Airline planning method and device for surveying and mapping unmanned aerial vehicle

A UAV and route technology, applied in the field of UAV surveying and mapping, can solve the problems of prone to errors, relatively large target area restrictions, waste of time, etc., to save time, shorten working time, and improve flexibility.

Active Publication Date: 2017-05-31
深圳市九天创新科技有限责任公司
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AI-Extracted Technical Summary

Problems solved by technology

Under normal circumstances, it is necessary to calculate the waypoint information of the surveying and mapping UAV in advance. The existing technology mostly relies on manual field inspection and calc...
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Method used

[0032] As can be seen from the above description, increasing the extension area on the periphery of the or...
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Abstract

The invention discloses an airline planning method for a surveying and mapping unmanned aerial vehicle. The airline planning method comprises the following steps: S1: determining a target surveying and mapping area; S2: determining the initial position and the heading angle of the unmanned aerial vehicle; S3: determining a flight strip interval and flight height; S4: according to target area information obtained in the S1 and initial position data of the unmanned aerial vehicle obtained in the S2, generating longitude and latitude coordinates of all waypoints capable of completely covering the target surveying and mapping area; S5: determining a landing point and a landing direction, and generating a longitude and latitude coordinate of a homeward voyage waypoint and a longitude and latitude coordinate of a landing waypoint; S6: connecting the longitude and latitude coordinates of all waypoints, and combining with the flight height obtained in the S3 to generate an airline. The invention also discloses an airline planning device for the surveying and mapping unmanned aerial vehicle. The airline planning device comprises an input end, a sensing module, a collection module, a calculation module, a homeward voyage processing module and an airline generation module.

Application Domain

Target-seeking control

Technology Topic

Flight heightSurveyor +6

Image

  • Airline planning method and device for surveying and mapping unmanned aerial vehicle

Examples

  • Experimental program(2)

Example Embodiment

[0049] Example one
[0050] Please refer to figure 1 The first embodiment of the present invention is: a route planning method for surveying and mapping drones, which specifically includes the following steps:
[0051] S1. Input and obtain the longitude and latitude coordinate information of each vertex of the polygon target area to be surveyed, and determine the target surveying and mapping area. The target area can be selected in real time on the map, and the selected area can be any polygon, which can fully describe the object being surveyed and mapped. Before determining the target surveying and mapping area, it is necessary to extend a certain distance according to the boundary of the original target area. The extension distance can be set according to the actual situation to ensure that the surveying and mapping drone can capture as much as possible the comprehensive target area information during the mission. .
[0052] S2. Use the sensors on the drone to collect the drone's current latitude and longitude coordinate information, attitude data, nose data, and coordinate point air pressure height, and determine the drone's initial position and heading angle for use in waypoint planning.
[0053] S3. Obtain the camera's frame size, sensor size, lens focal length, set the lateral overlap rate and ground resolution, and determine the space between the flight belts and the flying height. Among them, the frame size includes frame width and frame length.
[0054] The flying height of the drone during shooting is determined by the required picture resolution and the shooting parameters of the camera. Resolution = flying height * pixel width / lens focal length, where pixel width = camera sensor size width / frame width. For example, the sensor size of a camera model is: 4.64*6.16, the frame size is: 3456*4608, and the focal length of the lens is: 5.4, then the pixel width = 4.64/3456 = 0.001343, if you shoot an aerial photo with a resolution of 0.05m, then The corresponding flying height is approximately 0.05*5.4/0.001343=201m.
[0055] In order to facilitate the post-processing of taking pictures, UAVs generally require equidistant pictures during shooting, so it is necessary to plan the UAV's photographing distance and flight belt distance in advance. Airline spacing is determined by the side overlap rate, resolution, and frame length. Airline spacing = (1-side overlap rate) * resolution * frame length; photo spacing is determined by the heading overlap rate, resolution and frame width It is decided that the photographing interval=(1-heading overlap rate)*resolution*frame width. For example, if the heading overlap rate of the above cameras is set to 70%, and the side overlap rate is 60%, then the air belt spacing = (1-60/100)*0.05*4608 = 92.16m, and the camera interval = (1-70/100 )*0.05*3456=51.84.
[0056] S4. Set the UAV's flight speed and climb end altitude, and set the climb point position.
[0057] S5. Generate a set of waypoints that can completely cover the surveying and mapping area through the computing device. According to the target area information obtained by S1 and the UAV initial position data obtained by S2, the first waypoint latitude and longitude coordinates are generated; the second waypoint latitude and longitude coordinates are generated according to the first waypoint latitude and longitude coordinates, the boundary of the target area and the heading angle ; According to the latitude and longitude coordinates of the second waypoint and the distance between the flight zones obtained by S3, the latitude and longitude coordinates of the third waypoint are generated, and the latitude and longitude coordinates of all the waypoints that can completely cover the target surveying area are calculated in the same way. In this embodiment, the planning range over-limit judgment is added in the air belt replacement calculation link. The calculation device can estimate the flight time of the drone based on the total range and flight speed of the planned waypoint. If the flight time exceeds When the drone is at its maximum flight time, a warning that the planning range is exceeded will appear.
[0058] S6. According to the initial environment, such as wind level, wind direction, etc., initially set the landing point and landing direction of the drone, and generate the latitude and longitude coordinates of the return home point and the latitude and longitude coordinates of the landing way point.
[0059] S7. Determine the flying direction of the aircraft according to the wind direction, connect the latitude and longitude coordinates of all waypoints in turn according to the heading, and combine the flight altitude obtained by S3 to generate a route.
[0060] In actual flight, the computing device can update the waypoint information in real time according to the changing flight environment data. For example, use sensors to detect the wind direction and wind speed during the landing phase of the drone, re-determine the landing point and direction according to the ambient wind direction and wind speed, and update the landing Route; the flight direction of the drone can also be adjusted according to the actual wind direction to ensure the best flight attitude of the drone as far as possible, so as to ensure the overlap rate of images and the quality of later imaging.

Example Embodiment

[0061] Example two
[0062] The embodiment of the present invention relates to a surveying and mapping drone route planning device, which corresponds to the method in the first embodiment, and includes:
[0063] The input terminal is used to obtain the coordinate information of the target area to be surveyed and mapped;
[0064] The preprocessing module is used to perform an extension processing on the input coordinate information of the target area;
[0065] The sensing module is used to sense the current state parameters and flight environment of the drone;
[0066] The acquisition module is used to collect the shooting parameters of the camera;
[0067] Calculation module, used to generate position information of each waypoint;
[0068] Return home processing module, used to determine the location information of the home return point and landing point;
[0069] The route generation module is used to generate the final route.
[0070] The adjustment module, if the sensing module detects that the current flight environment is different from the initial flight environment, the adjustment module will adjust the waypoint information in real time according to the change.
[0071] In summary, the method and device for surveying and mapping UAV route planning provided by the present invention can quickly and automatically generate corresponding waypoint information according to different target areas and surveying and mapping requirements, saving time, and can update the flight path in real time according to environmental changes. Point information, reduce shooting errors, and have better flexibility.
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Description & Claims & Application Information

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