CN112729242A - Unmanned aerial vehicle oblique photography method based on tilt angle sensor - Google Patents
Unmanned aerial vehicle oblique photography method based on tilt angle sensor Download PDFInfo
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- CN112729242A CN112729242A CN201911035984.6A CN201911035984A CN112729242A CN 112729242 A CN112729242 A CN 112729242A CN 201911035984 A CN201911035984 A CN 201911035984A CN 112729242 A CN112729242 A CN 112729242A
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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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Abstract
The method for applying the tilt sensor to unmanned aerial vehicle oblique photography is characterized by comprising the following steps: an inclination angle sensor is installed on the oblique photographing equipment, acquires the current inclination value of the unmanned aerial vehicle in real time, and compensates the rotation angle values of three kinds of shooting, namely forward oblique shooting, backward oblique shooting and downward forward shooting. By the method and the device, the unmanned aerial vehicle can be ensured to achieve an ideal shooting angle in oblique shooting.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle oblique photography and an inclination angle sensor, in particular to an unmanned aerial vehicle oblique photography method based on an inclination angle sensor.
Background
The oblique photography technology is a high and new technology developed in recent years in the international surveying and mapping field, which overturns the limitation that the original orthoimage can only be shot from a vertical angle, and introduces a user into a real and intuitive world which accords with human vision by acquiring images from five different angles of a vertical angle, four oblique angles and the like at the same flight platform. However, when the oblique photography system in the prior art works, due to the self inclination of the unmanned aerial vehicle and the influence of wind power changes, the ideal shooting angle of the oblique photography of the unmanned aerial vehicle is difficult to achieve.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides the unmanned aerial vehicle oblique photography method based on the tilt angle sensor, so that the unmanned aerial vehicle oblique photography is ensured to reach an ideal shooting angle.
A tilt sensor-based unmanned aerial vehicle oblique photography method is characterized by comprising the following steps:
(1) installing an inclination angle sensor on the unmanned aerial vehicle oblique photography equipment;
(2) the inclination angle sensor acquires the current inclination value of the unmanned aerial vehicle in real time;
(3) the rotation angle values of three shooting modes of forward oblique shooting, backward oblique shooting and downward forward shooting are compensated according to the numerical values.
A tilt sensor-based unmanned aerial vehicle oblique photography method is characterized by comprising the following steps: an inclination angle sensor is installed on the unmanned aerial vehicle oblique photography equipment, the inclination angle sensor acquires the current inclination value of the unmanned aerial vehicle in real time, and the rotation angle values of three kinds of shooting, namely forward oblique shooting, backward oblique shooting and downward forward shooting, are compensated according to the value. By the method and the device, the unmanned aerial vehicle can be ensured to achieve an ideal shooting angle in oblique shooting.
Drawings
Fig. 1 is a schematic diagram of an ideal shooting state of the tilt shooting method for an unmanned aerial vehicle based on a tilt sensor according to the present invention.
Fig. 2 is a schematic diagram of a non-ideal shooting state of the tilt shooting method of the unmanned aerial vehicle based on the tilt sensor according to the present invention.
Fig. 3 is a schematic diagram of an ideal shooting state which cannot be achieved by the tilt angle sensor-based unmanned aerial vehicle oblique photography method.
Fig. 4 is a schematic view of compensation of a rotation angle value of the tilt shooting method of the unmanned aerial vehicle based on the tilt sensor according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples:
fig. 1 is a schematic diagram of an unmanned aerial vehicle oblique photography method based on an inclination angle sensor according to the present invention.
The ideal state is as follows: for the oblique photography task, the flight speed of the unmanned aerial vehicle calculated by the overlapping rate and the height is a constant value. The ideal shooting state is as shown in fig. 1.
The practical situation is as follows: however, in actual flight, the inclination of the body in flight caused by the use of the six-rotor unmanned aerial vehicle cannot be avoided. However, when the unmanned aerial vehicle is in a forward/acceleration state under a windless condition, the body needs to be tilted forward (the rotation speed of the rear rotor is increased, and the rotation speed of the front rotor is decreased to complete the tilting) for the purpose of forward/acceleration, and the shooting angle in the original ideal case cannot be achieved considering that the oblique shooting device is fixed below the unmanned aerial vehicle by using a mechanical structure and is vertically downward, as shown in fig. 2. When the unmanned aerial vehicle is in the backward/deceleration state under the windless condition, similarly in order to reach the purpose of backward/deceleration, the fuselage needs to be inclined backward, and the shooting angle in the original ideal can not be reached, as shown in fig. 3. If the self-stabilization action caused by the influence of wind power change in the flying process of the unmanned aerial vehicle is considered, the ideal shooting angle is more difficult to achieve.
The solution measures are as follows: an inclination angle sensor is added on the oblique photography equipment to acquire the current inclination value of the unmanned aerial vehicle in real time, and the rotation angle values of three shooting modes of forward oblique shooting, backward oblique shooting and downward forward shooting are compensated according to the value, as shown in figure 4.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention; all equivalent changes and modifications made according to the present invention are considered to be covered by the scope of the present invention.
Claims (1)
1. A tilt sensor-based unmanned aerial vehicle oblique photography method is characterized by comprising the following steps:
(1) installing an inclination angle sensor on the unmanned aerial vehicle oblique photography equipment;
(2) the inclination angle sensor acquires the current inclination value of the unmanned aerial vehicle in real time;
(3) the rotation angle values of three shooting modes of forward oblique shooting, backward oblique shooting and downward forward shooting are compensated according to the numerical values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911035984.6A CN112729242A (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle oblique photography method based on tilt angle sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911035984.6A CN112729242A (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle oblique photography method based on tilt angle sensor |
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| Publication Number | Publication Date |
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| CN112729242A true CN112729242A (en) | 2021-04-30 |
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| CN201911035984.6A Pending CN112729242A (en) | 2019-10-29 | 2019-10-29 | Unmanned aerial vehicle oblique photography method based on tilt angle sensor |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105121999A (en) * | 2013-04-05 | 2015-12-02 | 莱卡地球***公开股份有限公司 | Control of image triggering for aerial image capturing in nadir alignment for an unmanned aircraft |
| CN106275410A (en) * | 2016-11-17 | 2017-01-04 | 湖南科瑞特科技股份有限公司 | A kind of wind disturbance resistant unmanned plane |
| CN108528743A (en) * | 2018-06-04 | 2018-09-14 | 济南赛尔无人机科技有限公司 | A kind of the unmanned plane photographic means and photographic means of angle adjustable |
| CN108710145A (en) * | 2018-04-26 | 2018-10-26 | 武汉天图地信科技有限公司 | A kind of unmanned plane positioning system and method |
-
2019
- 2019-10-29 CN CN201911035984.6A patent/CN112729242A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105121999A (en) * | 2013-04-05 | 2015-12-02 | 莱卡地球***公开股份有限公司 | Control of image triggering for aerial image capturing in nadir alignment for an unmanned aircraft |
| CN106275410A (en) * | 2016-11-17 | 2017-01-04 | 湖南科瑞特科技股份有限公司 | A kind of wind disturbance resistant unmanned plane |
| CN108710145A (en) * | 2018-04-26 | 2018-10-26 | 武汉天图地信科技有限公司 | A kind of unmanned plane positioning system and method |
| CN108528743A (en) * | 2018-06-04 | 2018-09-14 | 济南赛尔无人机科技有限公司 | A kind of the unmanned plane photographic means and photographic means of angle adjustable |
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Application publication date: 20210430 |
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