aerial vehicle mountain area aerial survey according to claim 1 is at the gridding photo control point distribution method of figure,
It is characterized by: the coordinate conversion carried out in step S1 converts to obtain by following formula:
x2=x1+Δx
y2=y1+Δy
In formula, x1、y1It is the coordinate before converting under coordinate system, Δ x, Δ y are that coordinate system is poor, can be according to control point coordinates
It is calculated, x2、y2It is the coordinate for converting coordinate system.
3. a kind of multi-rotor unmanned aerial vehicle mountain area aerial survey according to claim 1 is at the gridding photo control point distribution method of figure,
It is characterized by: if selecting 1:500 topographic maps, sizing grid range selected in step S2 60~120m it
Between；If selecting 1:1000 topographic maps, the sizing grid range of selection is between 80~150m；If selecting 1:2000 ratio
Ruler topographic map, the sizing grid range of selection is between 100~200m；And specifically used sizing grid is counted by following formula
It obtains:
D=dmin+(dmax-dmin)×λ
In formula, d is the sizing grid finally used, dminFor sizing grid lower limit, dmaxFor the sizing grid upper limit, λ answers for landform
Miscellaneous degree coefficient.
4. a kind of multi-rotor unmanned aerial vehicle mountain area aerial survey according to claim 1 is at the gridding photo control point distribution method of figure,
It is characterized by: the selection of the features of terrain point in grid includes mountain top point, foot of the hill point and shoulder side slope point in step s 4；Together
When in local height variation be defined as features of terrain point greater than the spikes/low- points of the steep bank of 10m, steep cliff.
5. a kind of multi-rotor unmanned aerial vehicle mountain area aerial survey according to claim 1 is at the gridding photo control point distribution method of figure,
It is characterized by: the optimization carried out in step s 5 to photo control point includes the photo control point movement that will be laid on building and pond
Or it deletes；Because increasing photo control point caused by building highway, house etc. at larger side slope at top of the slope and slope foot.
6. a kind of multi-rotor unmanned aerial vehicle mountain area aerial survey according to claim 1 is at the gridding photo control point distribution method of figure,
It is characterized by: also need to carry out the photogrammetric control point surveying mark centre coordinate data after number precision analysis in the step s 7, and
It rejects precision and is unsatisfactory for desired photo control point.
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| CN111678503A (en) * | 2020-06-15 | 2020-09-18 | 西安航空职业技术学院 | Unmanned aerial vehicle aerial survey control point arrangement and identification method and system |
| CN112363191A (en) * | 2020-10-12 | 2021-02-12 | 中国林业科学研究院亚热带林业研究所 | RTK-based field forest sample plot positioning method |
| CN112556725A (en) * | 2020-12-10 | 2021-03-26 | 湖北省地震局(中国地震局地震研究所) | Detection method for relative accuracy of portable unmanned aerial vehicle non-control point survey chart |
| CN117451011A (en) * | 2023-12-22 | 2024-01-26 | 南京信息工程大学 | Photogrammetry image control point quality evaluation method based on Monte Carlo test |
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