CN207263134U - A kind of Land area measure system based on unmanned plane - Google Patents
A kind of Land area measure system based on unmanned plane Download PDFInfo
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Abstract
A kind of Land area measure system based on unmanned plane, it includes ground based terminal and for obtaining area image to be measured and sending an image to the unmanned plane of ground based terminal, the unmanned plane includes at least first processor, the first navigator fix receiver, camera and the first communication subsystem, first navigator fix receiver is used for the positional information for determining unmanned plane, further determines that the positional information at camera projection center；The camera is used for the image for obtaining region to be measured；The image that the positional information at camera projection center and camera obtain is sent to ground based terminal by the first processor by the first communication subsystem, it is characterized in that, at least further include two reference devices for being placed on region to be measured, the reference device at least can determine its position, and the configuration of the reference device can be identified significantly easy to camera in the image in the region to be measured of shooting.Land area measure system provided by the utility model, the relevant parameter in collinearity equation is obtained using the reference device for being arranged on measured region, so as to compensate for utilizing photography to measure caused error, high certainty of measurement merely.
Description
Technical Field
The utility model relates to a land area measurement system based on unmanned aerial vehicle belongs to area measurement technical field.
Background
Currently, in the land area measuring process, an aerial photography device is widely used for measurement, but in the current application process, the aerial photography device needs satellite navigation for guiding and positioning to measure the land area with a practical complex shape, the measurement mode is mainly to measure the area to be measured according to the flight track of the aerial photography device, and then obtain the coordinates of the area to be measured, but when the aerial photography device is flying, the principle of controlling the flight track of the aerial photography device is complex due to factors such as satellite navigation track control or air resistance, the error between the area formed by the flight track and the practical area to be measured is often large by judging the corresponding position of the space and the ground, the precision of the area to be measured is limited, in order to overcome the technical problems, chinese patent application publication No. CN105698742A discloses a method for measuring the land area, however, this measurement method has a disadvantage that the influence of the relevant parameters of the camera on the measured object and the captured image is not taken into consideration when calculating the coordinates of the measurement point a, and thus the measurement error is large.
SUMMERY OF THE UTILITY MODEL
In order to overcome the technical problem existing in the prior art, the invention aims to provide a land area measuring system based on an unmanned aerial vehicle, which has high measuring precision.
In order to achieve the purpose, the utility model provides a land area measurement system based on unmanned aerial vehicle, it includes ground terminal and the unmanned aerial vehicle that is used for acquireing the regional image that awaits measuring and sends the image to ground terminal, unmanned aerial vehicle includes first treater, first navigation location receiver, camera and first communication subsystem at least, and first navigation location receiver is used for confirming unmanned aerial vehicle's positional information, further confirms the positional information of camera projection center; the camera is used for acquiring an image of a region to be measured; the first processor sends the position information of the camera projection center and the image acquired by the camera to the ground terminal through the first communication subsystem, and is characterized by at least comprising two reference devices placed in the area to be measured, wherein the reference devices can at least determine the positions of the reference devices, and the reference devices are configured to be conveniently and obviously identified in the shot image of the area to be measured by the camera.
Preferably, the reference device comprises at least a second processor, a second navigation and positioning receiver and a second communication subsystem, wherein the second processor, the second navigation and positioning receiver and the second communication subsystem are arranged in the housing, the second navigation and positioning receiver is used for determining accurate position information of the reference device, and the second processor is used for sending the position information of the second reference device to the control terminal through the second communication subsystem.
Preferably, the housing is coloured to facilitate recognition by the camera in the photograph taken.
Preferably, the ground terminal at least comprises a third processor, a third communication subsystem and a display, the third communication subsystem demodulates and decodes information sent by the reference equipment and the unmanned aerial vehicle and then sends the information to the third processor, and the third processor displays the obtained image and data in the display and obtains the area of the tested soil according to the received image and data.
Compared with the prior art, the utility model provides a land area measurement system based on unmanned aerial vehicle can reach following advantage: the measurement precision is high.
Drawings
Fig. 1 is a schematic diagram of the land area measuring system based on the unmanned aerial vehicle provided by the present invention;
fig. 2 is a circuit diagram of the reference device provided by the present invention;
fig. 3 is a block diagram of a control system of the unmanned aerial vehicle provided by the present invention;
fig. 4 is a schematic diagram of the components of the power section of the unmanned aerial vehicle provided by the present invention;
fig. 5 is a block diagram of the control terminal provided by the present invention;
fig. 6 is a relational diagram of a ground coordinate system and an image coordinate system according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present invention, and should not be construed as limiting the present invention.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Further, "connected" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in a limiting sense unless otherwise specifically defined herein.
As will be understood by those skilled in the art, "terminal" and "device" as used herein include devices that are wireless signal receivers having receiving and transmitting hardware capable of performing two-way communications over a two-way communications link.
Those skilled in the art will appreciate that the concept of a control terminal, as used herein, includes, but is not limited to, a computer, a cell phone, a personal digital assistant, and/or a dedicated control device.
It will be appreciated by those skilled in the art that the terms "application," "application software," and the like, as used herein, are intended to refer to a computer software program tangibly embodied in a series of computer instructions and associated data resources and adapted for electronic operation, and are used in a similar manner to those skilled in the art. Unless otherwise specified, such nomenclature is not itself limited by the programming language class, level, or operating system or platform upon which it depends. Of course, such concepts are not limited to any type of terminal.
Fig. 1 is the utility model provides a land area measurement system's based on unmanned aerial vehicle constitutes the schematic diagram, as books 1 show, according to the utility model discloses an embodiment, land area measurement system based on unmanned aerial vehicle includes through wireless network connection ground terminal 200 and is used for acquireing the regional image that awaits measuring and sends the image for ground terminal's unmanned aerial vehicle 400, still includes benchmark device 100A and benchmark device 100B that link to each other with ground terminal through wireless network, benchmark device 100A and benchmark device 100B can confirm its accurate position to place on the region of the land area that awaits measuring, the configuration of benchmark device is convenient for the camera can obviously discern in the image of the region that awaits measuring of shooting. Preferably, the reference device at least comprises a housing, and the housing is at least provided with a color different from the surrounding environment so as to be obviously identified in the captured image of the camera, and the following detailed description of an embodiment provides the composition of the reference device with reference to fig. 2, and the composition of the unmanned aerial vehicle with an embodiment is described with reference to fig. 3.
Fig. 2 is a circuit diagram of the reference device provided in the present invention, as shown in fig. 2, the reference device at least includes a processor 101, a navigation positioning receiver 102 and a communication subsystem 103, which are disposed in the housing, the navigation positioning receiver 102 is used for determining the position information of the reference device, and the processor 101 is used for sending the position information of the reference device to the control terminal 200 through the communication system. The reference device 100 further comprises a clock signal generator 105 for providing a clock signal to the processor. The fiducial device 100 also includes a memory 106 for storing operating programs and data; the fiduciary apparatus 100 also includes a display for displaying information such as the location of the fiduciary apparatus. The reference equipment further comprises a light emitter and a light emitter control unit, wherein the light emitter control unit comprises a resistor R101, a transistor T101, a relay J and a diode, an output end of the processor is connected to the base of the transistor T101 through the resistor R101, the emitter of the transistor T101 is grounded, the collector is connected to a power supply Vcc1 through the coil of the relay J, two ends of the coil of the relay J are connected with a diode D101 in parallel, the anode of the diode D101 is connected to the collector of the transistor T101, and the cathode of the diode D101 is connected with a power supply Vcc 1. The switch K of the relay J is connected in series with the light LED101 in the circuit of the power supply Vcc 2. The utility model discloses the purpose that sets up the luminous body is the luminance of reinforcing benchmark equipment to make the picture in the region that awaits measuring that unmanned aerial vehicle shot find out the benchmark easily.
Fig. 3 is a block diagram of a control system of the unmanned aerial vehicle, as shown in fig. 3, according to the present invention, the control system based on the unmanned aerial vehicle includes a flight controller 406, a servo mechanism for driving the unmanned aerial vehicle to fly according to the command of the flight processor, a communication subsystem, a camera subsystem and a processor 405, wherein the flight controller 406 provides a control signal to the servo mechanism according to the command of the processor 405, so that the servo mechanism flies according to the command of the preset path or the ground control terminal, and also transmits the data of the unmanned aerial vehicle when flying to the processor, the servo mechanism exemplarily includes six motor controllers and six motors, the motor controllers include a motor controller CON1, a motor controller CON2, a motor controller CON3, a motor controller CON4, a motor controller CON5, and a motor controller CON 6; the motors are motor M1, motor M2, motor M3 and motor M4, and six motor controllers respectively control six motors. The camera subsystem comprises a camera 412 and a camera controller 413, said camera 412 being connected to the camera controller 413 for aerial photographing an area comprising the measured land area and for transferring the aerial image information to the camera controller 413, the camera controller 413 being connected to the processor 405 for processing the input image information and then transferring it to the processor. The communication subsystem comprises a digital baseband unit 410, an analog unit 411 and a communication card 414, wherein the communication card is connected to the digital baseband unit through a slot, when sending a signal, the digital baseband unit 410 is used for carrying out source coding and channel coding on information to be transmitted by a processor and then transmitting the information to the analog unit 411, and the analog unit 411 is used for modulating the information transmitted by the digital baseband unit to a carrier signal, carrying out power amplification and then transmitting the information to a space through an antenna; during receiving, the analog unit 411 is configured to amplify a small signal of a signal received by the antenna, and demodulate a digital baseband signal sent by the control terminal, and the digital baseband 410 is configured to perform channel decoding and source decoding on the digital baseband signal, and take out data or an instruction sent by the control terminal.
The utility model discloses in, on the camera was fixed in the unmanned aerial vehicle platform through the universal joint, made the camera unmanned aerial vehicle's organism coordinate systemBy superimposing the image planes of the camerasAxis and unmanned aerial vehicle body coordinate systemParallel to the image plane of the cameraAxis and unmanned aerial vehicle body coordinate systemIn parallel, so install, can deduce the attitude angle of camera axis through measuring unmanned aerial vehicle's attitude angle.
According to the utility model discloses an embodiment, unmanned aerial vehicle's control system still includes altimeter 415, and it is used for acquireing the altitude information of unmanned aerial vehicle and ground. According to the utility model discloses an embodiment, unmanned aerial vehicle's control system still includes memory 408, and it is used for the storage to fly the data that acquire of accuse procedure and unmanned aerial vehicle servo. The servo mechanism comprises a motor and a controller thereof.
The control system of the drone also includes a navigation positioning receiver 403 which receives position information and time information about the surveillance drone from navigation positioning satellites via antenna a1 and transmits the data to the processor 405. The navigation positioning receiver 403 is, for example, a GPS receiver, a beidou positioning time service receiver, etc. According to the utility model discloses an embodiment, with the coaxial setting of the receiving antenna axle of navigation locator and the optical axis of camera, so can confirm the coordinate of the central point of the image that the camera was shot according to the principle of coordinate transformation according to the positional information of the unmanned aerial vehicle that navigation locator confirmed.
The control system of the drone also includes MEMS402, which when MEMS402 is mounted on the drone, causes it to measure the attitude angle of the camera axis. According to the utility model provides an embodiment, the utility model provides a land area measurement system based on unmanned aerial vehicle provides the energy by power module 407 to each part, and it can break off and switch-on control through the switch.
Fig. 4 is a schematic diagram of a power portion of the unmanned aerial vehicle, and as shown in fig. 4, according to an embodiment of the present invention, electric energy generated by the energy device 100 of the hybrid-electric-powered fixed wing unmanned aerial vehicle is rectified into direct current by the rectifier 300, and then charged into the storage battery E1 by the charger 500, and the storage battery E1 is used to provide electric energy for six motors, such as the motors 200A to 200F. According to an embodiment of the present invention, in order to prevent the secondary battery from supplying power to the charger, a diode D1 is provided between the positive power output terminal of the charger and the positive terminal of the secondary battery, the positive terminal of the diode D1 is connected to the positive power output terminal of the charger 500, and the negative terminal is connected to the positive terminal of the battery E1. The common terminal of the charger 500 is connected to the negative terminal of the battery. The battery E1 supplies electric power to the motor through a diode D1. According to one embodiment of the invention, the blades of the drone are driven by three motors, the speed of each motor being controlled by a motor control circuit according to instructions.
According to one embodiment of the present invention, the motor includes a housing, a stator and a rotor disposed in the housing, the stator having first stator winding coils U1, V1 and W1, second stator winding coils U2, V2 and W2, and third stator winding coils U3, V3 and W3 disposed thereon, the first stator winding coils U1, V1 and W1, and the second stator winding coils U2, V2 and W2 are motor winding coils each of which is disposed in a same slot, and the first stator winding coils U1, V1 and W1, and the third stator winding coils U3, V3 and W3 are disposed in a staggered manner, respectively, as shown in fig. 5. The motor further includes a speed encoder VS1 and a rectification encoder CD1 rotating together with the shaft of the rotor, the motor control circuit includes a motor driver DR1, and further includes a polarity control unit PC1, a speed control unit VC1, and a pulse width modulation control unit PWM1, and the motor driver DR1 is a semiconductor device that performs switching control in response to a control signal to transmit power Vcc to the first stator winding. Here, since the motor drive unit DR1 is provided to supply direct current to the stator windings of the stator, the structure thereof may be changed according to the type of the motor (the number of phases of the stator windings).
The polarity control unit PC1 receives a photosensor signal from the motor's commutation encoder CD1 and sends a control signal for implementing an electric rectifier to the motor drive unit DR1, thereby implementing the electric rectifier. The speed control unit VC1 receives the encoder VS1 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 1. The motor control circuit also includes a dc rectifier H1 that rectifies the ac power generated from the third stator winding (part of the energy recovery coil) of the motor and generates pulsating dc power that is filtered by a filter C1 to generate dc power. The motor control circuit further comprises a polarity control unit PC2, a speed control unit VC2, and a pulse width modulation control unit PWM2, the polarity control unit PC2 receiving the photosensor signal from the commutation encoder CD1 of the motor and sending a control signal for implementing an electric rectifier to the motor drive unit DR2, thereby implementing the electric rectifier. The speed control unit VC2 receives the encoder VS2 signal from the motor's speed encoder and sends a speed control signal to the pulse width modulation control unit PWM 2. And the flight controller of the unmanned aerial vehicle sends control signals of the rotating speed to the pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 according to the sent instructions. The pulse width modulation control unit PWM1 and the pulse width modulation control unit PWM2 respectively transmit PWM signals for controlling the rotational speed of the motor according to the control signals to the motor driver DR1 and the motor driver DR 2.
According to an embodiment of the present invention, the stator of the motor further includes a plurality of ring-shaped silicon pieces stacked on each other, a plurality of partial energy recovery winding slots, a plurality of motor winding slots, a plurality of flux dividing slots, a plurality of cancellation slots, a plurality of partial energy recovery windings wound around the respective partial energy recovery winding slots, and a plurality of motor windings wound around the respective motor winding slots.
The motor windings function as a motor that rotates the rotor by receiving electric power from the motor circuit. Part of the energy recovery winding is used to generate electricity using the current induced by the rotation of the rotor. In this embodiment the total number of winding slots and windings is 6, divided into 3 regions. U1/U2, U3, V1/V2, V3, W1/W2, W3 are arranged in the stator circumferential direction as follows. The first stator winding is connected to motor driver DR1 and the second stator winding is connected to motor driver DR 2. The second stator windings are connected to respective dc rectifiers CH 1. When the windings of the respective phases are wound in parallel, the windings are distributed and wound by phase and polarity and connected to the corresponding wires without any connection therebetween.
In addition, since the magnetic flux dividing slots having relatively narrow widths are equally provided between the motor winding slots and the partial energy recovery winding slots, the magnetic flux is divided, thereby blocking a path through which the magnetic flux of the motor winding can flow to the partial energy recovery winding, so that the magnetic flux of the motor winding can flow only to the magnetic field of the stator, thereby enabling the motor to be driven more efficiently. In addition, the flux dividing slots maintain a constant field width around the motor winding slots, thereby allowing the motor winding slots to operate without affecting or being affected by adjacent winding slots during driving.
And offset cancellation grooves which are equal in width and relatively narrow are arranged between the partial energy recovery winding grooves and the adjacent partial energy recovery winding grooves so as to cancel magnetic flux offsets, so that the partial energy recovery efficiency is improved.
The rotor includes a plurality of silicon wafers stacked on each other and a plurality of flat permanent magnets embedded in the stacked silicon wafers in a radial direction. In this regard, the permanent magnet is designed to have a strong magnetic force so that a relatively wide magnetic field surface can be formed, and thus, magnetic flux can be concentrated on the magnetic field surface, increasing the magnetic flux density of the magnetic field surface. The number of poles of the rotor depends on the number of poles of the stator.
Turning in detail to the rotor, three permanent magnets are equidistantly spaced apart from each other and embedded in stacked circular silicon wafers with polarities of alternating N and S polarities. A non-magnetic core is provided on the center of the stacked circular silicon wafers to support the permanent magnet and the silicon wafers, and a shaft is provided through the center of the non-magnetic core. The permanent magnets are formed in a flat shape, and empty spaces are formed between the permanent magnets.
A motor using a permanent magnet is designed to have a rotational force formed by combining passive energy of a rotor and active energy of a stator. In order to achieve super efficiency in the motor, it is very important to enhance the passive energy of the rotor. Therefore, "neodymium (neodymium, iron, boron)" magnets are used in the present embodiment. These magnets increase the magnetic field surface and concentrate the magnetic flux onto the magnetic field of the rotor, thereby increasing the flux density of the magnetic field.
At the same time, a commutation encoder and a speed encoder are provided to control the rotation of the motor. The rectifying encoder CD1 and the speed encoder VS1 are mounted on an outer recess of the motor main body case so as to rotate together with the rotation shaft of the rotor.
The power part of the unmanned aerial vehicle converts kinetic energy output by the diesel engine into electric energy to be supplied to the motor of the unmanned aerial vehicle, and the motor collects partial energy in the flying process of the unmanned aerial vehicle due to the fact that the third stator winding is arranged on the stator, and the collected energy is applied to the second stator winding to change the frequency of signals applied to the stator winding, so that the energy is saved, and the flying time of the unmanned aerial vehicle can be prolonged.
Fig. 5 is a block diagram of a control terminal provided in the present invention, as shown in fig. 5, a control terminal 200 provided in an embodiment of the present invention includes: the communication subsystem 202 demodulates and decodes information sent from the reference devices 100A and 100B and the unmanned aerial vehicle 400 and then transmits the information to the processor 201, the processor 201 displays the acquired images and data on the display 203 and calls an application program in the memory 204, the application program at least comprises a processing program, and then the area of the soil to be measured is obtained according to the received images and data. The control terminal 200 further includes an input/output interface 205 for connecting input/output devices such as a mouse, a keyboard, and a printer.
The utility model provides an utilize unmanned aerial vehicle to measure the method of the land area in region that awaits measuring includes three kinds of circumstances: in the first case: the position of the projection center of the camera can be determined, and the attitude angle of the camera shooting axis cannot be determined; in the second case: the position of the projection center of the camera and the attitude angle of the camera's photographing axis cannot be determined; in the third case: the position of the center of projection of the camera and the drone altitude can be determined.
In the first case, the following method is used to measure the land area:
(1) placing two reference devices 100A and 100B on the region of the tested soil, and sending the accurate GPS coordinate values acquired by the navigation positioning receivers to the control terminal 200;
(2) shooting the area of the land area to be measured by flying the unmanned aerial vehicle to the air above the area to be measured, acquiring the position information of the projection center of the image by using the navigation positioning receiver, and sending the position information to the control terminal 200;
(3) the control terminal receives the data acquired by the drone and the reference devices 100A and 100B and calls the application program in the memory to perform the following operations: converting the GPS coordinate value received by the navigation positioning receiver into a ground coordinate by a coordinate transformation method; from image coordinates of pixels in the imageAccording to the collinear equation, the ground coordinates of the corresponding ground points in the region to be measured are obtained(ii) a Dividing an image of a region to be measured into N (N is an integer greater than or equal to 1) small image regions in an imageEach small image areaThe method is selected according to the following rules: so thatIn thatHas a continuous first partial derivative thereon, andnot all are zero; determining each small image areaThe area of the corresponding small region to be measured; and summing the areas of the N small regions to be detected to obtain the area of the region to be detected. A method for determining the ground coordinates of the corresponding point of the region to be measured according to the image coordinates of the pixels of each image region is described in detail below with reference to fig. 6, wherein the method comprises:
(1) obtaining ground coordinates of the reference device 100A by using a collinear positioning algorithm based on the image captured by the drone and an imaging model of the image (ii) ((iii))And its image coordinates in the image taken by the cameraThe relationship of (1):
（1）
in the formula:is a proportionality coefficient;is the focal length of the camera;、、the ground coordinate of the projection center of the image can be obtained by the position and coordinate change of the unmanned aerial vehicle;the image coordinates of the reference illuminant A without the acquired ground picture to be detected;、、is the precise ground coordinates of the reference equipment body a;
；
；
；
；
；
；
wherein,，，the attitude angle of the photographing axis is respectively a rotation angle of the photographing axis around a y-axis of a space coordinate system, a rotation angle around an x-axis of the space coordinate system and a rotation angle around a z-axis of the space coordinate system.
In this step, if the image of the reference device 100A occupies a plurality of pixels in the captured image, the center point image coordinates of the image of the reference device are taken。
(2) Similarly, the ground coordinates of the reference device 100B are obtained from the collinear positioning algorithm (And image coordinatesThe relationship of (1):
（2）
(3) solve the problem that、Andsubstituted into formula (1); will be provided with、Andin formula (2), six path groups are obtained in total, and four unknowns are obtained in total，，，Can accurately find，，，Of the image, further according toImage coordinates of any pointCan obtain the ground coordinates of the corresponding point of the tested soil：
（3）
Will be represented by the formula (3)，，For dividing the region of the soil to be measured in the captured image into（) The size of the small area, and therefore,the area of the corresponding region to be measured is:
finally, the area of the land area to be measured is obtained according to the following formula:
。
the method of measuring the land area in the second case is similar to that in the first case, except that: three non-collinear reference devices 100A, 100B and 100C are placed on the area of the tested earth, and the collinear positioning algorithm is applied to obtain the ground coordinates of the reference device 100A (And its image coordinates in the image taken by the cameraThe ground coordinates of the reference device 100B: (And its image coordinates in the image taken by the cameraIn addition to the relationship (2), the ground coordinates of the reference device 100C need to be obtainedAnd image coordinatesThe relationship of (1):
（4）
will be provided withAndsubstituted into formula (1) byAndsubstituted into formula (2) byAnd (a)Respectively substituted into (4) to obtain 9 equation sets with 7 unknowns in total，，，，、Andthus can accurately find，，，，、Andand further according to the image coordinates of the imageCan obtain the ground coordinates of the corresponding point of the tested soilSuch as formula (3).
The method of measuring the land area in the third case is similar to that in the first case, except that: a reference device 100A is placed on the area of the earth under test, and the area of the area under test is substantially at the same level. In the third case, phase (3) is shifted:
（5）
expanding equation (5) as follows:
（6）
and (3) calculating the ratio of the first expression to the third expression of the formula (6), and calculating the ratio of the second expression to the third expression to obtain:
（6）
as can be seen from photography, in the case of a flat ground,i.e. negative value of the aircraft's altitude, i.e.Then, there are:
（7）
will be provided with、、（And H value is substituted into formula (7), and the total number of the unknowns is 3，，Thus can accurately find，，And further according to the image coordinates of the imageCan obtain the ground coordinates of the corresponding point of the tested soilSuch as formula (7).
Will be represented by the formula (7)，，Image area for the measured land area in the captured imageThe area of the corresponding region to be measured is:
in the aerial photography process of the unmanned aerial vehicle, the ground coordinates of the area to be measured can be obtained at any point on the obtained image. The traditional method utilizes the navigation system (e.g. MEMS) that unmanned aerial vehicle carried to obtain unmanned aerial vehicle's attitude angle, further confirms the attitude angle of the camera axle that carries, and its error is great, and the utility model discloses a set up standard equipment on the region that awaits measuring, confirm the attitude angle of camera axle through the mode of calculation to the shortcoming that collinearity equation positioning accuracy is not high has been complemented.
If the coefficient matrix in the formula (3) is not clearFour reference devices with known positions can be placed on the soil to be measured in relation to the camera's camera axis, and each coefficient in the coefficient matrix and the proportionality constant can thus be determined from the ground coordinate values of the four reference devices with known positions and the image coordinate values of the reference devices for the corresponding captured imagesEquation (3) is further determined.
Reference herein to "an embodiment," "an embodiment," or "one or more embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Moreover, it is noted that instances of the word "in one embodiment" are not necessarily all referring to the same embodiment.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Moreover, it should also be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter. Accordingly, many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the appended claims. The disclosure of the present invention is intended to be illustrative, but not limiting, of the scope of the invention, which is set forth in the following claims.
Although the conception and examples according to the purpose of the present invention have been described in detail with reference to the accompanying drawings, it should be understood by those skilled in the art that any improvements and modifications made based on the present invention may be made without departing from the spirit of the present invention.
Claims (4)
1. A land area measuring system based on an unmanned aerial vehicle comprises a ground terminal and the unmanned aerial vehicle, wherein the unmanned aerial vehicle is used for acquiring an image of a region to be measured and sending the image to the ground terminal, the unmanned aerial vehicle at least comprises a first processor, a first navigation positioning receiver, a camera and a first communication subsystem, the first navigation positioning receiver is used for determining the position information of the unmanned aerial vehicle and further determining the position information of a camera projection center; the camera is used for acquiring an image of a region to be measured; the first processor sends the position information of the camera projection center and the image acquired by the camera to the ground terminal through the first communication subsystem, and is characterized by at least comprising two reference devices placed in the area to be measured, wherein the reference devices can at least determine the positions of the reference devices, and the reference devices are configured to be conveniently and obviously identified in the shot image of the area to be measured by the camera.
2. A drone-based land area measuring system according to claim 1, wherein the reference device includes at least a second processor, a second navigational positioning receiver and a second communication subsystem disposed within the housing, the second navigational positioning receiver being adapted to determine precise position information of the reference device, the second processor being adapted to transmit the position information of the second reference device to the control terminal via the second communication subsystem.
3. A land area measuring system based on unmanned aerial vehicles according to claim 2, wherein the colour of the housing is readily identifiable in the photograph taken by the camera.
4. A land area measuring system based on unmanned aerial vehicle as claimed in claim 2, wherein the ground terminal comprises at least a third processor, a third communication subsystem and a display, the third communication subsystem demodulates, decodes and transmits information transmitted from the reference device and the unmanned aerial vehicle to the third processor, the third processor displays the acquired image and data on the display, and finds the area of the soil to be measured based on the received image and data.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108007395A (en) * | 2017-10-17 | 2018-05-08 | 天津飞眼无人机科技有限公司 | A kind of Land area measure system based on unmanned plane |
| CN108845335A (en) * | 2018-05-07 | 2018-11-20 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle ground target positioning method based on image and navigation information |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108007395A (en) * | 2017-10-17 | 2018-05-08 | 天津飞眼无人机科技有限公司 | A kind of Land area measure system based on unmanned plane |
| CN108845335A (en) * | 2018-05-07 | 2018-11-20 | 中国人民解放军国防科技大学 | Unmanned aerial vehicle ground target positioning method based on image and navigation information |
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