Ground three-dimensional semantic map based on multi-aircraft cooperative flight and construction method thereof

Abstract

The invention relates to the technical field of surveying and mapping and unmanned aerial vehicles, and provides a ground three-dimensional semantic map based on multi-vehicle cooperative flight and a construction method thereof, and the method comprises the steps: selecting the types of sensors carried by the unmanned aerial vehicles according to task demands, and determining the number, formation mode and flight route of the unmanned aerial vehicles, the flight distance of each unmanned aerial vehicle and the flight height of each unmanned aerial vehicle; collecting data which includes ground measurement information in multiple dimensions, and aircraft attitude information and position information at all measurement moments; data preprocessing: unifying data from an image space coordinate system to an object space coordinate system; data processing: vectorizing the extracted different ground feature data, storing the vectorized data to different layers, and establishing an attribute table of different ground features; and data processing expression: overlapping different layers to obtain a three-dimensional semantic map. According to the invention, the defect that the aerial survey work at the present stage generally only obtains a single type of data and cannot obtain multiple types of data at the same time is overcome, and the identification of a three-dimensional semantic map and the multi-scene application of geographic space data can be met.

Description

technical field [0001] The invention relates to the technical fields of surveying and mapping and unmanned aerial vehicles, in particular to a method for constructing a ground three-dimensional semantic map based on multi-machine cooperative flight. Background technique [0002] With the rapid development of control technology and chips, the control accuracy of UAVs has been continuously improved, the flight cost has been gradually reduced, and the sensor accuracy has been continuously improved. The orderly low-altitude flight airspace makes UAV surveying and mapping a safe, cheap, high-performance, fast, and high-precision spatial data acquisition method in the future. However, the current UAV aerial survey application field generally uses a single aircraft and multiple sorties to complete the aerial survey work. In the face of emergency relief, air space tension and real-time aerial survey work, it takes a long time to complete the work, which cannot meet various requireme...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome at least one of the deficiencies of the prior art and provide a method for constructing a ground three-dimensional semantic map based on multi-aircraft cooperative flight. Technical issues, using multi-machine coordination technology, through the cooperation of different sensors carried by the UAV, the autonomous control of the aircraft, intelligent planning and multi-dimensional and efficient acquisition of spatial geographic data have been realized, and through processing The software processes aerial survey data to obtain thematic maps that meet different needs

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