CN113532401A - Unmanned aerial vehicle surveying and mapping method - Google Patents
Unmanned aerial vehicle surveying and mapping method Download PDFInfo
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- 238000013507 mapping Methods 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 32
- 239000003550 marker Substances 0.000 claims description 11
- 238000004364 calculation method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000013439 planning Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000010365 information processing Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The invention discloses an unmanned aerial vehicle surveying and mapping method, which mainly comprises the following steps: the method comprises the following steps: arranging a plurality of mark points on the unmanned aerial vehicle flight route to form a reference grid; step two: collecting terrain information and geographic coordinate information corresponding to the terrain information when the unmanned aerial vehicle flies and advances along the flight route; step three: splicing and combining the obtained geographic coordinate information to form a geographic coordinate graph by taking the reference coordinate information of the mark points as a reference; step four: and adding the topographic information to the geographic coordinate graph to form a standard topographic graph. The method is used for surveying and mapping the unmanned aerial vehicle, and marking points are creatively adopted for accurate positioning in the area, so that errors caused by satellite positioning are reduced, and the precision of surveying and mapping of the unmanned aerial vehicle is greatly improved.
Description
Technical Field
The invention relates to the field of surveying and mapping, in particular to an unmanned aerial vehicle surveying and mapping method.
Background
Surveying and mapping are based on computer technology, photoelectric technology, network communication technology, space science and information science, a global navigation satellite positioning system (GNSS), Remote Sensing (RS) and a Geographic Information System (GIS) are taken as technical cores, existing feature points and boundary lines on the ground are selected, and graph and position information reflecting the current situation of the ground is obtained through a measuring means, so that the surveying and mapping method is used for engineering construction, planning and design and administrative management.
With the continuous development of the unmanned aerial vehicle technology, in order to improve the measurement accuracy and the surveying and mapping efficiency, the application of adopting the unmanned aerial vehicle to carry out surveying and mapping is also endless. The existing unmanned aerial vehicle surveying and mapping method uses a large number of GPS positioning mechanisms for positioning during unmanned aerial vehicle surveying and mapping, so as to calculate the current position, and then matches the current surveying and mapping data to obtain the terrain of the area, as shown in the patent of invention with the patent number of CN 201910435797.0.
However, as the positioning accuracy of the civil GPS is only 10 meters, a large error exists in the measurement process, great influence is brought to engineering construction, city planning and the like, the workload is greatly increased by field measurement, and the danger of manual measurement is large for the mountain environment.
Therefore, a new mapping method for the unmanned aerial vehicle is needed, which can solve the above problems.
Disclosure of Invention
The invention aims to provide a new technical scheme for unmanned aerial vehicle surveying and mapping.
According to a first aspect of the present invention, there is provided an unmanned aerial vehicle surveying and mapping method, mainly including the following steps:
the method comprises the following steps: arranging a plurality of mark points on the unmanned aerial vehicle flight route to form a reference grid;
step two: collecting terrain information and geographic coordinate information corresponding to the terrain information when the unmanned aerial vehicle flies and advances along the flight route;
step three: splicing and combining the obtained geographic coordinate information to form a geographic coordinate graph by taking the reference coordinate information of the mark points as a reference;
step four: and adding the topographic information to the geographic coordinate graph to form a standard topographic graph.
Preferably, in the first step, the marking point is launched by the unmanned aerial vehicle when flying along a flight route, and the marking point wirelessly transmits the reference coordinate information of the marking point in real time.
Preferably, in the second step, the unmanned aerial vehicle receives the reference coordinate information in real time, and the unmanned aerial vehicle adjusts the position of the unmanned aerial vehicle according to the reference coordinate information in real time.
Preferably, the unmanned aerial vehicle acquires height information of the unmanned aerial vehicle and distance information between the unmanned aerial vehicle and the mark point in real time, calculates self position information through a trigonometric function according to the height information and the distance information, and adjusts the self position according to the self position information and the reference coordinate information.
Preferably, the unmanned aerial vehicle acquires distance information of at least two marking points in real time, and calculates position information of the unmanned aerial vehicle according to the distance information.
Preferably, the adjacent marking points receive the reference coordinate information mutually, reference distance information between the adjacent marking points is calculated, and the unmanned aerial vehicle acquires the distance information of the two adjacent marking points in real time to calculate position information of the unmanned aerial vehicle and verify according to the reference distance information.
Preferably, after the reference coordinate information of the previous marking point, the azimuth information of the previous marking point and the reference distance information are acquired by the marking point, the reference coordinate information of the marking point is confirmed.
According to an embodiment of the disclosure, the method is used for surveying and mapping the unmanned aerial vehicle, and marking points are creatively adopted for accurate positioning in the area, so that errors caused by satellite positioning are reduced, and the precision of surveying and mapping of the unmanned aerial vehicle is greatly improved.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.
The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
Examples
The unmanned aerial vehicle surveying and mapping method in the embodiment mainly comprises the following steps:
the method comprises the following steps: arranging a plurality of mark points on a flight path of the unmanned aerial vehicle to form a reference grid, planning the flight path of the unmanned aerial vehicle by a satellite positioning system before surveying and mapping are started, and enabling the unmanned aerial vehicle to cruise along a roughly regular path, wherein the flight path is located in an area to be surveyed and mapped;
the marking points are wireless transmitting devices, information can be transmitted and received through the modes of Bluetooth, WIFI, Ultra Wide Band (UWB), ultrasonic waves or infrared rays and the like, a plurality of marking points are hung at the bottom of the unmanned aerial vehicle and are thrown in by the unmanned aerial vehicle when flying along a flight route, and the marking points wirelessly transmit the self reference coordinate information in real time; the reference coordinate information is that the mark point is in the reference grid formed by all mark points, compared with the exact positions of other mark points, the coordinate of the position is determined only by the mark points, and is not influenced by a satellite positioning system.
Step two: after the mark points are put, releasing a second frame or sequentially releasing a plurality of unmanned aerial vehicles to acquire terrain information when the unmanned aerial vehicles fly forward along the flight route, and acquiring geographic coordinate information corresponding to the terrain information;
the geographic coordinate information in this step is, for example, elevation information, geographic and geomorphic information, and the geographic coordinate information is position information in a reference grid formed by mark points, that is, the mark points are used as base points, coordinates are marked on surrounding areas to form geographic coordinate information, and the geographic coordinate information and the geographic information are in one-to-one correspondence.
In the step, the unmanned aerial vehicle receives the reference coordinate information sent by the mark points in real time, adjusts the position of the unmanned aerial vehicle in real time according to the reference coordinate information, avoids flight route deviation caused by satellite positioning errors and field environments (such as wind direction change, magnetic field change and the like), and timely guarantees the position accuracy of the unmanned aerial vehicle, and each unmanned aerial vehicle can keep the paths coincident in the multiple acquisition processes, so that the accuracy of the information acquisition process and the positions of the mark points is guaranteed.
And releasing a plurality of unmanned aerial vehicles for repeated acquisition, verifying the accuracy of surveying and mapping, or performing comprehensive calculation by adopting modes such as average value and the like to obtain a more accurate standard topographic map.
Step three: splicing and combining the obtained geographic coordinate information to form a geographic coordinate graph by taking the reference coordinate information of the mark points as a reference;
in the step, the reference grid formed by taking the reference coordinate information of all the mark points as the reference is taken as the reference, the collected geographic coordinate information is added to form a detailed geographic coordinate graph, and the geographic coordinate graph is different from a satellite positioning graph and is formed by surveying and mapping the reference grid formed by the mark points and is not influenced by weather and satellite positioning errors.
Step four: and adding the topographic information to the geographic coordinate graph to form a standard topographic graph.
In the step, the terrain information corresponding to the geographical coordinate information one by one is added to the geographical coordinate map, and then complete mapping of the selected area is completed.
In this embodiment or other embodiments, the specific method for adjusting the position of the mobile terminal in step two is as follows: the unmanned aerial vehicle acquires height information of the unmanned aerial vehicle and distance information between the unmanned aerial vehicle and the mark point in real time, calculates self position information through a trigonometric function according to the height information and the distance information, and adjusts the self position according to the self position information and the reference coordinate information;
the height information is measured by a height measuring module carried by the unmanned aerial vehicle, and the height measuring module is a laser range finder and the like; the distance information is calculated by the wireless signal time of the mark points received by the unmanned aerial vehicle, and the approximate position of the unmanned aerial vehicle can be calculated according to the trigonometric function relation.
Because the position obtained by calculation only according to a single marking point is an approximate position, specifically an annular position with a certain height above the marking point, in order to ensure the accuracy of information, the unmanned aerial vehicle acquires the distance information of at least two marking points in real time, and the intersection point or the tangent point of the two annular position information is an exact position, so as to calculate the position information of the unmanned aerial vehicle; in order to improve the accuracy, the distance information of more than three marking points can be acquired in real time for calculation.
In this embodiment or other embodiments, the adjacent marker points receive the reference coordinate information mutually, and calculate reference distance information between the adjacent marker points, and the unmanned aerial vehicle acquires the distance information of the two adjacent marker points in real time to calculate its own position information, and performs verification according to the reference distance information.
The specific verification mode is that the horizontal distance between the unmanned aerial vehicle and the mark points is calculated according to a trigonometric function, the sum of the horizontal distances between the unmanned aerial vehicle and the two mark points is compared with reference distance information between the mark points, and the smaller the absolute value of the difference is, the more accurate the position of the unmanned aerial vehicle is proved, and the higher the surveying and mapping precision is.
In this embodiment or other embodiments, in the process of constructing the reference grid by using the reference coordinate information of the mark points, the method for determining the reference coordinate information of each mark point includes: after the reference coordinate information of the previous mark point, the azimuth information of the previous mark point and the reference distance information are obtained by the mark point, the reference coordinate information of the mark point is confirmed, wherein the azimuth information is spatial direction information, and the coordinate information of the mark point in a reference grid can be definitely obtained;
the reference coordinate information of the first marker is determined manually, for example, using a satellite positioning system, or directly in the field.
In above embodiment, still include total controller, unmanned aerial vehicle all wireless connection to total controller, during unmanned aerial vehicle directly sent the information that records to total controller, carried out survey and drawing information's calculation that gathers by total controller to alleviate unmanned aerial vehicle's information processing volume. The real-time position of the unmanned aerial vehicle can be calculated by a central processing unit carried by the unmanned aerial vehicle, so that the response is quicker; the received information (sent by the mark points) can be directly sent to the master controller for calculation, the information processing amount of the unmanned aerial vehicle is further reduced, the smoothness in the terrain information acquisition process is guaranteed, and the dead halt or the reduction of the acquisition precision caused by the overlarge information amount is avoided.
According to the embodiment, the method is used for surveying and mapping the unmanned aerial vehicle, and marking points are creatively adopted for accurate positioning in the area, so that errors caused by satellite positioning are reduced, and the precision of surveying and mapping of the unmanned aerial vehicle is greatly improved.
Although some specific embodiments of the present invention have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustrative purposes only and are not intended to limit the scope of the present invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (7)
1. An unmanned aerial vehicle surveying and mapping method is characterized by mainly comprising the following steps:
the method comprises the following steps: arranging a plurality of mark points on the unmanned aerial vehicle flight route to form a reference grid;
step two: collecting terrain information and geographic coordinate information corresponding to the terrain information when the unmanned aerial vehicle flies and advances along the flight route;
step three: splicing and combining the obtained geographic coordinate information to form a geographic coordinate graph by taking the reference coordinate information of the mark points as a reference;
step four: and adding the topographic information to the geographic coordinate graph to form a standard topographic graph.
2. The unmanned aerial vehicle surveying and mapping method according to claim 1, wherein in step one, the marker is launched by the unmanned aerial vehicle while flying along a flight route, and the marker wirelessly transmits the reference coordinate information of the marker in real time.
3. The unmanned aerial vehicle surveying and mapping method according to claim 2, wherein in step two, the unmanned aerial vehicle receives the reference coordinate information in real time, and the unmanned aerial vehicle adjusts its position in real time according to the reference coordinate information.
4. The unmanned aerial vehicle surveying and mapping method according to claim 3, wherein the unmanned aerial vehicle acquires height information of the unmanned aerial vehicle and distance information from the marking point in real time, calculates self-position information through a trigonometric function according to the height information and the distance information, and adjusts the self-position according to the self-position information and the reference coordinate information.
5. The unmanned aerial vehicle surveying and mapping method according to claim 4, wherein the unmanned aerial vehicle acquires distance information of at least two of the marking points in real time, and calculates self-position information according to the distance information.
6. The unmanned aerial vehicle surveying and mapping method according to claim 5, wherein adjacent marker points mutually receive the reference coordinate information and calculate reference distance information between adjacent marker points, and the unmanned aerial vehicle acquires the distance information of two adjacent marker points in real time to calculate its own position information and verify according to the reference distance information.
7. The unmanned aerial vehicle surveying and mapping method according to claim 6, wherein after the reference coordinate information of a previous reference point, the orientation information of the previous reference point and the reference distance information are acquired by the reference point, the reference coordinate information of the marker is confirmed.
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