CN110596740A - Rapid positioning method suitable for geological exploration - Google Patents
Rapid positioning method suitable for geological exploration Download PDFInfo
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- CN110596740A CN110596740A CN201910939013.8A CN201910939013A CN110596740A CN 110596740 A CN110596740 A CN 110596740A CN 201910939013 A CN201910939013 A CN 201910939013A CN 110596740 A CN110596740 A CN 110596740A
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- geological
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Radar Systems Or Details Thereof (AREA)
- Navigation (AREA)
Abstract
The invention discloses a quick positioning method suitable for geological exploration, which comprises the following steps: s1, acquiring images of the area to be detected through an unmanned aerial vehicle, wherein each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle, pitch angle and roll angle; s2, reconstructing the image according to the POS data; s3, splicing the reconstructed images according to the POS data, so as to realize the construction of the map of the area to be detected; s4, collecting geological interest point GPS data or image data through an unmanned aerial vehicle; and inputting the GPS data or the image data into the constructed map, namely acquiring the coordinates of the current geological interest point on the constructed map, and marking the geological interest point on the geological map according to the transformation model of the geological map and the geodetic coordinate system and the coordinates of the current geological interest point S5. The method can realize the quick positioning of the geological interest points and has high positioning accuracy.
Description
Technical Field
The invention relates to the technical field of geological exploration, in particular to a quick positioning method suitable for geological exploration.
Background
At present, the method mainly adopted for determining observation points in field geological survey comprises a geological compass + topographic map method, a handheld GPS kilometer grid map expanding method, an indoor computer map projecting method and the like. The defects of low positioning precision, time and labor waste in the positioning process and the like generally exist.
Disclosure of Invention
In order to solve the problems, the invention provides a quick positioning method suitable for geological exploration.
In order to achieve the purpose, the invention adopts the technical scheme that:
a quick positioning method suitable for geological exploration comprises the following steps:
s1, acquiring images of the area to be detected through an unmanned aerial vehicle, wherein each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle (Phi), pitch angle (Omega) and roll angle (Kappa);
s2, reconstructing the acquired image according to the POS data;
s3, splicing the reconstructed images according to the POS data, so as to construct a map of the area to be detected;
s4, collecting geological interest point GPS data or image data through an unmanned aerial vehicle; inputting the obtained GPS data or image data into the constructed map, and acquiring the coordinates of the current geological interest point on the constructed map;
and S5, marking the geological interest points on the geological map according to the transformation model of the geological map and the geodetic coordinate system and the coordinates of the current geological interest points.
Further, the step S2 completes the reconstruction of the image according to the heading angle (Phi), the pitch angle (Omega) and the roll angle (Kappa) of the image.
Further, the step S3 completes image stitching according to the latitude, longitude and elevation of the image.
Further, in the step S3, a map is constructed in the geodetic coordinate system, and during construction, the acquisition of the geodetic coordinates corresponding to each picture is completed according to the correction model, and then the splicing is completed, so that the coordinates of each point on the map can be acquired.
Further, in step S4, when the GPS data is input, the current geological interest point is marked directly on the map, and then the corresponding navigation track is output according to the current GPS positioning data of the user, and is stored in the corresponding database.
Further, in step S4, when the image data is input, the system first performs POS data mining on the image data, then marks a current geological interest point on a map according to the POS data, then outputs a corresponding navigation track according to the current GPS positioning data of the user, and stores the navigation track in a corresponding database.
Further, unmanned aerial vehicle is equipped with the electronic centre gripping clamp that is used for joint unmanned aerial vehicle suspension including the robot body and the unmanned aerial vehicle body of crawling on the robot of crawling.
Further, crawling robot body and unmanned aerial vehicle body and all carrying three-dimensional attitude sensor and GPS orientation module in, radar probe realizes keeping away the barrier and crossing the barrier of self in coordination, crawling robot body and unmanned aerial vehicle body all carry the two mesh vision sensor, can realize image data's real-time passback, when both link together, GPS orientation module and three-dimensional attitude module only start one of them, when separately using, GPS orientation module and three-dimensional attitude module between them all need start.
The invention has the following beneficial effects:
the geological interest point can be quickly positioned, and the positioning accuracy is high.
Drawings
FIG. 1 is a flow chart of example 1 of the present invention
Fig. 2 is a flowchart of embodiment 2 of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
A quick positioning method suitable for geological exploration comprises the following steps:
s1, acquiring images of the area to be detected through an unmanned aerial vehicle, wherein each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle (Phi), pitch angle (Omega) and roll angle (Kappa);
s2, reconstructing the acquired image according to the heading angle (Phi), the pitch angle (0mega) and the roll angle (Kappa) of the image;
s3, splicing the reconstructed images according to the latitude, longitude and elevation of the images, so as to realize the construction of the map of the area to be measured, wherein during construction, firstly, the acquisition of the geodetic coordinates corresponding to each image is completed according to the correction model, then, the splicing is completed, and the coordinates of each point on the map can be acquired;
s4, collecting geological interest point GPS data through an unmanned aerial vehicle; inputting the obtained GPS data into the constructed map, directly marking the current geological interest point on the map, outputting a corresponding navigation track according to the current GPS positioning data of the user, and storing the navigation track in a corresponding database;
and S5, marking the geological interest points on the geological map according to the transformation model of the geological map and the geodetic coordinate system and the coordinates of the current geological interest points.
In the embodiment, the air route of the unmanned aerial vehicle is constructed according to satellite map data of an area to be detected, a user firstly defines the area to be detected on the satellite map data, then manually selects an initial point, plans a movement track by taking the acquired target image group as a reference, and plans the movement track by taking the edge of two adjacent images which are just overlapped (namely, the images are prevented from having an overlapped area, so that the adjacent images can be spliced just in time), wherein the unmanned aerial vehicle comprises a crawling robot body and an unmanned aerial vehicle body, an electric clamping clamp for clamping an unmanned aerial vehicle suspension is arranged on the upper top surface of the crawling robot, the crawling robot body and the unmanned aerial vehicle body are both internally provided with a three-dimensional attitude sensor and a GPS positioning module, the crawling robot body and the unmanned aerial vehicle body are both provided with binocular vision sensors in cooperation with a radar probe to realize self obstacle avoidance and obstacle crossing, the real-time return of the image data can be realized, when the two are connected together, only one of the GPS positioning module and the three-dimensional attitude module is started, and when the two are used separately, the GPS positioning module and the three-dimensional attitude module of the two are both required to be started.
Example 2
A quick positioning method suitable for geological exploration comprises the following steps:
s1, acquiring images of the area to be detected through an unmanned aerial vehicle, wherein each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle (Phi), pitch angle (Omega) and roll angle (Kappa);
s2, reconstructing the acquired image according to the heading angle (Phi), the pitch angle (Omega) and the roll angle (Kappa) of the image;
s3, splicing the reconstructed images according to the latitude, longitude and elevation of the images, so as to realize the construction of the map of the area to be measured, wherein during construction, firstly, the acquisition of the geodetic coordinates corresponding to each image is completed according to the correction model, then, the splicing is completed, and the coordinates of each point on the map can be acquired;
s4, collecting geological interest point image data through an unmanned aerial vehicle; the system firstly carries out POS data mining on image data, then marks current geological interest points on a map according to POS data, outputs corresponding navigation tracks according to current GPS positioning data of a user, and stores the navigation tracks in a corresponding database;
and S5, marking the geological interest points on the geological map according to the transformation model of the geological map and the geodetic coordinate system and the coordinates of the current geological interest points.
In the embodiment, the air route of the unmanned aerial vehicle is constructed according to satellite map data of an area to be detected, a user firstly defines the area to be detected on the satellite map data, then manually selects an initial point, plans a motion trail by taking the collected target image group as a reference, wherein the target image group must fully cover the area to be detected, and the edges of two adjacent images are just overlapped (namely, the images are prevented from having an overlapped area, so that the adjacent images can be spliced), and comprises a crawling robot body and an unmanned aerial vehicle body, wherein the upper top surface of the crawling robot is provided with an electric clamping clamp for clamping an unmanned aerial vehicle suspension, the crawling robot body and the unmanned aerial vehicle body are both internally provided with a three-dimensional attitude sensor and a GPS positioning module, and cooperate with a radar probe to realize self obstacle avoidance and obstacle crossing, and the crawling robot body and the unmanned aerial vehicle body are both provided with, the real-time return of the image data can be realized, when the two are connected together, only one of the GPS positioning module and the three-dimensional attitude module is started, and when the two are used separately, the GPS positioning module and the three-dimensional attitude module of the two are both required to be started.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A quick positioning method suitable for geological exploration is characterized by comprising the following steps: the method comprises the following steps:
s1, acquiring images of the area to be detected through an unmanned aerial vehicle, wherein each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle, pitch angle and roll angle;
s2, reconstructing the acquired image according to the POS data;
s3, splicing the reconstructed images according to the POS data, so as to construct a map of the area to be detected;
s4, collecting geological interest point GPS data or image data through an unmanned aerial vehicle; inputting the obtained GPS data or image data into the constructed map, and acquiring the coordinates of the current geological interest point on the constructed map;
and S5, marking the geological interest points on the geological map according to the transformation model of the geological map and the geodetic coordinate system and the coordinates of the current geological interest points.
2. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: and step S2, reconstructing the image according to the heading angle, the pitch angle and the roll angle of the image.
3. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: and step S3, completing image splicing according to the latitude, longitude and elevation of the image.
4. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: in the step S3, a map is constructed in the geodetic coordinate system, and during construction, the acquisition of geodetic coordinates corresponding to each picture is completed according to the correction model, and then the splicing is completed, so that coordinates of each point on the map can be acquired.
5. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: in step S4, when the GPS data is input, the current geological interest point is marked directly on the map, and then the corresponding navigation track is output according to the current GPS positioning data of the user, and is stored in the corresponding database.
6. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: in step S4, when the image data is input, the system first performs POS data mining on the image data, then performs marking on the current geological interest point on the map according to the POS data, and then outputs a corresponding navigation track according to the current GPS positioning data of the user, and stores the navigation track in a corresponding database.
7. A method of rapid positioning suitable for geological exploration, as defined in claim 1, wherein: unmanned aerial vehicle is equipped with the electronic centre gripping clamp that is used for joint unmanned aerial vehicle suspension including the robot body and the unmanned aerial vehicle body of crawling on the robot of crawling.
8. A method of rapid positioning suitable for geological exploration, as defined in claim 7, wherein: crawling robot body and unmanned aerial vehicle body and all carry three-dimensional attitude sensor and GPS orientation module in, realize keeping away the barrier and crossing the barrier of self in coordination with the radar probe, crawling robot body and unmanned aerial vehicle body all carry the mesh visual sensor, can realize image data's real-time passback, when both link together, GPS orientation module and three-dimensional attitude module only start one of them, when separately using, GPS orientation module and three-dimensional attitude module between them all need start.
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