CN111928825B - Unmanned aerial vehicle continuous circle surrounding oblique photography aerial photography method - Google Patents
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Abstract
The invention relates to an unmanned aerial vehicle continuous circular surrounding oblique photography aerial photography method, wherein an unmanned aerial vehicle flies in circles along a plurality of continuous circular air routes, the circle centers of the continuous circles are arranged in a bow shape at equal intervals in a target area, and the unmanned aerial vehicle tilts downwards by 45 degrees from a camera lens direction angle towards the circle center and a pitch angle in the continuous surrounding aerial photography process to perform continuous shooting. The invention can realize that the common civil unmanned aerial vehicle flies around the target area by one continuous circular route, and can finish the data acquisition of the three-dimensional modeling aerial image, compared with the traditional five-direction oblique photography, the invention can reduce the number of the acquired photos, greatly improve the definition of the modeling image, greatly improve the shooting efficiency of the oblique photography and reduce the shooting cost.
Description
Technical Field
The invention relates to the technical field of oblique photography, in particular to an unmanned aerial vehicle continuous circle surrounding oblique photography aerial photographing method.
Background
The oblique photography technology is a high and new technology developed in the international photogrammetry field in the last ten years, and acquires abundant high-resolution textures of the top surface and the side view of a building by synchronously acquiring images from a vertical angle, four oblique angles and five different visual angles. The method can truly reflect the ground object condition, acquire object texture information with high precision, and generate a real three-dimensional city model through advanced positioning, fusion, modeling and other technologies.
At present, when an unmanned aerial vehicle is used for reconstructing three-dimensional geographic information, a camera is required to take photos at five different angles, wherein the five angles are respectively front 45 degrees, rear 45 degrees, left 45 degrees, right 45 degrees and vertical downward. At present, the traditional shooting methods include the following two methods:
five cameras are simultaneously installed on the aircraft and respectively adjusted to be at the above five angles, and when the unmanned aerial vehicle flies to a photographing point, the five cameras are exposed simultaneously to obtain five aerial photos. The shortcoming of this technique is that five cameras are installed together and are occupied volume and weight great, and unmanned aerial vehicle can't install and use. If install on large-scale fixed wing unmanned aerial vehicle or many rotor unmanned aerial vehicle, can seriously influence unmanned aerial vehicle's duration because of big load.
And installing a camera on the aircraft, adjusting the angle to one of the five angles, manually adjusting the camera to another angle after the aircraft flies for one time, and flying again along the air route of the previous time. The data acquisition can be completed after the same airline flies for five frames, and the method has the defects that photos of all angles can be acquired only by flying the same airline five times, and the efficiency is low.
In addition, the pictures shot at the front angle of 45 degrees, the rear angle of 45 degrees, the left angle of 45 degrees, the right angle of 45 degrees and vertically downward five angles are adopted, insufficient image imaging can be generated at the boundary edge position of two vertical surfaces of the target object, the definition of the computer for three-dimensional modeling is insufficient, and the phenomenon of an image garland area is easy to occur.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an unmanned aerial vehicle continuous circle surrounding oblique photography aerial photographing method.
The technical scheme adopted by the invention for solving the technical problems is as follows: the unmanned aerial vehicle flies around a plurality of continuous circular routes, the circle centers of the continuous circular routes are uniformly distributed in a bow shape on a target area at equal intervals, and the direction angle of a camera lens of the unmanned aerial vehicle inclines downwards by 45 degrees towards the current surrounding circle center and the pitch angle in the continuous surrounding aerial shooting process to take pictures continuously at equal intervals.
Further, the continuous circular surrounding oblique photography aerial photography method comprises the following specific steps:
step 1): planning the route, setting a bow-shaped circle center row wiring in a target area, and uniformly arranging the circle centers of a plurality of circular routes with the same radius on the bow-shaped circle center row wiring at equal intervals;
step 2): the unmanned aerial vehicle is planned according to a route, the unmanned aerial vehicle flies around one by one along a circular route, and the unmanned aerial vehicle continuously takes pictures at equal intervals continuously by inclining a camera lens direction angle downwards by 45 degrees towards the current surrounding circle center and a pitch angle in the continuous surrounding aerial shooting process.
Further, in the step 1), the radius of the circular route is equal to the altitude, and a calculation formula of the set altitude H, the distance L between centers of adjacent circular routes, and the distance between adjacent parallel lines wired at the center of the zigzag, that is, the lateral distance Dy, is as follows:
flight height H: h =
Center distance L between adjacent circular routes: l = H (1-Px)
Lateral distance Dy: dy = cos30 °. L
Radius of circular route R: r = H
In the formula: h is the altitude (unit: m); f is the focal length of the camera lens (unit: mm); a is the pixel size (unit: mm); GSD is ground resolution (unit: m); r is the radius of the circular route (unit: m); l is the distance between the centers of the adjacent circular routes (unit: m); px is the course overlap (unit: percentage%); dy is the lateral distance (namely the distance between adjacent parallel lines of the arch-shaped circle center row wiring, the unit is m);
in the step 2), in the continuous surrounding aerial photography process of the unmanned aerial vehicle, a calculation formula of the photographing distance PL for the camera to continuously photograph at equal distances is as follows:
photographing distance PL: PL = β (1-Pj) 2 π R/360
In the formula: PL is the flight distance (unit: m) between two photographs; beta is the camera lens field angle (unit: degree); pj is the photo overlap (unit: percent%) of the surround-view.
The radius of circular airline equals with the height by plane, unmanned aerial vehicle is at the continuous in-process of taking a photograph of surrounding, the nodical below its centre of a circle that surrounds circular airline of the axis line of camera lens and ground, the overlap area that realizes unmanned aerial vehicle to surround the photo of taking a photograph of continuously all arranges the wiring region at the bow font centre of a circle of settlement, can evenly cover the shooting to the target area, when adopting the interchip overlap degree to be greater than more than 50% when taking a photograph of, the image of gathering can satisfy clear three-dimensional imaging modeling requirement, the function of shooing in succession of unmanned aerial vehicle camera equidistance all can be realized on most civilian unmanned aerial vehicles.
Further, in the step 1), on the line of arrangement of the circle centers of the bow-shaped circles, the circle centers of different rows are arranged in a uniformly staggered manner, two adjacent circle centers of the same row and one staggered circle center of the adjacent row form an equilateral triangle, and complete and uniform covering photographing on a target area in the line area of arrangement of the circle centers of the bow-shaped circles is realized by surrounding aerial photography.
Further, in the step 2), in the process that the unmanned aerial vehicle flies around one by one along the circular routes, the adjacent circular routes are connected through the minimum path, so that the surrounding aerial photography efficiency is improved.
Further, when unmanned aerial vehicle is fixed wing unmanned aerial vehicle, camera lens angle of pitch downward sloping 45 degrees, direction angle and aircraft nose direction are perpendicular and encircle the centre of a circle direction towards current and take photo by plane, and when fixed wing unmanned aerial vehicle encircles the flight along circular air route, the camera direction angle of fuselage side is the current centre of a circle direction of encircleing all the time.
Further, when unmanned aerial vehicle is many rotor type unmanned aerial vehicle, camera lens angle of pitch downward sloping 45 degrees, direction angle are the same with the aircraft nose direction, and the aircraft nose all encircles the centre of a circle direction and encircles the aerial photograph towards current when many rotor type unmanned aerial vehicle flies on every circular air route.
Further, when the unmanned aerial vehicle flies around the continuous circular air route, the unmanned aerial vehicle can fly around clockwise or anticlockwise, and the same aerial photographing effect is achieved.
The implementation process comprises the following steps: step 1): planning the route, setting a bow-shaped circle center row wiring in a target area, and uniformly arranging the circle centers of a plurality of circular routes with the same radius on the bow-shaped circle center row wiring at equal intervals;
firstly, calculating the radius, the center distance and the aerial height of a circular air route according to the requirements of a camera, a lens, the overlapping degree and the aerial photography task resolution:
flight height H: h =
Center distance L between adjacent circular routes: l ═ H (1-Px)
Lateral distance Dy: dy = cos30 °. L
Radius of circular route R: r = H
In the formula: h is the altitude (unit: m); f is the focal length of the camera lens (unit: mm); a is the pixel size (unit: mm); GSD is ground resolution (unit: m); r is the radius of the circular route (unit: m); l is the distance between the centers of the adjacent circular routes (unit: m); px is the course overlap (unit: percentage%); dy is the lateral distance (namely the distance between adjacent parallel lines of the arch-shaped circle center row wiring, the unit is m);
step 2): the unmanned aerial vehicle is planned according to a route, the unmanned aerial vehicle flies around one by one along a circular route, and the unmanned aerial vehicle continuously takes pictures at equal intervals continuously by inclining a camera lens direction angle downwards by 45 degrees towards the current surrounding circle center and a pitch angle in the continuous surrounding aerial shooting process.
The set photographing distance PL for the camera to photograph continuously at equal intervals has the following calculation formula:
photographing distance: PL = β (1-Pj) 2 π R/360
In the formula: PL is the flight distance (unit: m) between two photographs; beta is the camera lens field angle (unit: degree); pj is the photo overlap (unit: percent%) of the surround-view.
The actual implementation process of the unmanned aerial vehicle is that all flight parameter commands of the unmanned aerial vehicle are obtained by fusing the complete route parameters and the photo shooting distance data, the unmanned aerial vehicle can independently execute aerial shooting tasks, the unmanned aerial vehicle carries out one-frame continuous circular route surrounding aerial shooting to a target area, and data acquisition of three-dimensional modeling aerial shooting images can be completed.
The invention has the beneficial effects that: the unmanned aerial vehicle flies around a plurality of continuous circular routes, the circle centers of the continuous circular routes are arranged in a bow-shaped equidistant manner in a target area, the direction angle of a camera lens of the unmanned aerial vehicle is inclined downwards by 45 degrees towards the current surrounding circle center and the pitch angle in the continuous surrounding aerial photographing process to continuously shoot at the equidistant manner, and the unmanned aerial vehicle can completely and uniformly cover the target area below the bow-shaped circle center row wiring in the overlapping area of the continuous surrounding aerial photographs.
In the continuous surrounding aerial photography process of the unmanned aerial vehicle, the radius of the circular air route is set to be equal to the aerial height, so that the intersection point of the axis line of the camera lens and the ground is kept under the circle center of the circular air route surrounded by the camera lens, the overlapped area of continuous surrounding aerial photography photos of the unmanned aerial vehicle is completely and uniformly covered on a target area along the set arch-shaped circle center distribution line, and when the course overlapping degree is more than 50%, the acquired images can meet the requirement of clear three-dimensional imaging modeling.
On the arch-shaped circle center arrangement line, the circle centers of different rows are uniformly staggered, two adjacent circle centers of the same row and one staggered circle center of the adjacent row form an equilateral triangle, and the complete and uniform coverage of the target area by the aerial image acquisition in the area between the arch-shaped circle center arrangement line rows is realized.
The method can realize that the common civil unmanned aerial vehicle flies around the target area by one continuous circular route, and can finish the data acquisition of the three-dimensional modeling aerial image, compared with the traditional five-direction oblique photography, the method can reduce the number of the acquired photos, greatly improve the definition of the modeling image, greatly improve the shooting efficiency of the oblique photography, reduce the shooting cost, and especially greatly improve the imaging definition of the boundary edge position of two vertical surfaces of the target object.
Drawings
FIG. 1 is a schematic representation of a route planning implementation of the present invention;
FIG. 2 is a schematic view of the present invention showing the continuous photographing at equal distances during the encircling aerial photographing;
FIG. 3 is a schematic view of the embodiment 1 of the present invention with the circle centers evenly staggered;
FIG. 4 is a schematic diagram of a route planning implementation of embodiment 1 of the present invention;
FIG. 5 is a schematic diagram showing the spatial positions of the circular route radius R and the altitude H in the embodiment 1 of the present invention;
FIG. 6 is a schematic imaging diagram of a circular course surround shooting in embodiment 1 of the present invention;
FIG. 7 is a schematic diagram of imaging area overlapping when a circular route surrounds continuous shooting according to embodiment 1 of the present invention;
fig. 8 is a schematic diagram of the implementation of embodiment 2 of the invention.
Parts and numbering in the figures:
10-circle center; 11-circular course.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The utility model provides a continuous circle of unmanned aerial vehicle encircles oblique photography method of taking photo by plane, unmanned aerial vehicle carries out the winding flight along a plurality of continuous circular air routes, the centre of a circle of continuous circular air route is bow font equidistance and evenly arranges on the target area, unmanned aerial vehicle is in the continuous process of taking photo by plane of encircleing around the current centre of a circle of orientation, the angle of pitch is 45 degrees slopes down and is carried out the equidistance and take a picture in succession, unmanned aerial vehicle carries out the continuous circular air route of a frame of flight to the target area, can accomplish the data acquisition of three-dimensional modeling image of taking photo by plane, continuous circle encircles oblique photography method of taking photo by plane's concrete step as follows:
step 1): planning the route, setting a bow-shaped circle center row wiring in a target area, and uniformly arranging the circle centers 10 of a plurality of circular routes with the same radius on the bow-shaped circle center row wiring at equal intervals, as shown in figure 1;
step 2): the unmanned aerial vehicle is planned according to the route, and flies around one by one along the circular route 11, and the direction angle of the camera lens of the unmanned aerial vehicle inclines downwards by 45 degrees towards the current surrounding circle center 10 and the pitch angle in the continuous surrounding aerial photographing process to take photos continuously at equal intervals, as shown in fig. 2.
As shown in fig. 3, in the step 1), on the line of the circular center arrangement of the zigzag, the circular centers 10 of different rows are uniformly staggered, and two adjacent circular centers 10 of the same row and one circular center 10 of the adjacent row which is staggered form an equilateral triangle.
In the step 2), in the process that the unmanned aerial vehicle carries out circle-around flight along the circular route one by one, the adjacent circular routes 11 are connected through the minimum path.
Example 1
As shown in fig. 4, the specific implementation process first performs step 1): and planning the routes, namely setting the arch-shaped circle center row wiring in a target area, and uniformly arranging the circle centers 10 of a plurality of circular routes with the same radius on the arch-shaped circle center row wiring at equal intervals.
Firstly, calculating the radius, the center distance and the aerial height of a circular air route according to the requirements of a camera, a lens, the overlapping degree and the aerial photography task resolution:
flight height H: h =
Center distance L between adjacent circular routes: l = H (1-Px)
Lateral distance Dy: dy = cos30 °. L
Radius of circular route R: r = H
In the formula: h is the altitude (unit: m); f is the focal length of the camera lens (unit: mm); a is the pixel size (unit: mm); GSD is ground resolution (unit: m); r is the radius of the circular route (unit: m); l is the distance between the centers of the adjacent circular routes (unit: m); px is the course overlap (unit: percentage%); dy is the lateral distance (namely the distance between adjacent parallel lines of the arch-shaped circle center row wiring, the unit is m);
step 2): the unmanned aerial vehicle is planned according to the route, and flies around one by one along the circular route 11, and the direction angle of the camera lens of the unmanned aerial vehicle inclines downwards by 45 degrees towards the current surrounding circle center 10 and the pitch angle in the continuous surrounding aerial photographing process to take photos continuously at equal intervals, as shown in fig. 4.
The set photographing distance PL for the camera to photograph continuously at equal intervals has the following calculation formula:
photographing distance PL: PL = β (1-Pj) 2 π R/360
In the formula: PL is the flight distance (unit: m) between two photographs; beta is the camera lens field angle (unit: degree); pj is the photo overlap (unit: percent%) of the surround-view.
In this embodiment 1, the course overlap Px of the surround-view photography of fig. 4 is set to 65%, the pixel size a is determined according to the camera photosensitive element parameters, and the ground resolution GSD is determined according to the project requirements.
As shown in fig. 5, the radius R of the circular route 11 is equal to the altitude H, and during the continuous circling of the unmanned aerial vehicle, the intersection point of the axis of the camera lens and the ground is kept right below the center 10 of the circle encircling the circular route 11; as shown in fig. 6, the imaging area of the camera is right below the circle center 10 of the circular route 11 when the camera is used for surrounding shooting; as shown in fig. 7, the overlapping area of the continuous aerial photographs surrounding by the unmanned aerial vehicle can completely and uniformly cover the position under the circular route 11, the unmanned aerial vehicle can perform the continuous aerial photographing flying of the continuous circular route 11 surrounding by one frame, so that the target area below the line distribution area of the circle center of the bow shape can be uniformly and completely covered and photographed, the three-dimensional modeling image acquisition is completed, the acquired image can meet the clear three-dimensional imaging modeling requirement, and the function of continuously photographing with equal distances by the cameras can be realized on most civil unmanned aerial vehicles.
In the actual aerial photography executing process, the complete air route parameters and the photo shooting distance data are fused to obtain all flight parameter commands, and the unmanned aerial vehicle can independently execute aerial photography tasks.
When the unmanned aerial vehicle adopts a fixed-wing unmanned aerial vehicle, the camera lens pitch angle is inclined downwards by 45 degrees, the direction angle is perpendicular to the direction of the machine head and surrounds the aerial photograph in the direction of the current surrounding circle center 10.
When the unmanned aerial vehicle adopts multi-rotor unmanned aerial vehicle, the camera lens pitch angle downward inclination is 45 degrees, the direction angle is the same with the aircraft nose direction, and the aircraft nose all encircles 10 directions of centre of a circle around currently when multi-rotor unmanned aerial vehicle flies on every circular air route and takes photo by plane.
The unmanned aerial vehicle carries out one-time continuous circular route 11 surrounding flight on the target area, and then data acquisition of three-dimensional modeling aerial images can be completed.
Example 2
As shown in fig. 8, when the course overlapping degree Px of the surround photography of the present embodiment is 50%, the mutual overlapping density of the circular route 11 is lower than that when the course overlapping degree Px of the embodiment 1 is 65%, the surround photography can still meet the requirement of image acquisition of three-dimensional modeling, the specific implementation process steps are still performed according to the embodiment 1, and no description is provided here, please refer to expect.
The aerial photography method is that the unmanned aerial vehicle flies around along a plurality of continuous circular routes 11, the circle centers 10 of the continuous circles are arranged in a bow-shaped equidistant manner in a target area, the direction angle of a camera lens of the unmanned aerial vehicle inclines downwards by 45 degrees towards the current surrounding circle center 10 and the pitch angle in the continuous surrounding aerial photography process to carry out equidistant continuous shooting, and the purpose that the overlapping area of the continuous surrounding aerial photography of the unmanned aerial vehicle uniformly and completely covers the target area below the set bow-shaped circle center row wiring is achieved. The unmanned aerial vehicle carries out continuous circular route surrounding flight one time to the target area, and data acquisition of three-dimensional modeling aerial images can be completed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The unmanned aerial vehicle continuous circle surrounding oblique photography aerial photographing method is characterized in that the unmanned aerial vehicle flies in circles along a plurality of continuous circular route lines, circle centers of the continuous circular route lines are uniformly distributed in a bow shape on a target area at equal intervals, and the unmanned aerial vehicle tilts downwards by 45 degrees towards the current surrounding circle center and a pitch angle in the continuous surrounding aerial photographing process to take continuous photographs at equal intervals;
the continuous circular surrounding oblique photography aerial photography method comprises the following specific steps:
step 1): planning the route, setting a bow-shaped circle center row wiring in a target area, and uniformly arranging the circle centers of a plurality of circular routes with the same radius on the bow-shaped circle center row wiring at equal intervals;
step 2): the unmanned aerial vehicle is planned according to a route, and flies in circles one by one along a circular route, and the direction angle of a camera lens of the unmanned aerial vehicle inclines downwards by 45 degrees towards the current surrounding circle center and the pitch angle in the continuous surrounding aerial photographing process to perform equidistant continuous photographing;
in the step 1), the radius of the circular route is equal to the altitude, and a calculation formula of the altitude H, the distance L between centers of adjacent circular routes and the distance between adjacent parallel lines of the arch-shaped circle center row wiring, namely the lateral distance Dy, is set as follows:
flight height H: h =
Center distance L between adjacent circular routes: l = H (1-Px)
Lateral distance Dy: dy = cos30 °. L
Radius of circular route R: r = H
In the formula: h is the altitude, unit: m; f is the focal length of the camera lens, unit: mm; a is the pixel size, unit: mm; GSD is ground resolution, unit: m; r is the radius of the circular route in unit: m; l is the center distance of the adjacent circular routes, and the unit is as follows: m; px is course overlapping degree, unit: percent; dy is a lateral distance, namely the distance between adjacent parallel lines of the arch-shaped circle center row wiring, and the unit is as follows: m;
in the step 2), in the continuous surrounding aerial photography process of the unmanned aerial vehicle, a calculation formula of the photographing distance PL for the camera to continuously photograph at equal distances is as follows:
photographing distance PL: PL = β (1-Pj) 2 π R/360
In the formula: PL is the flight distance between two photographs, in units: m; beta is the angle of view of the camera lens, and the unit is: degree; pj is the photo overlap of the surround-view, unit: percentage percent.
2. The continuous circular encircling oblique photography aerial photography method for unmanned aerial vehicles according to claim 1, wherein in step 1), the circle centers of different rows are uniformly staggered on the line of the circle center of the bow-shaped figure, and two adjacent circle centers of the same row and one circle center of the adjacent row which is staggered form an equilateral triangle.
3. The continuous circular encircling oblique photography aerial photography method for unmanned aerial vehicle as claimed in claim 1, wherein in step 2), during the circle-by-circle flight of unmanned aerial vehicles along circular routes, adjacent circular routes are connected by a minimum path.
4. The continuous circular surrounding oblique photography and aerial photography method of the unmanned aerial vehicle as claimed in any one of claims 1 to 3, wherein when the unmanned aerial vehicle is a fixed wing unmanned aerial vehicle, the camera lens is tilted downward by 45 degrees at a pitch angle, at a direction angle perpendicular to the direction of the head, and is in surrounding aerial photography towards the current surrounding circle center.
5. The continuous circular surrounding oblique photography and aerial photography method of the unmanned aerial vehicle as claimed in any one of claims 1 to 3, wherein when the unmanned aerial vehicle is a multi-rotor unmanned aerial vehicle, the pitch angle of the camera lens is inclined downwards by 45 degrees, the direction angle is the same as the direction of the head, and when the multi-rotor unmanned aerial vehicle flies on each circular route, the head performs surrounding aerial photography towards the current surrounding circle center.
6. An unmanned aerial vehicle continuous circle surrounding oblique photography aerial photography method according to any one of claims 1 to 3, wherein the unmanned aerial vehicle winds clockwise or anticlockwise when flying around a continuous circular route.
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