阅读说明：本技术 一种基于等距螺线的无人机航测方法和系统 (Unmanned aerial vehicle aerial surveying method and system based on equidistant spirals ) 是由 郑积仕 杨攀 孟凡茹 陈兴武 洪茂雄 刘丽桑 于 2020-04-10 设计创作，主要内容包括：本申请提供了一种基于等距螺线的无人机航测方法和系统,涉及航测领域。该方法包括：根据待测区域获取覆盖所述待测区域的圆形航测区域；在所述圆形航测区域中获取等距螺线的螺线参数,并根据所述螺线参数生成等距螺线；设置无人机沿所述等距螺线飞行的导航指令；设置所述无人机的航拍参数,根据所述航拍参数进行拍照,并将所述拍照获取的照片拼接为所述待测区域的图像。本申请无人机可以沿圆滑边沿的等距螺线飞行,保证了无人机飞行的稳定,避免了无人机沿套耕航线飞行时,转弯处航拍图片无效的问题,提高了航拍图片的利用率。(The application provides an unmanned aerial vehicle aerial survey method and system based on equidistant spirals, and relates to the field of aerial survey. The method comprises the following steps: acquiring a circular aerial survey area covering the area to be measured according to the area to be measured; obtaining spiral parameters of equidistant spirals in the circular aerial survey area, and generating the equidistant spirals according to the spiral parameters; setting a navigation instruction for the unmanned aerial vehicle to fly along the equidistant spiral; and setting the aerial photography parameters of the unmanned aerial vehicle, photographing according to the aerial photography parameters, and splicing the photos acquired by photographing into the images of the area to be measured. This application unmanned aerial vehicle can follow the equidistance spiral flight on slick and sly border, has guaranteed the stability of unmanned aerial vehicle flight, when having avoided unmanned aerial vehicle to fly along the intertillage course, and the invalid problem of picture is taken by plane to the turn has improved the utilization ratio of the picture of taking by plane.)

1. An unmanned aerial vehicle aerial surveying method based on equidistant spirals is characterized by comprising the following steps:

acquiring a circular aerial survey area covering the area to be measured according to the area to be measured;

obtaining spiral parameters of equidistant spirals in the circular aerial survey area, and generating the equidistant spirals according to the spiral parameters;

set up unmanned aerial vehicle and follow navigation instruction that equidistance spiral flies, navigation instruction includes:

acquiring a target position of the unmanned aerial vehicle on the equidistant spiral, wherein the target position is any one position in the spiral acquired according to a mathematical expression of the equidistant spiral;

establishing a connection line between the current position of the unmanned aerial vehicle and the target position;

generating an acceleration which is vertical to the speed direction of the unmanned aerial vehicle and within the vertical direction of the connecting line, wherein if the distance of the connecting line is greater than a distance threshold value, the unmanned aerial vehicle approaches the target position at a large-angle rolling angle, and if the distance of the connecting line is less than the distance threshold value, the unmanned aerial vehicle approaches the target position at a small-angle rolling angle;

and setting the aerial photography parameters of the unmanned aerial vehicle, photographing according to the aerial photography parameters, and splicing the photos acquired by photographing into the images of the area to be measured.

2. The method of claim 1, wherein the spiral parameters comprise: the center of the spiral, the pitch of the equidistant spiral, and the number of turns around the equidistant spiral.

3. The method of claim 2, wherein said obtaining spiral parameters of equidistant spirals in said circular aerial region comprises:

setting the center of the circular aerial survey area as the center of an equidistant spiral; and the number of the first and second groups,

according to the formulaObtaining the pitch of an equidistant spiral, whereinIs a constant coefficient,The pitch of the equidistant spiral,Is the circumferential ratio; and the number of the first and second groups,

according to the formulaObtaining the number of turns around of the equidistant spiral, wherein m is the number of turns around of the equidistant spiral and takes an integer, r is the radius of the circular aerial survey area, n is the thread pitch of the equidistant spiral.

4. The method of claim 1, wherein the aerial photography parameters comprise: the aerial photographing height, the flying speed, the course overlapping rate and the side overlapping rate.

5. The method of claim 4, wherein the setting of the aerial parameters of the drone comprises:

setting an aerial photographing height according to the resolution of the aerial photographing image; and the number of the first and second groups,

setting the course overlapping rate to 70%; and the number of the first and second groups,

the side lap is set to 25%.

6. An unmanned aerial vehicle aerial survey system based on equidistant spiral, comprising:

the circular aerial survey area acquisition module is used for acquiring a circular aerial survey area covering the area to be measured according to the area to be measured;

the equidistant spiral generating module is used for acquiring spiral parameters of the equidistant spiral in the circular aerial measuring area and generating the equidistant spiral according to the spiral parameters;

navigation instruction sets up the module for set up unmanned aerial vehicle edge the navigation instruction of equidistance spiral flight, navigation instruction includes:

acquiring a target position of the unmanned aerial vehicle on the equidistant spiral, wherein the target position is any one position in the spiral acquired according to a mathematical expression of the equidistant spiral;

establishing a connection line between the current position of the unmanned aerial vehicle and the target position;

generating an acceleration which is vertical to the speed direction of the unmanned aerial vehicle and within the vertical direction of the connecting line, wherein if the distance of the connecting line is greater than a distance threshold value, the unmanned aerial vehicle approaches the target position at a large-angle rolling angle, and if the distance of the connecting line is less than the distance threshold value, the unmanned aerial vehicle approaches the target position at a small-angle rolling angle;

and the image splicing module is used for setting the aerial photography parameters of the unmanned aerial vehicle, photographing according to the aerial photography parameters, and splicing the photos acquired by photographing into the images of the area to be detected.

7. The system of claim 6, wherein the spiral parameters comprise: the center of the spiral, the pitch of the equidistant spiral, and the number of turns around the equidistant spiral.

8. The system of claim 7, wherein said obtaining spiral parameters of equidistant spirals in said circular aerial region comprises:

setting the center of the circular aerial survey area as the center of an equidistant spiral; and the number of the first and second groups,

according to the formulaObtaining the pitch of an equidistant spiral, whereinIs a constant coefficient,The pitch of the equidistant spiral,Is the circumferential ratio; and the number of the first and second groups,

according to the formulaObtaining the number of turns around of the equidistant spiral, wherein m is the number of turns around of the equidistant spiral and takes an integer, r is the radius of the circular aerial survey area, n is the thread pitch of the equidistant spiral.

9. The system of claim 6, wherein the aerial parameters comprise: the aerial photographing height, the flying speed, the course overlapping rate and the side overlapping rate.

10. The system of claim 9, wherein said setting of aerial parameters of said drone comprises:

setting an aerial photographing height according to the resolution of the aerial photographing image; and the number of the first and second groups,

setting the course overlapping rate to 70%; and the number of the first and second groups,

the side lap is set to 25%.

Technical Field

The application belongs to the field of aerial survey, and particularly relates to an unmanned aerial vehicle aerial survey method and system based on equidistant spirals.

Background

With the development of the unmanned aerial vehicle and the digital camera technology, the unmanned aerial vehicle is combined with aerial photogrammetry so that the remote sensing of the unmanned aerial vehicle becomes a brand-new development direction in the field of aerial remote sensing. But unmanned aerial vehicle aerial photography wide application in: the method has wide application in the aspects of surveying of engineering construction, disaster emergency treatment, territorial monitoring, resource development, new rural and small town construction and the like, and particularly has wide application in the aspects of basic surveying and mapping, land resource investigation and monitoring, dynamic monitoring of land utilization, digital city construction, acquisition of emergency relief surveying and mapping data and the like. The unmanned aerial vehicle aerial survey flies according to a set flight route, acquires ground image data from the air, and finally generates an aerial survey result, so that the efficiency is high, and the cost is low.

In the existing unmanned aerial vehicle aerial photography technology, an unmanned aerial vehicle usually flies by adopting a intertillage route, and pictures shot by the unmanned aerial vehicle at a large-angle turning part of the intertillage route are usually invalid pictures, so that the aerial photography efficiency of the unmanned aerial vehicle is reduced, and the instability of the unmanned aerial vehicle can be increased by the large-angle roll angle generated by the large-angle turning.

Disclosure of Invention

The invention mainly aims to provide an unmanned aerial vehicle aerial surveying method and system based on equidistant spirals.

In a first aspect, an unmanned aerial vehicle aerial surveying method based on equidistant spirals is provided, which includes:

acquiring a circular aerial survey area covering the area to be measured according to the area to be measured;

obtaining spiral parameters of equidistant spirals in the circular aerial survey area, and generating the equidistant spirals according to the spiral parameters;

set up unmanned aerial vehicle and follow navigation instruction that equidistance spiral flies, navigation instruction includes:

acquiring a target position of the unmanned aerial vehicle on the equidistant spiral, wherein the target position is any one position in the spiral acquired according to a mathematical expression of the equidistant spiral;

establishing a connection line between the current position of the unmanned aerial vehicle and the target position;

generating an acceleration which is vertical to the speed direction of the unmanned aerial vehicle and within the vertical direction of the connecting line, wherein if the distance of the connecting line is greater than a distance threshold value, the unmanned aerial vehicle approaches the target position at a large-angle rolling angle, and if the distance of the connecting line is less than the distance threshold value, the unmanned aerial vehicle approaches the target position at a small-angle rolling angle;

and setting the aerial photography parameters of the unmanned aerial vehicle, photographing according to the aerial photography parameters, and splicing the photos acquired by photographing into the images of the area to be measured.

In one possible implementation, the spiral parameters include: the center of the spiral, the pitch of the equidistant spiral, and the number of turns around the equidistant spiral.

In another possible implementation, the acquiring the spiral parameters of the equidistant spirals in the circular aerial measurement area includes:

setting the center of the circular aerial survey area as the center of an equidistant spiral; and the number of the first and second groups,

according to the formulaObtaining the pitch of an equidistant spiral, whereinIs a constant coefficient,The pitch of the equidistant spiral,Is the circumferential ratio; and the number of the first and second groups,

according to the formulaObtaining the number of turns around of the equidistant spiral, wherein m is the number of turns around of the equidistant spiral and takes an integer, r is the radius of the circular aerial survey area, n is the thread pitch of the equidistant spiral.

In yet another possible implementation, the aerial photography parameter includes: the aerial photographing height, the flying speed, the course overlapping rate and the side overlapping rate.

In yet another possible implementation manner, the setting of the aerial photography parameter of the drone includes:

setting an aerial photographing height according to the resolution of the aerial photographing image; and the number of the first and second groups,

setting the course overlapping rate to 70%; and the number of the first and second groups,

the side lap is set to 25%.

In a second aspect, there is provided an equidistant spiral based unmanned aerial vehicle aerial survey system, comprising:

the circular aerial survey area acquisition module is used for acquiring a circular aerial survey area covering the area to be measured according to the area to be measured;

the equidistant spiral generating module is used for acquiring spiral parameters of the equidistant spiral in the circular aerial measuring area and generating the equidistant spiral according to the spiral parameters;

navigation instruction sets up the module for set up unmanned aerial vehicle edge the navigation instruction of equidistance spiral flight, navigation instruction includes:

acquiring a target position of the unmanned aerial vehicle on the equidistant spiral, wherein the target position is any one position in the spiral acquired according to a mathematical expression of the equidistant spiral;

establishing a connection line between the current position of the unmanned aerial vehicle and the target position;

generating an acceleration which is vertical to the speed direction of the unmanned aerial vehicle and within the vertical direction of the connecting line, wherein if the distance of the connecting line is greater than a distance threshold value, the unmanned aerial vehicle approaches the target position at a large-angle rolling angle, and if the distance of the connecting line is less than the distance threshold value, the unmanned aerial vehicle approaches the target position at a small-angle rolling angle;

and the image splicing module is used for setting the aerial photography parameters of the unmanned aerial vehicle, photographing according to the aerial photography parameters, and splicing the photos acquired by photographing into the images of the area to be detected.

In one possible implementation, the spiral parameters include: the center of the spiral, the pitch of the equidistant spiral, and the number of turns around the equidistant spiral.

In yet another possible implementation, the acquiring the spiral parameters of the equidistant spirals in the circular aerial measurement area includes:

setting the center of the circular aerial survey area as the center of an equidistant spiral; and the number of the first and second groups,

according to the formulaObtaining the pitch of an equidistant spiral, whereinIs a constant coefficient,The pitch of the equidistant spiral,Is the circumferential ratio; and the number of the first and second groups,

according to the formulaObtaining the number of turns around of the equidistant spiral, wherein m is the number of turns around of the equidistant spiral and takes an integer, r is the radius of the circular aerial survey area, n is the thread pitch of the equidistant spiral.

In yet another possible implementation, the aerial photography parameter includes: the aerial photographing height, the flying speed, the course overlapping rate and the side overlapping rate.

In one possible implementation manner, the setting of the aerial photography parameter of the unmanned aerial vehicle includes:

setting an aerial photographing height according to the resolution of the aerial photographing image; and the number of the first and second groups,

setting the course overlapping rate to 70%; and the number of the first and second groups,

the side lap is set to 25%.

The beneficial effect that technical scheme that this application provided brought is: make unmanned aerial vehicle can follow the equidistance spiral flight on slick and sly border, guaranteed the stability of unmanned aerial vehicle flight, when having avoided unmanned aerial vehicle to follow the intertillage course flight, the invalid problem of picture of taking photo by plane of turning has improved the utilization ratio of the picture of taking photo by plane.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the description of the embodiments of the present application will be briefly described below.

Fig. 1 is a flowchart of an equidistant spiral-based unmanned aerial vehicle aerial surveying method according to an embodiment of the present invention;

fig. 2 is a structural diagram of an equidistant spiral-based unmanned aerial vehicle aerial survey system according to an embodiment of the present invention;

fig. 3 is a schematic view of a navigation flight of a drone provided by an embodiment of the present invention;

fig. 4 is a schematic aerial survey diagram of the unmanned aerial vehicle flying along equidistant spirals according to one embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar modules or modules having the same or similar functionality throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to 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, modules, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, modules, components, and/or groups thereof. It will be understood that when a module is referred to as being "connected" or "coupled" to another module, it can be directly connected or coupled to the other module or intervening modules may also be present. Further, "connected" or "coupled" 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.

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The technical solutions of the present application and the technical solutions of the present application, for example, to solve the above technical problems, will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.