Unmanned aerial vehicle surveying and mapping method and system based on millimeter wave radar
阅读说明：本技术 一种基于毫米波雷达的无人机测绘方法和系统 (Unmanned aerial vehicle surveying and mapping method and system based on millimeter wave radar ) 是由 龚超 于巍巍 李俊桦 丁季明 欧昊一 沈黎玲 于 2021-06-29 设计创作，主要内容包括：本发明提供了一种基于毫米波雷达的无人机测绘方法和系统,其方法包括：控制安装于无人机底部的若干个毫米波雷达发射电磁波以扫描目标区域,计算所述无人机与各探测点之间的相对距离,以及所述无人机与各探测点在高度方向上的相对夹角；所述目标区域包括若干个探测点；根据所述相对距离和相对夹角,以及搭载在所述无人机上的定位设备的定位数据,计算得到所述探测点的海拔高度值和经纬度值；根据所有探测点的海拔高度值和经纬度值,生成所述目标区域的地形图。本发明提高地形测量的作业效率、适用范围窄和测绘精度。(The invention provides an unmanned aerial vehicle surveying and mapping method and system based on a millimeter wave radar, wherein the method comprises the following steps: controlling a plurality of millimeter wave radars installed at the bottom of the unmanned aerial vehicle to emit electromagnetic waves so as to scan a target area, and calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points; calculating to obtain an altitude value and a longitude and latitude value of the detection point according to the relative distance, the relative included angle and positioning data of positioning equipment carried on the unmanned aerial vehicle; and generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points. The invention improves the operation efficiency of terrain measurement, and has narrow application range and surveying and mapping precision.)
1. An unmanned aerial vehicle surveying and mapping method based on a millimeter wave radar is characterized by comprising the following steps:
controlling a plurality of millimeter wave radars installed at the bottom of the unmanned aerial vehicle to emit electromagnetic waves so as to scan a target area, and calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
calculating to obtain an altitude value and a longitude and latitude value of the detection point according to the relative distance, the relative included angle and positioning data of positioning equipment carried on the unmanned aerial vehicle;
and generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
2. The millimeter wave radar-based unmanned aerial vehicle surveying and mapping method according to claim 1, wherein the obtaining of the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point comprises:
after the millimeter wave radar transmits electromagnetic waves to scan a target area, acquiring electromagnetic wave receiving and transmitting state information of the millimeter wave radar;
and calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
3. The millimeter wave radar-based unmanned aerial vehicle surveying and mapping method according to claim 2, wherein the electromagnetic wave transceiving state information includes an electromagnetic wave transceiving time difference and a phase difference; the step of calculating the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance comprises the following steps:
substituting the electromagnetic wave receiving and sending time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
substituting the antenna installation distance, the electromagnetic wave wavelength and the phase difference into the following formula (2) to calculate the relative included angle;
wherein, R represents the relative distance, θ represents the relative included angle, c represents the speed of light, Δ T represents the time difference between the transmission and reception of the electromagnetic waves, λ represents the wavelength of the electromagnetic waves, Δ Φ represents the phase difference, and L represents the antenna installation distance.
4. The millimeter wave radar-based unmanned aerial vehicle surveying and mapping method according to claim 1, wherein the step of calculating the altitude value and the latitude and longitude value of the probe point according to the relative distance and the relative angle and positioning data of a positioning device mounted on the unmanned aerial vehicle comprises:
acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
substituting the following formula (4) according to the relative distance and the relative included angle to calculate and obtain the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions;
S＝sinθ*R (4)；
substituting the relative distance and the relative included angle into the following formula (5) to calculate the travel height between the unmanned aerial vehicle and the detection point in the height direction;
h＝cosθ*R (5)；
substituting the travel distance and the latitude and longitude information into the following formula (6) to calculate the latitude value of the detection point;
Wn＝cosα*S/D (6)；
substituting the travel distance and the longitude and latitude information into the following formula (7) to calculate and obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
substituting the travel height and the altitude height information into the following formula (8) to calculate the altitude height value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednRepresents the latitude value, J, of the nth probe pointnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
5. The millimeter wave radar-based unmanned aerial vehicle surveying and mapping method according to any one of claims 1-4, wherein the step of generating the topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points comprises the steps of:
comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude value and the longitude and latitude value of the current detection point if the altitude values and the longitude and latitude values are not matched;
and switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to each detection point.
6. The utility model provides an unmanned aerial vehicle mapping system based on millimeter wave radar which characterized in that includes:
the control module is used for controlling a plurality of millimeter wave radars arranged at the bottom of the unmanned aerial vehicle to transmit electromagnetic waves so as to scan a target area;
the acquisition module is used for calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
the processing module is used for calculating and obtaining the altitude value and the longitude and latitude value of the detection point according to the relative distance, the relative included angle and the positioning data of the positioning equipment carried on the unmanned aerial vehicle;
and the generating module is used for generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
7. The millimeter-wave radar-based unmanned aerial vehicle mapping system of claim 6, wherein the acquisition module comprises:
the first acquisition submodule is used for acquiring the electromagnetic wave transceiving state information of the millimeter wave radar after the millimeter wave radar transmits electromagnetic waves to scan a target area;
and the calculation submodule is used for calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
8. The millimeter wave radar-based unmanned aerial vehicle mapping system of claim 7, wherein the electromagnetic wave transceiving state information comprises electromagnetic wave transceiving time difference and phase difference; the calculation submodule includes:
the relative distance calculation unit is used for substituting the electromagnetic wave receiving and sending time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
the relative included angle calculation unit is used for substituting the following formula (2) to calculate and obtain the relative included angle according to the antenna installation distance, the electromagnetic wave wavelength and the phase difference;
wherein, R represents the relative distance, θ represents the relative included angle, c represents the speed of light, Δ T represents the time difference between the transmission and reception of the electromagnetic waves, λ represents the wavelength of the electromagnetic waves, Δ Φ represents the phase difference, and L represents the antenna installation distance.
9. The millimeter-wave radar-based drone mapping system of claim 6, wherein the processing module includes:
the second acquisition submodule is used for acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
the distance calculation submodule is used for substituting the following formula (4) to calculate and obtain the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions according to the relative distance and the relative included angle;
S＝sinθ*R (4)；
the height calculation submodule is used for substituting the following formula (5) to calculate and obtain the stroke height between the unmanned aerial vehicle and the detection point in the height direction according to the relative distance and the relative included angle;
h＝cosθ*R (5)；
the latitude calculation submodule is used for calculating the latitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (6);
Wn＝cosα*S/D (6)；
the longitude calculation submodule is used for substituting the following formula (7) into the longitude calculation submodule according to the travel distance and the longitude and latitude information to obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
the elevation calculation submodule is used for substituting the following formula (8) into the travel height and the elevation information to calculate and obtain the elevation value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednRepresents the latitude value, J, of the nth probe pointnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
10. The millimeter-wave radar-based drone mapping system according to any one of claims 6-9, wherein the generation module includes:
the comparison submodule is used for comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude values and the longitude and latitude values of the current detection point if the altitude values and the longitude and latitude values are not matched;
and the generation sub-module is used for switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to each detection point.
Technical Field
The invention relates to the technical field of topographic mapping, in particular to an unmanned aerial vehicle mapping method and system based on a millimeter wave radar.
Background
The topographic survey and drawing mainly includes the accurate measurement of the boundary point coordinates of the boundary line of the land parcel, the accurate drawing of the positions, areas, ownership relation, utilization condition and other elements of the land parcel and its attachments on the drawing and the record in special list.
The traditional topographic mapping generally adopts an operation mode of manual point running to measure a land parcel firstly, and a total station or an RTK system is used in the measuring process. When the total station is used for measurement, the station moving direction needs to be continuously carried out, and the operation efficiency is low. When the RTK system is used for measurement, the RTK system comprises a fixed measuring station and a mobile measuring station, the fixed measuring station transmits an observed value and coordinate information of the measuring station to the mobile measuring station through a data link, and the mobile measuring station not only receives data from the fixed measuring station, but also receives GPS data sent by a satellite, and combines the data with current coordinates of two stations at a mobile side; the PTK system has to use GPS data for measurement, and when the mobile measuring station passes through a place with dense houses or dense trees, the GPS data is difficult to receive, the PTK is difficult to fix, the current coordinate data of the mobile measuring station cannot be obtained through calculation, the land measurement work is difficult to complete, and the application range is narrow.
Therefore, the existing topographic mapping method has the defects of low working efficiency, narrow application range or low mapping precision.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle surveying and mapping method and system based on a millimeter wave radar, which can improve the operation efficiency of terrain measurement, narrow application range and surveying and mapping precision.
The technical scheme provided by the invention is as follows:
the invention provides an unmanned aerial vehicle surveying and mapping method based on a millimeter wave radar, which comprises the following steps:
controlling a plurality of millimeter wave radars installed at the bottom of the unmanned aerial vehicle to emit electromagnetic waves so as to scan a target area, and calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
calculating to obtain an altitude value and a longitude and latitude value of the detection point according to the relative distance, the relative included angle and positioning data of positioning equipment carried on the unmanned aerial vehicle;
and generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
Further, the step of obtaining the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point comprises:
after the millimeter wave radar transmits electromagnetic waves to scan a target area, acquiring electromagnetic wave receiving and transmitting state information of the millimeter wave radar;
and calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
Further, the electromagnetic wave transceiving state information includes an electromagnetic wave transceiving time difference and a phase difference; the step of calculating the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance comprises the following steps:
substituting the electromagnetic wave receiving and sending time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
substituting the antenna installation distance, the electromagnetic wave wavelength and the phase difference into the following formula (2) to calculate the relative included angle;
wherein, R represents the relative distance, θ represents the relative included angle, c represents the speed of light, Δ T represents the time difference between the transmission and reception of the electromagnetic waves, λ represents the wavelength of the electromagnetic waves, Δ Φ represents the phase difference, and L represents the antenna installation distance.
Further, the step of calculating the altitude value and the longitude and latitude value of the probe point according to the relative distance, the relative included angle and the positioning data of the positioning device carried on the unmanned aerial vehicle comprises:
acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
substituting the following formula (4) according to the relative distance and the relative included angle to calculate and obtain the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions;
S＝sinθ*R (4)；
substituting the relative distance and the relative included angle into the following formula (5) to calculate the travel height between the unmanned aerial vehicle and the detection point in the height direction;
h＝cosθ*R (5)；
substituting the travel distance and the latitude and longitude information into the following formula (6) to calculate the latitude value of the detection point;
Wn＝cosα*S/D (6)；
substituting the travel distance and the longitude and latitude information into the following formula (7) to calculate and obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
substituting the travel height and the altitude height information into the following formula (8) to calculate the altitude height value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednIndicating the latitude of the nth probe pointValue, JnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
Further, the step of generating the topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points comprises the steps of:
comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude value and the longitude and latitude value of the current detection point if the altitude values and the longitude and latitude values are not matched;
and switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to each detection point.
The invention also provides an unmanned aerial vehicle surveying and mapping system based on the millimeter wave radar, which comprises:
the control module is used for controlling a plurality of millimeter wave radars arranged at the bottom of the unmanned aerial vehicle to transmit electromagnetic waves so as to scan a target area;
the acquisition module is used for calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
the processing module is used for calculating and obtaining the altitude value and the longitude and latitude value of the detection point according to the relative distance, the relative included angle and the positioning data of the positioning equipment carried on the unmanned aerial vehicle;
and the generating module is used for generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
Further, the obtaining module includes:
the first acquisition submodule is used for acquiring the electromagnetic wave transceiving state information of the millimeter wave radar after the millimeter wave radar transmits electromagnetic waves to scan a target area;
and the calculation submodule is used for calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
Further, the electromagnetic wave transceiving state information includes an electromagnetic wave transceiving time difference and a phase difference; the calculation submodule includes:
the relative distance calculation unit is used for substituting the electromagnetic wave receiving and sending time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
the relative included angle calculation unit is used for substituting the following formula (2) to calculate and obtain the relative included angle according to the antenna installation distance, the electromagnetic wave wavelength and the phase difference;
wherein, R represents the relative distance, θ represents the relative included angle, c represents the speed of light, Δ T represents the time difference between the transmission and reception of the electromagnetic waves, λ represents the wavelength of the electromagnetic waves, Δ Φ represents the phase difference, and L represents the antenna installation distance.
Further, the processing module comprises:
the second acquisition submodule is used for acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
the distance calculation submodule is used for substituting the following formula (4) to calculate and obtain the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions according to the relative distance and the relative included angle;
S＝sinθ*R (4)；
the height calculation submodule is used for substituting the following formula (5) to calculate and obtain the stroke height between the unmanned aerial vehicle and the detection point in the height direction according to the relative distance and the relative included angle;
h＝cosθ*R (5)；
the latitude calculation submodule is used for calculating the latitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (6);
Wn＝cosα*S/D (6)；
the longitude calculation submodule is used for substituting the following formula (7) into the longitude calculation submodule according to the travel distance and the longitude and latitude information to obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
the elevation calculation submodule is used for substituting the following formula (8) into the travel height and the elevation information to calculate and obtain the elevation value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednRepresents the latitude value, J, of the nth probe pointnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
Further, the generating module includes:
the comparison submodule is used for comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude values and the longitude and latitude values of the current detection point if the altitude values and the longitude and latitude values are not matched;
and the generation sub-module is used for switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to each detection point.
By the millimeter wave radar-based unmanned aerial vehicle surveying and mapping method and system, the operation efficiency of topographic survey can be improved, the application range is narrow, and the surveying and mapping precision is high.
Drawings
The above features, technical features, advantages and implementation of the method and system for mapping an unmanned aerial vehicle based on millimeter wave radar will be further described in the following detailed description of preferred embodiments in a clearly understandable manner with reference to the accompanying drawings.
FIG. 1 is a flow chart of an embodiment of a millimeter wave radar-based unmanned aerial vehicle mapping method of the present invention;
FIG. 2 is a flow chart of another embodiment of a millimeter wave radar-based unmanned aerial vehicle mapping method of the present invention;
FIG. 3 is a flow chart of another embodiment of a millimeter wave radar-based unmanned aerial vehicle mapping method of the present invention;
fig. 4 is a schematic diagram of a relationship between a detection point and electromagnetic waves transmitted and received by an unmanned aerial vehicle in the unmanned aerial vehicle surveying and mapping method based on the millimeter wave radar.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, 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.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
One embodiment of the present invention, as shown in fig. 1, is an unmanned aerial vehicle surveying and mapping method based on millimeter wave radar, including:
s100, controlling a plurality of millimeter wave radars installed at the bottom of the unmanned aerial vehicle to emit electromagnetic waves so as to scan a target area, and calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
specifically, the target area is the area that unmanned aerial vehicle flight detected, can be valley, hilly area, also can be the district that allows unmanned aerial vehicle flight such as city district, and whole target area comprises boundary and inner zone, can become a plurality of gauge point with target area discretization. The millimeter wave radar refers to a radar working in a millimeter wave band, and the working frequency of the millimeter wave radar is usually selected within the range of 30-300 GHz. The working frequency range of the millimeter wave radar is between 60 and 64GHz and between 76 and 81 GHz. According to the invention, firstly, a plurality of millimeter wave radar sensors with working frequency ranges of 60-64 GHz and 76-81 GHz are arranged at the bottom of the unmanned aerial vehicle, a plurality of millimeter wave radars installed at the bottom of the unmanned aerial vehicle are used for transmitting electromagnetic waves to scan the whole target area to obtain detection data, then, a processing end (comprising a controller or a processor installed on the unmanned aerial vehicle and a server in wireless communication connection with the unmanned aerial vehicle) can obtain the detection data from each millimeter wave radar in a wireless or wired mode, further, the relative distance between the unmanned aerial vehicle and each detection point is obtained through calculation according to the detection data, and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction is obtained through calculation according to the detection data.
S200, calculating to obtain an altitude value and a longitude and latitude value of the detection point according to the relative distance, the relative included angle and positioning data of positioning equipment carried on the unmanned aerial vehicle;
s300, generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
Specifically, the processing end calculates the altitude height value and the warp and weft value of each detection point according to the relative distance and the relative included angle obtained by the calculation and the positioning data of the positioning equipment carried on the unmanned aerial vehicle. And finally, the processing end generates a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
The invention is suitable for the fields of geological exploration, capital construction, civil engineering, routing inspection and the like, adopts the mode of detecting by the unmanned aerial vehicle to obtain the drawing required by mapping, and has high speed of obtaining mapping parameters (altitude values and longitude and latitude values of each detection point in a target area) and high operation efficiency. Moreover, because adopt unmanned aerial vehicle to survey and not receive the topography restriction, for artifical the surveying, can survey and drawing under complicated topography, application scope is wide. Finally, because a plurality of millimeter wave radar is installed to the unmanned aerial vehicle bottom for unmanned aerial vehicle's survey and drawing detection angle grow, exemplarily, the unmanned aerial vehicle bottom is installed the millimeter wave radar all around, makes unmanned aerial vehicle's survey and drawing detection angle reach 120. According to the Doppler effect of the radar, the processing end can calculate the height difference of 1 meter at each interval. According to the invention, a plurality of millimeter wave radars can be arranged according to requirements, and the altitude information and the longitude and latitude values of the same position, namely the same detection point are subjected to complex judgment, so that the terrain detection precision of a target area can be improved, and the mapping area covered by single flight can be increased.
An embodiment of the present invention, as shown in fig. 2, is an unmanned aerial vehicle surveying and mapping method based on millimeter wave radar, including:
s110, after the millimeter wave radar transmits electromagnetic waves to scan a target area, acquiring electromagnetic wave receiving and transmitting state information of the millimeter wave radar;
s120, calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance;
s200, calculating to obtain an altitude value and a longitude and latitude value of the detection point according to the relative distance, the relative included angle and positioning data of positioning equipment carried on the unmanned aerial vehicle;
s300, generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
Specifically, the same portions of this embodiment as those of the above embodiment refer to the above embodiment, and are not described in detail herein. And after the processing end controls the millimeter wave radar to emit electromagnetic waves to scan the target area, acquiring the electromagnetic wave receiving and transmitting state information of the millimeter wave radar from each millimeter wave radar. Because the installation position of the antennas (including the electromagnetic wave transmitting antenna and the electromagnetic wave receiving antenna) installed on each unmanned aerial vehicle is fixed, the processing end can obtain the installation distance between the antennas, namely the antenna installation distance. Therefore, the processing end can calculate the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
The invention is suitable for the fields of geological exploration, capital construction, civil engineering, routing inspection and the like, adopts the mode of detecting by the unmanned aerial vehicle to obtain the drawing required by mapping, and has high speed of obtaining mapping parameters (altitude values and longitude and latitude values of each detection point in a target area) and high operation efficiency. Moreover, because adopt unmanned aerial vehicle to survey and not receive the topography restriction, for artifical the surveying, can survey and drawing under complicated topography, application scope is wide. Finally, because a plurality of millimeter wave radar is installed to the unmanned aerial vehicle bottom for unmanned aerial vehicle's survey and drawing detection angle grow, exemplarily, the unmanned aerial vehicle bottom is installed the millimeter wave radar all around, makes unmanned aerial vehicle's survey and drawing detection angle reach 120. According to the Doppler effect of the radar, the processing end can calculate the height difference of 1 meter at each interval. According to the invention, a plurality of millimeter wave radars can be arranged according to requirements, and the altitude information and the longitude and latitude values of the same position, namely the same detection point are subjected to complex judgment, so that the terrain detection precision of a target area can be improved, and the mapping area covered by single flight can be increased.
An embodiment of the present invention, as shown in fig. 3, is an unmanned aerial vehicle surveying and mapping method based on millimeter wave radar, including:
s110, after the millimeter wave radar transmits electromagnetic waves to scan a target area, acquiring electromagnetic wave receiving and transmitting state information of the millimeter wave radar; the electromagnetic wave receiving and sending state information comprises electromagnetic wave receiving and sending time difference and phase difference;
s121, substituting the electromagnetic wave receiving and transmitting time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
s122, substituting the antenna installation distance, the electromagnetic wave wavelength and the phase difference into the following formula (2) to calculate the relative included angle;
wherein, R represents the relative distance, theta represents the relative included angle, c represents the light speed, Delta T represents the receiving and transmitting time difference of the electromagnetic waves, lambda represents the wavelength of the electromagnetic waves, Delta phi represents the phase difference, and L represents the installation distance of the antenna;
s210, acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
s220, substituting the relative distance and the relative included angle into the following formula (4) to calculate the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions;
S＝sinθ*R (4)；
s230, substituting the relative distance and the relative included angle into the following formula (5) to calculate the travel height between the unmanned aerial vehicle and the detection point in the height direction;
h＝cosθ*R (5)；
s240, substituting the travel distance and the longitude and latitude information into the following formula (6) to calculate the latitude value of the detection point;
Wn＝cosα*S/D (6)；
s250, substituting the travel distance and the longitude and latitude information into the following formula (7) to calculate and obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
s260, substituting the travel height and the altitude height information into the following formula (8) to calculate and obtain the altitude height value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednRepresents the latitude value, J, of the nth probe pointnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
Specifically, the millimeter wave radar transmits electromagnetic waves to scan a target area for detection, and as the bottom of the unmanned aerial vehicle can obtain a plurality of detection points at one time, the detection points A, B, C and … … are shown in the following schematic diagram 4. The UAV (unmanned aerial vehicle) converts by referring to the formula by taking the detection point A and the detection point C as examples, acquires positioning data measured by positioning equipment such as a Beidou, a GPS (global positioning system) and a Glonass system in real time, namely acquires longitude and latitude information and altitude information of the UAV through the real-time measurement of the positioning equipment, and records the longitude and latitude information and the altitude information of the UAV at the moment by a Flash memory installed in the UAV.
And then, the processing end calls the longitude and latitude information and the altitude information of the unmanned aerial vehicle from the positioning equipment or the Flash memory of the unmanned aerial vehicle. The processing end can convert the longitude and latitude and the altitude value of the detection point A by referring to the formula according to the longitude and latitude information and the altitude information of the unmanned aerial vehicle.
For example, assume that the latitude and longitude information of the drone detected by the positioning device is 30.8m latitude/second distance, and 30.8m latitude/cos longitude/second distance. Then, the latitude value W of point AACos α L/30.8m 1 sec, point a longitude value JA＝sinα*L/(cosWA30.8m) 1 second. Also, point A has an altitude HAAltitude information H-travel height H, altitude information H of point C, flying as unmanned aerial vehicleCStroke height h.
S310, comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude values and the longitude and latitude values of the current detection point if the altitude values and the longitude and latitude values are not matched;
s320, switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to the detection points.
Specifically, the processing end records and integrates the data frame, namely longitude and latitude coordinates measured by the current mounting equipment mounted on the unmanned aerial vehicle, namely, the processing end matches the height information of the terrain under each longitude and latitude according to the flight track and the scanning range of the unmanned aerial vehicle. And calculating the longitude and latitude values of all detection points measured by the radar in real time and corresponding altitude information by analogy, and further generating a real-time 3D topographic map of the target area where the track is located according to real-time 3D topographic mapping data, namely the longitude and latitude values of all the detection points and the corresponding altitude information.
According to the invention, a plurality of millimeter wave radars are arranged according to requirements, and the altitude information and the longitude and latitude values of the same position, namely the same detection point are subjected to complex judgment and verification, so that the terrain detection precision of a target area can be improved, and the mapping area covered by single flight can be increased. According to the invention, the acquisition of the original data is not required to depend on manual on-site surveying and mapping, so that the manpower for manual surveying and mapping can be saved, the topographic data of the target area can be accurately acquired by depending on a distance calculation formula, and the topographic measurement error of the target area can be effectively reduced, so that the overall topographic measurement result is more accurate, and a more accurate and credible topographic map is generated.
The invention also provides an unmanned aerial vehicle surveying and mapping system based on the millimeter wave radar, which comprises:
the control module is used for controlling a plurality of millimeter wave radars arranged at the bottom of the unmanned aerial vehicle to transmit electromagnetic waves so as to scan a target area;
the acquisition module is used for calculating the relative distance between the unmanned aerial vehicle and each detection point and the relative included angle between the unmanned aerial vehicle and each detection point in the height direction; the target area comprises a plurality of detection points;
the processing module is used for calculating and obtaining the altitude value and the longitude and latitude value of the detection point according to the relative distance, the relative included angle and the positioning data of the positioning equipment carried on the unmanned aerial vehicle;
and the generating module is used for generating a topographic map of the target area according to the altitude values and the longitude and latitude values of all the detection points.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
Further, the obtaining module includes:
the first acquisition submodule is used for acquiring the electromagnetic wave transceiving state information of the millimeter wave radar after the millimeter wave radar transmits electromagnetic waves to scan a target area;
and the calculation submodule is used for calculating to obtain the relative distance and the relative included angle between the unmanned aerial vehicle and each detection point according to the electromagnetic wave receiving and sending state information and the antenna installation distance.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
Further, the electromagnetic wave transceiving state information includes an electromagnetic wave transceiving time difference and a phase difference; the calculation submodule includes:
the relative distance calculation unit is used for substituting the electromagnetic wave receiving and sending time difference into the following formula (1) to calculate and obtain the relative distance between the unmanned aerial vehicle and each detection point;
the relative included angle calculation unit is used for substituting the following formula (2) to calculate and obtain the relative included angle according to the antenna installation distance, the electromagnetic wave wavelength and the phase difference;
wherein, R represents the relative distance, θ represents the relative included angle, c represents the speed of light, Δ T represents the time difference between the transmission and reception of the electromagnetic waves, λ represents the wavelength of the electromagnetic waves, Δ Φ represents the phase difference, and L represents the antenna installation distance.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
Further, the processing module comprises:
the second acquisition submodule is used for acquiring positioning data measured by the positioning equipment; the positioning data comprises longitude and latitude information and altitude information of the unmanned aerial vehicle;
the distance calculation submodule is used for substituting the following formula (4) to calculate and obtain the travel distance between the unmanned aerial vehicle and the detection point in the left and right directions according to the relative distance and the relative included angle;
S＝sinθ*R (4)；
the height calculation submodule is used for substituting the following formula (5) to calculate and obtain the stroke height between the unmanned aerial vehicle and the detection point in the height direction according to the relative distance and the relative included angle;
h＝cosθ*R (5)；
the latitude calculation submodule is used for calculating the latitude value of the detection point according to the travel distance and the latitude and longitude information by substituting the following formula (6);
Wn＝cosα*S/D (6)；
the longitude calculation submodule is used for substituting the following formula (7) into the longitude calculation submodule according to the travel distance and the longitude and latitude information to obtain a longitude value of the detection point;
Jn＝sinα*S/(cos(Wn)*D) (7)；
the elevation calculation submodule is used for substituting the following formula (8) into the travel height and the elevation information to calculate and obtain the elevation value of the detection point;
wherein R represents the relative distance, theta represents the relative included angle, S represents the stroke distance, h represents the stroke height, alpha represents an included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are located, and W represents the included angle between a straight line where the relative distance is located and a straight line where the left direction and the right direction are locatednRepresents the latitude value, J, of the nth probe pointnLongitude value, H, representing the nth probe pointnIndicating the altitude value of the nth probe point.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
Further, the generating module includes:
the comparison submodule is used for comparing a plurality of altitude values and longitude and latitude values of the current detection point, and deleting the altitude values and the longitude and latitude values of the current detection point if the altitude values and the longitude and latitude values are not matched;
and the generation sub-module is used for switching and comparing the next detection point until a plurality of altitude values and longitude and latitude values of all the detection points in the target area are obtained to be matched, and drawing and generating the topographic map according to the plurality of altitude values and longitude and latitude values respectively corresponding to each detection point.
Specifically, this embodiment is a system embodiment corresponding to the above method embodiment, and specific effects refer to the above method embodiment, which is not described in detail herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of program modules is illustrated, and in practical applications, the above-described distribution of functions may be performed by different program modules, that is, the internal structure of the apparatus may be divided into different program units or modules to perform all or part of the above-described functions. Each program module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one processing unit, and the integrated unit may be implemented in a form of hardware, or may be implemented in a form of software program unit. In addition, the specific names of the program modules are only used for distinguishing the program modules from one another, and are not used for limiting the protection scope of the application.
They may be implemented in program code that is executable by a computing device such that it is executed by the computing device, or separately, or as individual integrated circuit modules, or as a plurality or steps of individual integrated circuit modules. Thus, the present invention is not limited to any specific combination of hardware and software.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or recited in detail in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.