Aerial photography route automatic generation method and device for cluster and related components

Abstract

The invention discloses an aerial photography route automatic generation method and device for a cluster and related components. The method comprises the following steps: acquiring a flight route of an unmanned aerial vehicle cluster in a performance coordinate system from a pre-edited script; setting an aerial photographing coordinate system based on a preset photographing direction, and converting the flight route of the unmanned aerial vehicle cluster under the performance coordinate system into the flight route of the unmanned aerial vehicle cluster under the aerial photographing coordinate system; obtaining a lens field angle of the aerial photography machine, and traversing and calculating the positions of the aerial photography machine in the aerial photography coordinate system at all moments based on the flight route of the unmanned aerial vehicle cluster in the aerial photography coordinate system; and converting the positions of the aerial photography machine at all moments under the aerial photography coordinate system to the positions of the aerial photography machine at all moments under the performance coordinate system to obtain an aerial photography route of the aerial photography machine. According to the method, the aerial photography machine can fly along the generated flight route, errors caused by manual control of the aerial photography machine are avoided, the shot unmanned aerial vehicle cluster is kept in the center of the picture, and the integrity of the shot picture is guaranteed.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method, device and related components for automatically generating aerial routes for clusters. Background technique [0002] Now drones are unmanned aircraft, which are unmanned aircraft controlled by radio remote control equipment and corresponding programs. Due to the rapid development of drone technology in recent years, drones have been widely used in various fields. [0003] In the scene of commercial aerial photography, such as UAV light show, the UAV cluster flies along the predetermined flight route, and the aerial photographer manually controls the aerial photography machine (aerial photography UAV) to track and shoot the UAV swarm. The preparation time for the light show is long, so it is impossible to rehearse and repeat the shooting many times, so the drone aerial photography is required to be completed in one or two shooting opportunities, which is...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a method, device and related components for automatically generating aerial routes for clusters, aiming to solve the problem of poor shooting effect of drone clusters by manual operation of aerial cameras and the inability to ensure the integrity of the shooting pictures sexual problems

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