A method and device for monitoring the ground situation of a round trajectory flight

Abstract

The application provides a round flight ground situation monitoring method and device, the method comprises the following steps: determining the number of round inside and outside coverage bands and side swing angle steps based on the parameters of a plane array camera, a preset maximum circumscribed field of view cutoff angle and a preset lateral overlap; obtaining the photographing point polar coordinates and photographing side swing angle based on each round inside and outside coverage band, side swing angle steps and the parameters of the plane array camera, in combination with a preset heading overlap and a preset round flight route; obtaining the situation map of the ground target monitoring area based on the photographing point polar coordinates, photographing side swing angle and the preset round flight route, in combination with the real-time collected flight data; wherein the round inside and outside coverage bands comprise a downward coverage band, an inside coverage band and an outside coverage band. The application realizes the splicing of the ground range corresponding to multiple photographing angles on the round flight route, can efficiently perform large-scale repeated monitoring, and greatly improves the monitoring efficiency of the ground situation.

Description

Technical Field

[0001] This invention relates to the fields of airborne remote sensing and computer communication control technology, and in particular to a method and device for monitoring the ground situation during circular trajectory flight. Background Technology

[0002] In order to ensure detailed coverage of ground targets, traditional aerial remote sensing emergency monitoring generally adopts the farmland flight mode, which involves repeatedly turning back and forth to cover the survey area. However, the traditional farmland flight ground imaging mode can only perform downward imaging, resulting in low photographic coverage efficiency. It cannot cover a large area and cannot achieve high-time-efficiency cyclic coverage of core targets. Summary of the Invention

[0003] This invention provides a method and device for monitoring ground situation during circular flight, which solves the shortcomings of existing technologies such as single shooting angle and low monitoring efficiency. It realizes a circular rotation shooting mode and takes pictures at different side-swing angles, which greatly improves the monitoring efficiency of ground situation.

[0004] This invention provides a method for monitoring the ground situation of circular trajectory flight, comprising:

[0005] Based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace and the step size of the lateral tilt angle are determined.

[0006] Based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular track flight path, the polar coordinates of the shooting point and the shooting side-swing angle are obtained.

[0007] Based on the polar coordinates of the shooting point, the shooting side swing angle, and the preset circular flight path, combined with the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

[0008] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0009] According to the circular trajectory flight ground situation monitoring method provided by the present invention, the parameters of the area array camera include the focal length and the lateral swath width of the camera imaging plane. Correspondingly, determining the number of inner and outer coverage zones and the side-swing angle step size based on the parameters of the area array camera, the preset maximum circumscribed field of view cutoff angle, and the preset lateral overlap includes:

[0010] The lateral field of view is obtained based on the focal length and the lateral width of the camera's imaging plane;

[0011] Based on the lateral field of view, the preset maximum circumscribed field of view cutoff angle, and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace is obtained;

[0012] The lateral sway angle step size is obtained based on the number of inner and outer coverage zones of the circular trace and the preset maximum external field of view cutoff angle.

[0013] According to the circular trajectory flight ground situation monitoring method provided by the present invention, the parameters of the area array camera further include the swath width of the camera imaging plane, the preset circular trajectory flight path includes flight altitude and flight radius, and when the coverage zone inside and outside the circular trajectory is a downward-looking coverage zone, accordingly,

[0014] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0015] Based on the focal length, flight altitude, and camera imaging plane swath, the ground coverage swath is obtained;

[0016] Based on the ground coverage swath width, preset swath overlap, and flight radius, the number of downward-looking aerial images is obtained;

[0017] Based on the number of downward-looking aerial photos and the flight radius, the polar coordinates of the photo-taking point are obtained;

[0018] Based on the fact that the inner and outer coverage zones of the circular trace are the downward coverage zones, the side tilt angle of the photograph is zero.

[0019] According to the circular trajectory flight ground situation monitoring method provided by the present invention, when the inner and outer coverage zones of the circular trajectory are the inner coverage zone, correspondingly,

[0020] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0021] Based on the position of the selected inner coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained;

[0022] Based on the shooting side swing angle, flight altitude, and flight radius, the inner circular trace radius is obtained;

[0023] The number of inner aerial photographs is obtained based on the inner circular radius, the preset heading overlap, and the ground coverage heading width.

[0024] Based on the number of inner aerial photographs and the radius of the inner circular trace, the polar coordinates of the photographing point are obtained.

[0025] According to the circular trajectory flight ground situation monitoring method provided by the present invention, when the outer coverage zone of the circular trajectory is the outer coverage zone, correspondingly,

[0026] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0027] Based on the position of the selected outer coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained;

[0028] Based on the shooting side swing angle, flight altitude, and flight radius, the radius of the outer circular trace is obtained;

[0029] The number of outer aerial photographs is obtained based on the outer circular trace radius, the preset heading overlap, and the ground coverage heading width;

[0030] Based on the number of outer aerial photographs and the radius of the outer circular trace, the polar coordinates of the photographing point are obtained.

[0031] According to the circular trajectory flight ground situation monitoring method provided by the present invention, the preset circular trajectory flight path includes the center coordinates, and correspondingly,

[0032] The process of obtaining a situation map of the ground target monitoring area based on the polar coordinates of the shooting point, the shooting side-swing angle, and the parameters of the area array camera, combined with real-time acquired flight data, includes:

[0033] Based on the polar coordinates and center coordinates of the photographing point, the geographical coordinates of the photographing point are obtained;

[0034] Based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

[0035] According to the circular trajectory flight ground situation monitoring method provided by the present invention, the real-time acquired flight data includes real-time acquired current geographic coordinates and flight attitude data, and correspondingly,

[0036] The process of obtaining a situation map of the ground target monitoring area based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and real-time collected flight data includes:

[0037] Based on the aforementioned side-swing angle for taking pictures, combined with the real-time acquired flight attitude data, the photo attitude angle is obtained; wherein, the photo attitude angle is the desired side-swing angle direction pointed to by the gimbal-controlled area array camera after compensating for the real-time acquired flight attitude data.

[0038] Based on the shooting posture angle, when the difference between the geographic coordinates of the shooting point and the real-time collected current geographic coordinates is less than a preset threshold, the area array camera is controlled to take a picture to obtain the original image.

[0039] Based on the original image, a situation map of the ground target monitoring area is obtained.

[0040] The present invention also provides a ground situation monitoring device for circular trajectory flight, comprising:

[0041] The side-swing angle determination module is used to determine the number of inner and outer coverage zones of the circular trace and the side-swing angle step size based on the parameters of the area array camera, the preset maximum external field of view cutoff angle, and the preset lateral overlap.

[0042] The polar coordinate determination module is used to obtain the polar coordinates of the shooting point and the shooting side swing angle based on the inner and outer coverage zones of each circular track, the side swing angle step size and the parameters of the area array camera, combined with the preset heading overlap degree and the preset circular track flight path.

[0043] The situation map acquisition module is used to obtain a situation map of the ground target monitoring area based on the polar coordinates of the shooting point, the shooting side tilt angle, and the preset circular flight path, combined with the flight data collected in real time.

[0044] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0045] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the circular trajectory flight ground situation monitoring method as described in any of the preceding claims.

[0046] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the circular trajectory flight ground situation monitoring method as described in any of the preceding claims.

[0047] The circular trajectory flight ground situation monitoring method, device, electronic equipment, and storage medium provided by this invention determine the number of inner and outer coverage zones and the side-swing angle step size based on the parameters of the area array camera, the preset maximum external field of view cutoff angle, and the preset lateral overlap. Based on each inner and outer coverage zone, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and the preset circular trajectory flight path, the polar coordinates of the image point and the image side-swing angle are obtained. Based on the polar coordinates of the image point, the image side-swing angle, and the preset circular trajectory flight path, combined with real-time acquired flight data, a situation map of the ground target monitoring area is obtained. The inner and outer coverage zones of the circular trajectory include a downward-looking coverage zone, an inner coverage zone, and an outer coverage zone. This invention, through one or more circular trajectory flights, based on a circular rotation imaging mode, performs imaging at different side-swing angles, achieving the stitching of ground ranges corresponding to multiple imaging angles. This enables efficient large-scale repeated monitoring, greatly improving the efficiency of ground situation monitoring. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a flowchart illustrating the ground situation monitoring method for circular trajectory flight provided by the present invention;

[0050] Figure 2 This is a schematic diagram illustrating the effect of circular trajectory flight sweeping photography provided by the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of the circular trajectory flight ground situation monitoring device provided by the present invention;

[0052] Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention;

[0053] Figure 5 This is a schematic diagram of ground coverage for simulated circular flight based on an implementation example provided by the present invention. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0055] The following is combined with Figures 1-5 The present invention describes a method, apparatus, electronic device, and storage medium for monitoring ground situation during circular flight.

[0056] Figure 1 This is a flowchart of the circular trajectory flight ground situation monitoring method provided by the present invention. Figure 2 This is a schematic diagram illustrating the effect of circular trajectory flight scanning photography provided by the present invention, such as... Figure 1 and 2 As shown in one specific embodiment, the ground situation monitoring method for circular trajectory flight provided by the present invention includes the following steps:

[0057] Step S110: Based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap, determine the number of inner and outer coverage zones of the circular trace and the lateral tilt angle step size.

[0058] Step S120: Based on the inner and outer coverage zones of each circular track, the side swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular track flight path, obtain the polar coordinates of the shooting point and the shooting side swing angle.

[0059] Step S130: Based on the polar coordinates of the photographing point, the photographing side-swing angle, and the preset circular flight path, combined with the real-time collected flight data, a situation map of the ground target monitoring area is obtained, such as... Figure 5 As shown.

[0060] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0061] Furthermore, the parameters of the area scan camera include the focal length and the lateral width of the camera's imaging plane. Correspondingly, determining the number of inner and outer coverage zones and the lateral tilt angle step size based on the area scan camera's parameters, the preset maximum circumscribed field-of-view cutoff angle, and the preset lateral overlap includes:

[0062] The lateral field of view is obtained based on the focal length and the lateral width of the camera's imaging plane;

[0063] Based on the lateral field of view, the preset maximum circumscribed field of view cutoff angle, and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace is obtained;

[0064] The lateral sway angle step size is obtained based on the number of inner and outer coverage zones of the circular trace and the preset maximum external field of view cutoff angle.

[0065] In this embodiment, the parameters of the area scan camera include the maximum external field-of-view cutoff angle δ, the focal length f, and the lateral swath width ly of the camera's imaging plane. The focal length f and the lateral swath width ly can be preset values ​​or variable values. The lateral field of view angle refers to the lateral field of view angle of a single image captured by the area scan camera, and the formula for calculating the lateral field of view angle α is:

[0066] α = 2 * Atan(ly / 2 / f)

[0067] The inner and outer coverage zones of a circular trajectory refer to the annular ground coverage area corresponding to each side-swing when the aircraft takes side-swing photos at side-swing angle steps during circular trajectory flight. The inner and outer coverage zones include the downward-looking coverage zone (i.e., the coverage zone when the side-swing angle is 0), the inner coverage zone, and the outer coverage zone. The number of inner and outer coverage zones is N. p The calculation formula is:

[0068]

[0069] Int() is a VFP numerical function that rounds a real number (which can be a mathematical expression) down to the nearest integer; qy It is the preset lateral overlap, which can be set according to the actual situation, such as 20%; δ is the maximum external field of view cutoff angle; α is the lateral field of view angle.

[0070] Lateral swing angle step Δ p This refers to the preset unit angle of each side-swing of the area scan camera, with the side-swing angle step size Δ. p The calculation formula is:

[0071]

[0072] Where δ is the maximum external field of view cutoff angle; α is the lateral field of view angle; N p It refers to the number of covering zones inside and outside the circular trace.

[0073] In this embodiment, the preset circular trajectory flight path is a circular trajectory flight path with a certain flight altitude and flight radius pre-specified based on the required resolution and relevant factors such as the area and location of the ground target monitoring area. The specific process includes: first, determining the number of inner and outer coverage zones and the side-swing angle step size based on the parameters of the area array camera; then, based on the inner and outer coverage zones of each circular trajectory, the side-swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular trajectory flight path, obtaining the polar coordinates of the image point and the image side-swing angle; finally, based on the polar coordinates of the image point, the image side-swing angle, and the parameters of the area array camera, combined with the real-time acquired flight data, obtaining the situation map of the ground target monitoring area; wherein, the inner and outer coverage zones of the circular trajectory include a downward-looking coverage zone, at least one inner coverage zone, and at least one outer coverage zone.

[0074] It should be noted that the preset circular flight path can be a single circular flight or multiple circular flights, depending on whether the entire ground target monitoring area can be photographed and collected within one circular flight time. In other words, if the gimbal system's side-swing movement and the area array camera's imaging can complete the photographing and collection of all coverage areas inside and outside the circular path within one circular flight time, then one circular flight is performed; otherwise, the number of circular flights can be determined based on the actual situation. If the ground target monitoring area is too large, and one circular flight path is insufficient for complete coverage, multiple preset circular flight paths can be formulated. This application does not specifically limit this. The gimbal is a supporting device for mounting and fixing mobile phones, cameras, and camcorders. It comes in two types: fixed and motorized, and can rotate freely for user convenience. The gimbal in this invention can be controlled by commands to point to a given angle.

[0075] The circular flight ground situation monitoring method provided in this embodiment, through one or more circular flight operations, takes pictures at different side-swing angles based on the circular rotation photography mode, and realizes the stitching of ground ranges corresponding to multiple photography angles. It can efficiently perform large-scale repeated monitoring, which greatly improves the monitoring efficiency of ground situation.

[0076] In one specific embodiment, according to the circular trajectory flight ground situation monitoring method provided by the present invention, the parameters of the area array camera further include the swath width of the camera imaging plane, the preset circular trajectory flight path includes flight altitude and flight radius, and when the inner and outer coverage zones of the circular trajectory are downward-looking coverage zones, accordingly,

[0077] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0078] Based on the focal length, flight altitude, and camera imaging plane swath, the ground coverage swath is obtained;

[0079] Based on the ground coverage swath width, preset swath overlap, and flight radius, the number of downward-looking aerial images is obtained;

[0080] Based on the number of downward-looking aerial photos and the flight radius, the polar coordinates of the photo-taking point are obtained;

[0081] Based on the fact that the inner and outer coverage zones of the circular trace are the downward coverage zones, the side tilt angle of the photograph is zero.

[0082] Furthermore, when the inner and outer covering zones of the circular trace are the inner covering zone, correspondingly,

[0083] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0084] Based on the position of the selected inner coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained;

[0085] Based on the shooting side swing angle, flight altitude, and flight radius, the inner circular trace radius is obtained;

[0086] The number of inner aerial photographs is obtained based on the inner circular radius, the preset heading overlap, and the ground coverage heading width.

[0087] Based on the number of inner aerial photographs and the radius of the inner circular trace, the polar coordinates of the photographing point are obtained.

[0088] Furthermore, when the outer and inner covering zones of the circular trace are the outer covering zone, correspondingly,

[0089] The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image point and the image side-swing angle, including:

[0090] Based on the position of the selected outer coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained;

[0091] Based on the shooting side swing angle, flight altitude, and flight radius, the radius of the outer circular trace is obtained;

[0092] The number of outer aerial photographs is obtained based on the outer circular trace radius, the preset heading overlap, and the ground coverage heading width;

[0093] Based on the number of outer aerial photographs and the radius of the outer circular trace, the polar coordinates of the photographing point are obtained.

[0094] In this embodiment, when the coverage zones inside and outside the circular track are downward-looking coverage zones, the calculation formula for the ground coverage swath width Lx is as follows:

[0095] Lx=lx*(HH t ) / f;

[0096] Where lx is the swath width of the camera's imaging plane; H is the flight altitude, i.e., the absolute flight altitude; H t is the average ground height of the ground target monitoring area; f is the focal length.

[0097] If the circumference of the pre-set circular flight path is C = 2πR, then the number of downward-looking aerial photographs N0 required for downward-looking photography is:

[0098] N0=Int(2πR / ((1-q x )*Lx))+1;

[0099] Int() is a VFP numerical function that rounds a real number (which can be a mathematical expression) down to the nearest integer; R is the flight radius; q x Lx is the preset heading overlap; Lx is the ground coverage heading width.

[0100] For the polar coordinates of the shooting point at each downward-looking point on the circular trace, expressed in polar coordinates as (R, θ) j ),in,

[0101] Flying counterclockwise The lateral tilt angle at this photo-taking location is zero; its expected attitude angles (in the navigation coordinate system) are: roll 0, pitch 0, and heading = 360 - θ.j j is an integer between 0 and N0.

[0102] Furthermore, when the inner and outer coverage zones of the circular trace are the inner coverage zones, the pan-tilt-zoom camera is controlled to roll inward to take pictures. If the inner coverage zone is the first inner coverage zone (i.e., the inner coverage zone closest to the downward-looking coverage zone), the side-swing angle for taking pictures is one side-swing angle step inward. If it is the i-th inner coverage zone, the side-swing angle for taking pictures is i side-swing angle steps inward. At this time, the side-swing angle r... i The calculation formula is as follows:

[0103] r i =i*Δ p ;

[0104] Where i represents the inner coverage zone of the i-th ring; Δ p The lateral swing angle step size.

[0105] At this point, the inner circular trace radius R corresponding to the inner covering zone i The calculation formula is as follows:

[0106] R i =R-Tan(r) i )*(HH t );

[0107] Where R is the flight radius; r i The angle at which the camera is tilted to the side; H is the flight altitude, i.e., the absolute flight altitude; H t It is the average ground elevation of the ground target monitoring area.

[0108] Similarly, the number of images required at this time is the number of inner aerial photographs, N. i for

[0109] N i =Int(2πR) i / ((1-q x )*Lx))+1;

[0110] Int() is a VFP numerical function that rounds a real number (which can be a mathematical expression) down to the nearest integer; R i q is the radius of the inner circle; x Lx is the preset heading overlap; Lx is the ground coverage heading width.

[0111] The coordinates of each photographic point on the inner circular trace, expressed in polar coordinates, are (R... i ,θ j ),in,

[0112] The side angle of the photo taken at this location is r.i The expected values ​​of their attitude angles (in the navigation coordinate system) are respectively the roll angle r. i The pitch angle is 0, and the heading angle is 360 - θ. j j is from 0 to N i Integers between [a certain range].

[0113] Furthermore, when the outer coverage zone of the circular trace is the outer coverage zone, the pan-tilt-zoom camera is controlled to roll outwards to take pictures. If the outer coverage zone is the first outer coverage zone, i.e., the outer coverage zone closest to the downward-looking coverage zone, then the side-swing angle for taking pictures is one side-swing angle step outwards. If it is the i-th outer coverage zone, then the side-swing angle for taking pictures is i side-swing angle steps outwards. At this time, the side-swing angle r is... i The calculation formula is as follows:

[0114] r i =-i*Δ p ;

[0115] Where i represents the outer coverage zone of the i-th ring; Δ p The lateral swing angle step size.

[0116] At this point, the radius R of the outer circular trace corresponding to the outer covering zone i The calculation formula is as follows:

[0117] R i =R-Tan(r) i (HH) t );

[0118] Where R is the flight radius; r i The angle at which the camera is tilted to the side; H is the flight altitude, i.e., the absolute flight altitude; H t It is the average ground elevation of the ground target monitoring area.

[0119] Similarly, the number of images required at this time is the number of outer aerial photographs, N. i for

[0120] N i =Int(2πR) i / ((1-q x )*Lx))+1;

[0121] Int() is a VFP numerical function that rounds a real number (which can be a mathematical expression) down to the nearest integer; R i q is the radius of the outer circular trace; x Lx is the preset heading overlap; Lx is the ground coverage heading width.

[0122] The coordinates of each photographic point on the outer circular trace, expressed in polar coordinates, are (R... i ,θ j ),in,

[0123] Flying counterclockwise The side angle of the photo taken at this location is r. i The expected values ​​of their attitude angles (in the navigation coordinate system) are respectively the roll angle r. i The pitch angle is 0, and the heading angle is 360 - θ. j j is from 0 to N i Integers between 0 and 1 are denoted as 0.

[0124] The circular trajectory flight ground situation monitoring method provided in this embodiment, by further explaining the path for obtaining the polar coordinates of the photo-taking point and the side-swing angle of the photo-taking, effectively supports taking photos at different side-swing angles based on the circular rotation photo-taking mode, realizing the stitching of ground ranges corresponding to multiple photo-taking angles, enabling efficient large-scale repeated monitoring, and greatly improving the monitoring efficiency of the ground situation.

[0125] In one specific embodiment, according to the circular trajectory flight ground situation monitoring method provided by the present invention, the preset circular trajectory flight path includes the center coordinates, and correspondingly,

[0126] The process of obtaining a situation map of the ground target monitoring area based on the polar coordinates of the photographing point, the side-swing angle of the photograph, and the preset circular flight path, combined with real-time collected flight data, includes:

[0127] Based on the polar coordinates and center coordinates of the photographing point, the geographical coordinates of the photographing point are obtained;

[0128] Based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

[0129] Furthermore, the real-time acquired flight data includes real-time acquired current geographic coordinates and flight attitude data, accordingly,

[0130] The process of obtaining a situation map of the ground target monitoring area based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and real-time collected flight data includes:

[0131] Based on the aforementioned side-swing angle for taking pictures, combined with the real-time collected flight attitude data, the photo attitude angle is obtained, wherein the photo attitude angle is the desired side-swing angle direction pointed to by the gimbal-controlled area array camera after compensating for the real-time collected flight attitude data.

[0132] Based on the shooting posture angle, when the difference between the geographic coordinates of the shooting point and the real-time collected current geographic coordinates is less than a preset threshold, the area array camera is controlled to take a picture to obtain the original image.

[0133] Based on the original image, a situation map of the ground target monitoring area is obtained.

[0134] In this embodiment, the center coordinates of the preset circular flight path are (x0, y0), and the polar coordinates of the point where the aircraft needs to take pictures are (R... i ,θ j ) or (R,θ j Through coordinate system transformation, the rectangular coordinates (x, y) of the photo location are obtained. j y j The calculation formula is as follows:

[0135] X j =X0+R i cos(θ j )

[0136] Y j =Y0+R i sin(θ j )

[0137] or

[0138] X j =X0+Rcos(θ) j )

[0139] Y j =Y0+Rsin(θ) j )

[0140] Among them, R i R is the radius of the inner or outer circular trace, and R is the flight radius.

[0141] By using a common coordinate system projection transformation method, the rectangular coordinates of the photo point can be converted into geographic coordinates (i.e., coordinates in latitude and longitude format).

[0142] In this embodiment, the shooting attitude angle is obtained based on the side-swing angle of the image capture, combined with the real-time acquired flight attitude data. That is to say, when the gimbal system and the area array camera are mounted on the aircraft, and the aircraft flies along the preset circular trajectory, the flight attitude is dynamically changing. At this time, the control system needs to adjust the angle of the gimbal according to the real-time acquired flight attitude information to ensure that the side-swing angle of the image capture points to the desired side-swing angle direction, so as to achieve accurate and complete coverage of the corresponding inner and outer coverage zones of the circular trajectory. At this time, the dynamically adjusted angle is the shooting attitude angle. Based on the shooting attitude angle, when the difference between the geographic coordinates of the shooting point and the real-time acquired current geographic coordinates is less than a preset threshold, the area array camera is controlled to capture an image to obtain the original image. Based on the original image, the original image is processed in real time to obtain a situation map of the ground target monitoring area.

[0143] The circular flight ground situation monitoring method provided in this embodiment further explains the specific shooting process from the polar coordinates of the shooting point and the center coordinates of the circle to obtain the original image, making the technical path clearer and more specific. It strongly supports taking pictures at different side-swing angles based on the circular rotation shooting mode, realizing the stitching of ground ranges corresponding to multiple shooting angles, and can efficiently perform large-scale repeated monitoring, greatly improving the monitoring efficiency of ground situation.

[0144] The following describes a circular trajectory flight ground situation monitoring device provided by the present invention. The circular trajectory flight ground situation monitoring device described below can be referred to in correspondence with the circular trajectory flight ground situation monitoring method described above.

[0145] Figure 3 The structural diagram of the circular trajectory flight ground situation monitoring device provided by the present invention is as follows: Figure 3 As shown, in one specific embodiment, the circular trajectory flight ground situation monitoring device provided by the present invention includes:

[0146] The side-swing angle determination module 310 is used to determine the number of inner and outer coverage zones of the circular trace and the side-swing angle step size based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap.

[0147] The polar coordinate determination module 320 is used to obtain the polar coordinates of the shooting point and the shooting side swing angle based on the inner and outer coverage zones of each circular track, the side swing angle step size and the parameters of the area array camera, combined with the preset heading overlap degree and the preset circular track flight path.

[0148] The situation map acquisition module 330 is used to obtain a situation map of the ground target monitoring area based on the polar coordinates of the shooting point, the shooting side swing angle and the preset circular flight path, combined with the flight data collected in real time.

[0149] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0150] Furthermore, the parameters of the area array camera include the focal length and the lateral width of the camera's imaging plane. Correspondingly, the side-swing angle determination module 310 includes:

[0151] A lateral field of view acquisition unit is used to obtain the lateral field of view based on the focal length and the lateral width of the camera imaging plane;

[0152] The unit for obtaining the number of inner and outer coverage zones of the circular trace is used to obtain the number of inner and outer coverage zones of the circular trace based on the lateral field of view, the preset maximum lateral field of view cutoff angle, and the preset lateral overlap.

[0153] The side sway angle step size acquisition unit is used to obtain the side sway angle step size based on the number of inner and outer coverage bands of the circular trace and the preset maximum external field of view cutoff angle.

[0154] In this embodiment, the circular trajectory flight ground situation monitoring device further includes a monitoring module, a data transmission module, and an onboard real-time processing module. The monitoring module is used to monitor the image data captured by the area array camera and the data processed by the onboard real-time processing module in real time. The ground end of the data transmission module is used to send control commands, receive status commands, and receive real-time processed images or raw images, etc.; the air end of the data transmission module is used to receive control commands, send status commands, and send image data, etc. The onboard real-time processing module is used to process the captured raw images in real time and transmit the real-time corrected raw images to the ground through the data transmission module.

[0155] The circular trajectory flight ground situation monitoring device provided in this embodiment is equipped with a side-swing angle determination module, a polar coordinate determination module, and a situation map acquisition module. Through one or more circular trajectory flights, based on the circular rotation photography mode, different side-swing angles are photographed to realize the stitching of the ground range corresponding to multiple photography angles. It can efficiently perform large-scale repeated monitoring and greatly improve the monitoring efficiency of the ground situation.

[0156] In one specific embodiment, according to the circular trajectory flight ground situation monitoring device provided by the present invention, the parameters of the area array camera further include the azimuth width of the camera imaging plane, the preset circular trajectory flight path includes flight altitude and flight radius, and when the inner and outer coverage zones of the circular trajectory are downward-looking coverage zones, the polar coordinate determination module 320 accordingly includes:

[0157] The first submodule is used to obtain the ground coverage swath width based on the focal length, flight altitude, and camera imaging plane swath width; to obtain the number of downward-looking aerial images based on the ground coverage swath width, preset swath overlap, and flight radius; to obtain the polar coordinates of the shooting point based on the number of downward-looking aerial images and flight radius; and to obtain the shooting side-swing angle as zero based on the inner and outer coverage zones of the circular trace as the downward-looking coverage zone.

[0158] Furthermore, when the inner and outer coverage zones of the circular trace are the inner coverage zone, the polar coordinate determination module 320 accordingly includes:

[0159] The second submodule is used to obtain the image-taking side-swing angle based on the selected inner coverage zone position and the side-swing angle step size; to obtain the inner circular trace radius based on the image-taking side-swing angle, flight altitude, and flight radius; to obtain the number of inner aerial photos based on the inner circular trace radius, preset heading overlap, and ground coverage heading width; and to obtain the polar coordinates of the image-taking point based on the number of inner aerial photos and the inner circular trace radius.

[0160] Furthermore, when the outer and inner covering zones of the circular trace are the outer covering zone, the polar coordinate determination module 320 accordingly includes:

[0161] The third submodule is used to obtain the image-taking side-swing angle based on the selected outer coverage zone position and the side-swing angle step size; to obtain the outer circular trace radius based on the image-taking side-swing angle, flight altitude, and flight radius; to obtain the number of outer aerial photos based on the outer circular trace radius, preset heading overlap, and ground coverage heading width; and to obtain the polar coordinates of the image-taking point based on the number of outer aerial photos and the outer circular trace radius.

[0162] The circular flight ground situation monitoring device provided in this embodiment further clarifies the path for obtaining the polar coordinates of the shooting point and the side-swing angle of the shooting by setting up a first sub-module, a second sub-module, and a third sub-module. It effectively supports taking pictures at different side-swing angles based on the circular rotation shooting mode, realizes the stitching of the ground range corresponding to multiple shooting angles, and can efficiently perform large-scale repeated monitoring, which greatly improves the monitoring efficiency of the ground situation.

[0163] In one specific embodiment, according to the circular trajectory flight ground situation monitoring device provided by the present invention, the preset circular trajectory flight path includes the center coordinates, and correspondingly, the situation map acquisition module 330 includes:

[0164] The geographic coordinate transformation unit is used to obtain the geographic coordinates of the photographing point based on the polar coordinates and center coordinates of the photographing point;

[0165] The situation map acquisition unit is used to obtain a situation map of the ground target monitoring area based on the geographical coordinates of the photo-taking point, the side-swing angle of the photo-taking point, and the flight data collected in real time.

[0166] Furthermore, the real-time acquired flight data includes real-time acquired current geographic coordinates and flight attitude data; correspondingly, the situation map acquisition unit includes:

[0167] The photo-taking attitude angle determination subunit is used to obtain the photo-taking attitude angle based on the photo-taking side-sway angle and combined with the real-time collected flight attitude data. The photo-taking attitude angle is the desired side-sway angle direction pointed to by the gimbal-controlled area array camera after compensating for the real-time collected flight attitude data.

[0168] The original image acquisition subunit is used to control the area array camera to take a picture and obtain the original image when the difference between the geographic coordinates of the shooting point and the real-time acquired current geographic coordinates is less than a preset threshold, based on the shooting posture angle.

[0169] The situation map acquisition subunit is used to obtain a situation map of the ground target monitoring area based on the original image.

[0170] The circular flight ground situation monitoring device provided in this embodiment, by setting up a geographic coordinate transformation unit and a situation map acquisition unit, further illustrates the specific shooting process from obtaining the original image based on the polar coordinates of the shooting point and the center coordinates of the circle, making the technical path clearer and more specific. It strongly supports taking pictures at different side-swing angles based on the circular rotation shooting mode, realizing the stitching of ground ranges corresponding to multiple shooting angles, and can efficiently perform large-scale repeated monitoring, greatly improving the monitoring efficiency of the ground situation.

[0171] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a circular trajectory flight ground situation monitoring method, which includes:

[0172] Based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace and the step size of the lateral tilt angle are determined.

[0173] Based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular track flight path, the polar coordinates of the shooting point and the shooting side-swing angle are obtained.

[0174] Based on the polar coordinates of the shooting point, the shooting side swing angle, and the preset circular flight path, combined with the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

[0175] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0176] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0177] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the circular trajectory flight ground situation monitoring method provided by the above methods, the method comprising:

[0178] Based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace and the step size of the lateral tilt angle are determined.

[0179] Based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular track flight path, the polar coordinates of the shooting point and the shooting side-swing angle are obtained.

[0180] Based on the polar coordinates of the shooting point, the shooting side swing angle, and the preset circular flight path, combined with the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

[0181] The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

[0182] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0183] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0184] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for monitoring the ground situation of circular trajectory flight, characterized in that, include: Based on the parameters of the area array camera, the preset maximum external field of view cutoff angle and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace and the step size of the lateral tilt angle are determined. Based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset heading overlap and the preset circular track flight path, the polar coordinates of the shooting point and the shooting side-swing angle are obtained. Based on the polar coordinates of the shooting point, the shooting side swing angle, and the preset circular flight path, combined with the real-time collected flight data, a situation map of the ground target monitoring area is obtained. The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

2. The method for ground situation monitoring during circular trajectory flight according to claim 1, characterized in that, The parameters of the area scan camera include the focal length and the lateral swath width of the camera's imaging plane. Correspondingly, determining the number of inner and outer coverage zones and the lateral tilt angle step size based on the area scan camera's parameters, the preset maximum circumscribed field of view cutoff angle, and the preset lateral overlap includes: The lateral field of view is obtained based on the focal length and the lateral width of the camera's imaging plane; Based on the lateral field of view, the preset maximum circumscribed field of view cutoff angle, and the preset lateral overlap, the number of inner and outer coverage zones of the circular trace is obtained; The lateral sway angle step size is obtained based on the number of inner and outer coverage zones of the circular trace and the preset maximum external field of view cutoff angle.

3. The method for monitoring the ground situation of circular trajectory flight according to claim 2, characterized in that, The parameters of the area array camera also include the swath width of the camera's imaging plane, and the preset circular trajectory flight path includes flight altitude and flight radius. When the coverage zones inside and outside the circular trajectory are downward-looking coverage zones, correspondingly... The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image capture point and the image side-swing angle, including: Based on the focal length, flight altitude, and camera imaging plane swath, the ground coverage swath is obtained; Based on the ground coverage swath width, preset swath overlap, and flight radius, the number of downward-looking aerial images is obtained; Based on the number of downward-looking aerial photos and the flight radius, the polar coordinates of the photo-taking point are obtained; Based on the fact that the inner and outer coverage zones of the circular trace are the downward coverage zones, the side tilt angle of the photograph is zero.

4. The method for monitoring the ground situation of circular trajectory flight according to claim 3, characterized in that, When the inner and outer covering zones of the circular mark are the inner covering zone, correspondingly, The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image capture point and the image side-swing angle, including: Based on the position of the selected inner coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained; Based on the shooting side swing angle, flight altitude, and flight radius, the inner circular trace radius is obtained; The number of inner aerial photographs is obtained based on the inner circular radius, the preset heading overlap, and the ground coverage heading width. Based on the number of inner aerial photographs and the radius of the inner circular trace, the polar coordinates of the photographing point are obtained.

5. The method for ground situation monitoring of circular trajectory flight according to claim 3, characterized in that, When the outer covering zone of the circular mark is the outer covering zone, correspondingly, The method, based on the inner and outer coverage zones of each circular track, the side-swing angle step size, and the parameters of the area array camera, combined with the preset forward overlap and preset circular track flight path, obtains the polar coordinates of the image capture point and the image side-swing angle, including: Based on the position of the selected outer coverage strip, and combined with the side-swing angle step size, the side-swing angle for taking the picture is obtained; Based on the shooting side swing angle, flight altitude, and flight radius, the radius of the outer circular trace is obtained; The number of outer aerial photographs is obtained based on the outer circular trace radius, the preset heading overlap, and the ground coverage heading width; Based on the number of outer aerial photographs and the radius of the outer circular trace, the polar coordinates of the photographing point are obtained.

6. The method for ground situation monitoring during circular trajectory flight according to claim 1, characterized in that, The preset circular flight path includes the coordinates of the center of the circle, and correspondingly... The process of obtaining a situation map of the ground target monitoring area based on the polar coordinates of the photographing point, the side-swing angle of the photograph, and the preset circular flight path, combined with real-time collected flight data, includes: Based on the polar coordinates and center coordinates of the photographing point, the geographical coordinates of the photographing point are obtained; Based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and the real-time collected flight data, a situation map of the ground target monitoring area is obtained.

7. The method for monitoring the ground situation of circular trajectory flight according to claim 6, characterized in that, The real-time acquired flight data includes real-time acquired current geographic coordinates and flight attitude data, accordingly, The process of obtaining a situation map of the ground target monitoring area based on the geographical coordinates of the photo-taking location, the side-swing angle of the photo-taking, and real-time collected flight data includes: Based on the aforementioned side-swing angle for taking pictures, combined with the real-time collected flight attitude data, the photo attitude angle is obtained, wherein the photo attitude angle is the desired side-swing angle direction pointed to by the gimbal-controlled area array camera after compensating for the real-time collected flight attitude data. Based on the shooting posture angle, when the difference between the geographic coordinates of the shooting point and the real-time collected current geographic coordinates is less than a preset threshold, the area array camera is controlled to take a picture to obtain the original image. Based on the original image, a situation map of the ground target monitoring area is obtained.

8. A ground situation monitoring device for circular trajectory flight, characterized in that, include: The side-swing angle determination module is used to determine the number of inner and outer coverage zones of the circular trace and the side-swing angle step size based on the parameters of the area array camera, the preset maximum external field of view cutoff angle, and the preset lateral overlap. The polar coordinate determination module is used to obtain the polar coordinates of the shooting point and the shooting side swing angle based on the inner and outer coverage zones of each circular track, the side swing angle step size and the parameters of the area array camera, combined with the preset heading overlap degree and the preset circular track flight path. The situation map acquisition module is used to obtain a situation map of the ground target monitoring area based on the polar coordinates of the shooting point, the shooting side tilt angle, and the preset circular flight path, combined with the flight data collected in real time. The circular trace inner and outer coverage zones include a downward-viewing coverage zone, an inner coverage zone, and an outer coverage zone.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the circular trajectory flight ground situation monitoring method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the circular flight ground situation monitoring method as described in any one of claims 1 to 7.

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