CN111426302A - Unmanned aerial vehicle high accuracy oblique photography measurement system - Google Patents
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- G—PHYSICS
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
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Abstract
The invention discloses a high-precision oblique photogrammetry system of an unmanned aerial vehicle, which comprises: the measuring area delineation module is used for completing the delineation of the measuring area on the satellite map; the unmanned aerial vehicle measuring route planning module is used for selecting a starting point and an end point of unmanned aerial vehicle measurement in the delineated area and planning the unmanned aerial vehicle measuring route according to the type, height and density of obstacles in the delineated area and the position of the obstacles; the unmanned aerial vehicle measuring route comprises the flight state of the unmanned aerial vehicle at each coordinate point in a geodetic coordinate system of the flight track measured by the unmanned aerial vehicle; and the image acquisition module is used for acquiring image data of a vertical ground angle and an inclined ground angle according to the unmanned aerial vehicle measuring route, and each image carries matched POS data. The invention takes the existing satellite map as the reference and plans the flight state of the aircraft according to the coordinates of each point in the geodetic coordinate system, thereby greatly improving the measurement precision.
Description
Technical Field
The invention relates to the field of surveying and mapping, in particular to a high-precision oblique photogrammetry system of an unmanned aerial vehicle.
Background
The oblique photography technology is a high and new technology for acquiring more complete and accurate information of ground objects by carrying a plurality of sensors (a five-lens camera is commonly used at present) on the same flight platform and acquiring images from different angles such as vertical angles, oblique angles and the like. Images taken at an angle perpendicular to the ground are called positive (one group of images), and images taken with the lens facing a certain angle with the ground are called oblique (four groups of images). The oblique photography measurement of the unmanned aerial vehicle applies the oblique photography technology to the unmanned aerial vehicle, and actually, a three-dimensional model is made, so that the model built up is more real, more visual and more practical.
The following defects generally exist in the existing unmanned aerial vehicle oblique photography measurement system:
1) the problem of overlapping degree of unmanned aerial vehicle shooting caused by the attitude change of the machine equipment;
2) the illumination at different time intervals causes the problems of uneven texture, hole breakage and the like in the model building process;
3) the ground marker is used as a reference for collecting pictures, and the collection precision is influenced to a certain extent.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a high-precision oblique photogrammetry system for an unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
an unmanned aerial vehicle high accuracy oblique photogrammetry system, comprising:
the measuring area delineation module is used for completing the delineation of the measuring area on the satellite map;
the unmanned aerial vehicle measuring route planning module is used for selecting a starting point and an end point of unmanned aerial vehicle measurement in the delineated area and planning the unmanned aerial vehicle measuring route according to the type, height and density of obstacles in the delineated area and the position of the obstacles; the unmanned aerial vehicle measuring route comprises the flight state of the unmanned aerial vehicle at each coordinate point in a geodetic coordinate system of the flight track measured by the unmanned aerial vehicle;
the image acquisition module is used for acquiring image data of a vertical ground angle and an inclined ground angle according to the unmanned aerial vehicle measuring route, 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);
the image reconstruction module is used for reconstructing image data according to the POS data;
a three-dimensional reconstruction module for completing the splicing of image data according to the POS data and realizing the reconstruction of three-dimensional images
And the image measurement module is used for measuring the target object on the spliced image data based on the length-width ratio of the connected component circumscribed rectangle.
Furthermore, the unmanned aerial vehicle internally carries a three-dimensional attitude sensor, a airborne attitude controller and a track planner, the airborne attitude controller adopts a closed-loop control strategy, the unmanned aerial vehicle measurement route and the three-dimensional attitude sensor are used for realizing the control of the flight attitude of the unmanned aerial vehicle, and the track planner is used for generating a reasonable reference track curve by taking the acceleration of the aircraft in the flight process as a target.
Further, the unmanned aerial vehicle adopts a real-time differential dynamic positioning technology.
Further, the unmanned aerial vehicle measurement route planning module completes the planning of the measurement route through the following steps:
s1, firstly, selecting a starting point and an end point measured by the unmanned aerial vehicle in a circled area, and finishing marking the starting point and the end point;
s2, identifying the type, height and density of the obstacles in the delineating area based on the picture identification module, and marking the obstacles;
s3, acquiring coordinates of a starting point, an end point and each obstacle in a geodetic coordinate system based on the marks;
s4, acquiring picture acquisition coordinate points based on the type, height, density, start point and end point coordinates of the obstacles and the coordinates of the obstacles;
and S5, planning the flight path of the unmanned aerial vehicle and the flight state of the unmanned aerial vehicle at each coordinate point in the geodetic coordinate system of the path based on the type, height, density, starting point, end point coordinates, coordinates of each obstacle and picture collection coordinate points.
Further, the flight state of the unmanned aerial vehicle at least comprises the working state of the image acquisition module, the flight attitude, the height, the speed and the acceleration of the unmanned aerial vehicle.
Furthermore, the image reconstruction module completes image reconstruction according to the heading angle, the pitch angle and the roll angle of the image.
Furthermore, the three-dimensional reconstruction module completes image splicing according to the latitude, longitude and elevation of the image.
Further, still include:
the system comprises illuminance acquisition modules, a central processing unit and a central processing unit, wherein each image acquisition module is provided with one illuminance acquisition module which identifies the illuminance of the current position based on an acquired image;
and each image acquisition module is provided with one light supplementing and shading module, and is turned on and off according to data acquired by illuminance so as to realize light supplementing or shading operation.
Compared with the prior art, the invention has the following beneficial effects:
the invention takes the existing satellite map as the reference and plans the flight state of the aircraft according to the coordinates of each point in the geodetic coordinate system, thereby greatly improving the measurement precision.
The system has the functions of illuminance detection, light supplement and shading, and can well avoid the problems of uneven texture, hole breakage and the like in the process of establishing the model due to the influence of illuminance.
Drawings
Fig. 1 is a system block diagram of a high-precision oblique photogrammetry system for an unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
as shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle high-precision oblique photogrammetry system, which includes an unmanned aerial vehicle and a ground control terminal, wherein the unmanned aerial vehicle is used for realizing wireless communication; the ground control terminal is internally provided with:
the measuring area delineation module is used for completing the delineation of the measuring area on the satellite map; the unmanned aerial vehicle measuring route planning module is used for selecting a starting point and an end point of unmanned aerial vehicle measurement in the delineated area and planning the unmanned aerial vehicle measuring route according to the type, height and density of obstacles in the delineated area and the position of the obstacles; the unmanned aerial vehicle measuring route comprises the flight state of the unmanned aerial vehicle at each coordinate point in a geodetic coordinate system of the flight track measured by the unmanned aerial vehicle; the image reconstruction module is used for reconstructing the image by the course angle, the pitch angle and the roll angle of the image; the three-dimensional reconstruction module is used for completing image splicing according to the latitude, longitude and elevation of the image and realizing the reconstruction of the three-dimensional image; and the image measurement module is used for measuring the target object on the spliced image data based on the length-width ratio of the connected component circumscribed rectangle.
The unmanned aerial vehicle is provided with an image acquisition module, a three-dimensional attitude sensor, a vehicle attitude controller, a track planner and a data transmission module, wherein the image acquisition module is used for acquiring image data of a vertical ground angle and an inclined ground angle according to a measurement route of the unmanned aerial vehicle, each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, a course angle (Phi), a pitch angle (Omega) and a roll angle (Kappa); the airborne attitude controller adopts a closed-loop control strategy, based on the unmanned aerial vehicle measures the route, the three-dimensional attitude sensor realizes the control of the flight attitude of the unmanned aerial vehicle, the trajectory planner is used for generating a reasonable reference trajectory curve by taking the acceleration of the aircraft in the flight process as a target, and the data transmission module is used for transmitting the image collected by the image collection module back to the ground control terminal.
In this embodiment, unmanned aerial vehicle adopts real-time difference dynamic positioning technique.
In this embodiment, the unmanned aerial vehicle measurement route planning module completes the planning of the measurement route by the following steps:
s1, firstly, selecting a starting point and an end point measured by the unmanned aerial vehicle in a circled area, and finishing marking the starting point and the end point;
s2, identifying the type, height and density of the obstacles in the delineating area based on the picture identification module, and marking the obstacles; the obstacles comprise buildings, trees, hills and the like;
s3, acquiring coordinates of a starting point, an end point and each obstacle in a geodetic coordinate system based on the marks;
s4, acquiring picture acquisition coordinate points based on the type, height, density, start point and end point coordinates of the obstacles and the coordinates of the obstacles;
s5, based on the type, height, density, starting point, end point coordinates, coordinates of each obstacle and picture collection coordinate points, the unmanned aerial vehicle flight track route and the flight state of each coordinate point unmanned aerial vehicle in the track with the geodetic coordinate system are planned, and the flight state of the unmanned aerial vehicle at least comprises the working state of the image collection module, the flight attitude, height, speed and acceleration of the unmanned aerial vehicle.
In this embodiment, still be equipped with on the unmanned aerial vehicle:
the system comprises illuminance acquisition modules, each image acquisition module is provided with one illuminance acquisition module, the module identifies the illuminance of the current position based on an acquired image, the identification of the brightness of the image is firstly carried out during the identification, then the identification of the shadow part in the image is carried out, then the identification result is input into a preset BP neural network model to obtain the illuminance of the current position, and when the illuminance is within a preset range, the illuminance is input into the preset BP neural network model to carry out L ED lamp, reflector and shading plate work control command output;
the light filling, the shading module, light filling of each image acquisition module configuration, the shading module, open and close according to the data that illuminance gathered, realize light filling or shading operation, the light filling adopts L ED etc. the shading adopts reflector panel and light screen, an annular rail has been seted up along the outer circumference of every image acquisition module, install L ED lamp, reflector panel, the light screen respectively through three electronic flexiblely in this track, under the original state, L ED lamp, the reflector panel, the light screen is all accomodate in the annular rail.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. The utility model provides an unmanned aerial vehicle high accuracy oblique photography measurement system which characterized in that: the method comprises the following steps:
the measuring area delineation module is used for completing the delineation of the measuring area on the satellite map;
the unmanned aerial vehicle measuring route planning module is used for selecting a starting point and an end point of unmanned aerial vehicle measurement in the delineated area and planning the unmanned aerial vehicle measuring route according to the type, height and density of obstacles in the delineated area and the position of the obstacles; the unmanned aerial vehicle measuring route comprises the flight state of the unmanned aerial vehicle at each coordinate point in a geodetic coordinate system of the flight track measured by the unmanned aerial vehicle;
the image acquisition module is used for acquiring image data of a vertical ground angle and an inclined ground angle according to the unmanned aerial vehicle measuring route, each image carries matched POS data, and the POS data at least comprises latitude, longitude, elevation, course angle, pitch angle and roll angle;
the image reconstruction module is used for reconstructing image data according to the POS data;
the three-dimensional reconstruction module is used for completing image data splicing according to the POS data and realizing the reconstruction of a three-dimensional image;
and the image measurement module is used for measuring the target object on the spliced image data based on the length-width ratio of the connected component circumscribed rectangle.
2. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: the unmanned aerial vehicle internally carries a three-dimensional attitude sensor, a airborne attitude controller and a track planner, wherein the airborne attitude controller adopts a closed-loop control strategy, the unmanned aerial vehicle measures a route and the three-dimensional attitude sensor to realize the control of the flight attitude of the unmanned aerial vehicle, and the track planner is used for generating a reasonable reference track curve by taking the acceleration of the aircraft in the flight process as a target.
3. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: the unmanned aerial vehicle adopts a real-time differential dynamic positioning technology.
4. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: the unmanned aerial vehicle measurement route planning module finishes planning of a measurement route through the following steps:
s1, firstly, selecting a starting point and an end point measured by the unmanned aerial vehicle in a circled area, and finishing marking the starting point and the end point;
s2, identifying the type, height and density of the obstacles in the delineating area based on the picture identification module, and marking the obstacles;
s3, acquiring coordinates of a starting point, an end point and each obstacle in a geodetic coordinate system based on the marks;
s4, acquiring picture acquisition coordinate points based on the type, height, density, start point and end point coordinates of the obstacles and the coordinates of the obstacles;
and S5, planning the flight path of the unmanned aerial vehicle and the flight state of the unmanned aerial vehicle at each coordinate point in the geodetic coordinate system of the path based on the type, height, density, starting point, end point coordinates, coordinates of each obstacle and picture collection coordinate points.
5. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 4, characterized in that: the flight state of the unmanned aerial vehicle at least comprises the working state of the image acquisition module, the flight attitude, the height, the speed and the acceleration of the unmanned aerial vehicle.
6. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: and the image reconstruction module completes image reconstruction according to the course angle, the pitch angle and the roll angle of the image.
7. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: and the three-dimensional reconstruction module completes image splicing according to the latitude, longitude and elevation of the image.
8. The high-precision oblique photogrammetry system of unmanned aerial vehicle of claim 1, characterized in that: further comprising:
the system comprises illuminance acquisition modules, a central processing unit and a central processing unit, wherein each image acquisition module is provided with one illuminance acquisition module which identifies the illuminance of the current position based on an acquired image;
and each image acquisition module is provided with one light supplementing and shading module, and is turned on and off according to data acquired by illuminance so as to realize light supplementing or shading operation.
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| CN115077492A (en) * | 2022-06-08 | 2022-09-20 | 江西师范大学 | Three-dimensional geographic information safety monitoring system based on Beidou positioning |
| CN115077492B (en) * | 2022-06-08 | 2023-05-05 | 江西师范大学 | Three-dimensional geographic information safety monitoring system based on Beidou positioning |
| CN115170753A (en) * | 2022-07-04 | 2022-10-11 | 重庆尚优科技有限公司 | Three-dimensional modeling processing method based on unmanned aerial vehicle oblique photography |
| CN115200554A (en) * | 2022-07-14 | 2022-10-18 | 深圳市水务工程检测有限公司 | Unmanned aerial vehicle photogrammetry supervision system and method based on picture recognition technology |
| CN115200554B (en) * | 2022-07-14 | 2023-06-27 | 深圳市水务工程检测有限公司 | Unmanned aerial vehicle photogrammetry supervision system and method based on picture identification technology |
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