A method and system for detecting ground temperature of unmanned aerial vehicle in a near-ground environment

Abstract

The present invention discloses a method and system for detecting the surface temperature of an unmanned aerial vehicle (UAV) in a near-ground environment. The method comprises the following steps: preheating the UAV lens for a predetermined time; the UAV performs a flight mission, and the UAV lens photographs the ground objects in the field of view at fixed intervals to obtain multiple highly equidistant thermal radiation remote sensing images; calculating the inverted UAV surface temperature data; and correcting the UAV surface temperature data and performing accuracy inspection. The present invention significantly improves the accuracy and stability of surface temperature detection, and demonstrates more application potential of UAVs in surface temperature research.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicle thermal infrared technology, and in particular to a method and system for detecting ground surface temperature of an unmanned aerial vehicle used in a near-ground environment. Background Art

[0002] Land surface temperature detection technology has been widely used in agriculture, environmental monitoring, urban planning and other fields. Land surface temperature is a key parameter for the physical description of surface energy and water balance processes from local to global scales. The potential of this key parameter has been repeatedly demonstrated in various thermal infrared-based studies and applications, such as evapotranspiration, hydrological modeling, precision agriculture, land use change, vegetation monitoring, "urban heat island and urban development" and climate change.

[0003] The traditional method of observing land surface temperature is mainly station observation, which can provide high-precision long-term series point data, but cannot provide large-scale observation. With the rapid development of remote sensing technology, combined with ground observation data, it is possible to obtain high-precision and large-scale LST.

[0004] The rapid development of UAV technology has significantly reduced the cost of obtaining air-based data, and UAV surface temperature detection has gradually become a research hotspot. However, existing UAV surface temperature detection methods have problems such as unstable flight altitude and large lens system errors, which limit their effectiveness and reliability in practical applications. For example, for the work of obtaining high-resolution and high-precision LST with thermal infrared UAV payloads, due to the load limit of the UAV platform, uncooled vanadium oxide lenses are generally used. In actual use, the difference between the ground temperature value measured by the FLIR Tau4 uncooled lens and the ground SI-111 infrared radiometer is as high as 3.3°C. According to literature research, the sources of its error may include random error, proximity effect error, spectral difference error, etc.

[0005] Therefore, it is of great significance to develop an efficient and accurate method for surface temperature detection. How to improve the accuracy and stability of UAV surface temperature detection has become the focus and challenge of current research. Summary of the invention

[0006] In view of the defects existing in the prior art, the purpose of the present invention is to reduce the systematic error of UAV-borne surface temperature observation and the observation error caused by the proximity effect, thereby improving the accuracy and stability of UAV-borne surface temperature observation. It can provide a solution for using UAV-borne surface temperature observation data as the surface "true value" to verify lower resolution satellite surface temperature products.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is:

[0008] A method for detecting ground temperature of an unmanned aerial vehicle in a near-ground environment comprises the following steps:

[0009] S1, preheating the drone lens for a predetermined time to stabilize the lens system error, wherein the drone lens is a thermal infrared lens;

[0010] S2, the UAV performs a flight mission, the UAV is made to descend at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain a plurality of thermal radiation remote sensing images with equal heights;

[0011] S3, determine the atmospheric upwelling radiation and atmospheric transmittance, and calculate the inverted UAV surface temperature data based on thermal radiation remote sensing images;

[0012] S4, obtaining verification standard data, and performing accuracy verification on the surface temperature data of the UAV based on the verification standard data.

[0013] Among them, S1, preheating the drone lens for a predetermined time, and the predetermined time is 30 minutes.

[0014] Among them, S2, makes the UAV descend at a uniform speed at an initial observation height, and the initial observation height is 200 meters.

[0015] Among them, S3, determines the atmospheric upward radiation and atmospheric transmittance, and the atmospheric upward radiation and atmospheric transmittance are calculated by using meteorological parameters provided by the meteorological element gradient observation system in conjunction with MODTRAN software.

[0016] Among them, S3 uses ground correction points to determine atmospheric upward radiation and atmospheric transmittance, uses water and iron plates as underlying surfaces, and deploys two sets of ground observation probes on the water and iron plates. The calculation formula is as follows:

[0017]

[0018] In the formula, and are the surface temperature data of the iron plate and the water body obtained by the drone before correction, LST, T iron With T water are the ground observation results of the iron plate and the water body, respectively, obtained through the deployed ground observation probes, ε iron With ε water are the surface emissivity LSE of the iron plate and the water body, is the atmospheric downward radiation, is the atmospheric upward radiation, B λ is the radiance emitted by the surface.

[0019] Among them, S3 uses atmospheric upward radiation and atmospheric transmittance to calculate the inverted drone surface temperature data. The calculation formula specifically includes:

[0020]

[0021] The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, B λ is the radiance emitted by the surface, is the radiance value received by the sensor, is the atmospheric upward radiation, is the atmospheric downward radiation, τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, λ is the altitude of the UAV, where It is the result of the combined effects of five factors: the ground surface, near-ground air, and downward atmospheric radiation, as well as the ground emissivity and atmospheric transmittance.

[0022] Among them, S4, obtains the inspection standard data, which is the ground measured temperature data provided by the meteorological element gradient observation system, specifically including: deploying a gradient observation device at the same position where the UAV flies, and obtaining the true temperature values ​​at different heights as the ground measured temperature data.

[0023] The present invention also provides a UAV surface temperature detection system for a near-ground environment, comprising:

[0024] A preheating module, used to preheat the drone lens for a predetermined time to stabilize the lens system error, wherein the drone lens is a thermal infrared lens;

[0025] The UAV remote sensing platform is used to mount the UAV to perform a flight mission, so that the UAV descends at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain multiple thermal radiation remote sensing images with equal heights;

[0026] The inversion module is used to determine the atmospheric upward radiation and atmospheric transmittance. Based on the thermal radiation remote sensing image, the atmospheric upward radiation and atmospheric transmittance are used to calculate the inverted UAV surface temperature data;

[0027] The inspection module is used to obtain inspection standard data and perform accuracy inspection on the surface temperature data of the UAV based on the inspection standard data.

[0028] Among them, the inversion module is used to calculate the inverted drone surface temperature data, and the calculation formula specifically includes:

[0029]

[0030] The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, B λ is the radiance emitted by the surface, is the radiance value received by the sensor, is the atmospheric upward radiation, is the atmospheric downward radiation, τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, λ is the altitude of the UAV, where It is the result of the combined effects of five factors: the ground surface, near-ground air, and downward atmospheric radiation, as well as the ground emissivity and atmospheric transmittance.

[0031] Among them, the inspection module is used to obtain inspection standard data, which is the ground measured temperature data provided by the meteorological element gradient observation system, specifically including: deploying a gradient observation device at the same location where the UAV flies, and obtaining the true temperature value at different heights as the ground measured temperature data.

[0032] Compared with the prior art, the advantages of the present invention are:

[0033] First, the present invention improves the accuracy of surface temperature detection. Traditional surface temperature detection methods have problems such as unstable flight altitude and large lens system errors, which affect the detection accuracy. The present invention significantly improves the accuracy and stability of surface temperature data by preheating the lens, collecting thermal radiation remote sensing images at different altitudes, and combining atmospheric parameters to calculate and invert the surface temperature, effectively solving the problem of low accuracy in the prior art. By reducing the systematic error of the drone lens and the error caused by the proximity effect, the accuracy of the drone load surface temperature observation data is significantly improved, so that drones can be more used in research with high requirements for the true value accuracy of surface temperature, such as the authenticity inspection of satellite remote sensing products.

[0034] Secondly, the present invention improves data stability. Traditional surface temperature detection methods are affected by factors such as weather and environment, and data stability is poor. However, the present invention preheats the lens and performs data correction based on atmospheric parameters, making the surface temperature data of the drone more stable and reliable, providing a reliable basis for subsequent research.

[0035] Finally, the present invention improves real-time performance and response speed. Traditional surface temperature detection methods mainly rely on ground temperature measurement stations and remote sensing satellites, with a long data acquisition cycle and poor real-time performance. The present invention uses drones to perform flight missions, which can achieve fast and flexible data collection, greatly improve the real-time performance and response speed of data, and meet the needs of real-time monitoring and early warning. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 This is a schematic diagram of the UAV flight scheme of the present invention;

[0038] Figure 2 This is a diagram of the error calibration results of the laboratory lens of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0040] See also Figure 1 Schematic diagram of the UAV flight scheme of the present invention, in which: 1 DJI M210 UAV; 2 Surface temperature gradient observation device. A surface temperature detection method of a UAV for a near-ground environment of the present invention comprises the following steps:

[0041] S1, preheating the drone lens for a predetermined time to stabilize the lens system error, wherein the drone lens is a thermal infrared lens; the predetermined preheating time is preferably 30 minutes.

[0042] like Figure 2 As shown, the present invention has found through laboratory experiments that the error of the drone lens has a process of first jumping and then gradually stabilizing. Therefore, when using the lens, the stability and accuracy of the result can be improved by preheating for about 30 minutes to stabilize the systematic error of the lens before performing the flight mission. The laboratory equipment preferably uses EOI's ElectroOptical 2642LE Temperature Control w / LES100-04 Black Body+Cable8988R experimental instrument, which is a temperature control experimental instrument that combines black body and fiber optic technology for precise control and measurement of temperature. This instrument is commonly used for research and testing in the fields of optics, physics, materials science and engineering. The lens was calibrated on a standard black body using the instrument, with an interval of 6s and 20°C as the reference, and a calibration observation was performed for one hour to observe the systematic error and random error of the lens.

[0043] S2, the UAV performs a flight mission, the UAV is made to descend at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain a plurality of thermal radiation remote sensing images with equal heights;

[0044] The UAV remote sensing platform is preferably a DJI M210 (1) UAV remote sensing platform equipped with an XT-2 thermal infrared lens, such as Figure 1 As shown in , the initial observation height is preferably 200 meters.

[0045] The DJI M210 UAV remote sensing platform equipped with the XT-2 thermal infrared lens is an advanced flight platform used to perform high-precision surface temperature detection tasks. The UAV platform uses advanced flight control systems and stability technologies, enabling reliable flight under various complex weather conditions and ensuring high-quality data acquisition during flight.

[0046] When executing the flight plan, the drone carried a professional XT-2 thermal infrared lens, which has the characteristics of high sensitivity and high resolution, and can accurately capture the thermal radiation information of the surface. By mounting it on the DJI M210 drone, the XT-2 thermal infrared lens can achieve all-round observation and a wide coverage, thus meeting the needs of comprehensive detection of surface temperature.

[0047] The DJI M210 UAV remote sensing platform equipped with an XT-2 thermal infrared lens is used to execute the flight plan. At an observation altitude of 200 meters, the drone is made to descend at a constant speed, and the ground objects in the field of view are photographed at fixed intervals to obtain thermal radiation remote sensing images at different altitudes and distances.

[0048] S3, determine the atmospheric upward radiation and atmospheric transmittance, and calculate the inverted UAV surface temperature data based on the thermal radiation remote sensing image using the atmospheric upward radiation and atmospheric transmittance;

[0049] Among them, in one embodiment, the meteorological parameters of the meteorological element gradient observation system data of Daman and Huazhaizi super stations in the middle reaches of the Heihe hydrological and meteorological observation network are used in conjunction with MODTRAN calculation to obtain atmospheric upward radiation and atmospheric transmittance.

[0050] MODTRAN software can provide calculations of atmospheric parameters at different altitudes and weather conditions, and can simulate the impact of the near-ground environment during UAV flight, thereby providing a reference for correcting the UAV surface temperature data LST.

[0051] The atmospheric upward radiation and atmospheric transmittance are calculated by combining the meteorological parameters of the meteorological element gradient observation system data of the Daman and Huazhaizi super stations in the middle reaches of the Heihe hydrological and meteorological observation network through MODTRAN. By accurately simulating atmospheric radiation transmission, MODTRAN can help better understand the atmospheric radiation characteristics in a specific geographical location, and then effectively analyze and apply the data provided by the hydrological and meteorological observation network, which is of great significance for the verification of climate models, environmental monitoring and research in related fields.

[0052] Specifically, a field experiment can be designed to conduct continuous observation with a drone lens at different altitudes. It is verified that at altitudes of 0-200m, the near-ground atmospheric transmittance is an approximately linear relationship. The atmospheric transmittance value at an altitude of 200m is inferred using an empirical formula. Based on the calculated surface emissivity and the upward and downward atmospheric radiation, the drone surface temperature results are corrected using the radiation transfer equation.

[0053] Preferably, the inverted UAV surface temperature data is calculated using the following formula using atmospheric upward radiation and atmospheric transmittance:

[0054] Formula (1):

[0055]

[0056] The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, B λ is the radiance emitted by the surface, is the radiance value received by the lens sensor, is the atmospheric upward radiation, is the atmospheric downward radiation, τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, and λ is the altitude of the UAV.

[0057] Among them, the radiance value received by the sensor is the result of the combined effect of five factors: the ground surface, near-ground air, and atmospheric downward radiation, as well as the surface emissivity and atmospheric transmittance. Atmospheric upward radiation refers to the energy radiated from the atmosphere to the ground surface, while atmospheric downward radiation refers to the energy radiated outward from the atmosphere. The existence of these two will affect the radiance value of the ground surface, which needs to be considered and corrected in the calculation. Atmospheric transmittance refers to the degree of penetration of the atmosphere into surface radiation, which is affected by factors such as the optical properties of the atmosphere and the propagation distance. Optionally, ground correction points can also be used to calculate atmospheric upward radiation and atmospheric transmittance. This method is simpler than the simulation of near-ground transmittance and atmospheric upward radiation through the MODTRAN model, and is conducive to promotion and application.

[0058] It is known that there are two unknown parameters in the radiation transfer equation, atmospheric transmittance and atmospheric upward radiation. Assuming that the atmospheric upward radiation in the 0-200m atmospheric environment is uniform under different underlying surfaces, we can consider using observations of two different underlying surfaces to obtain atmospheric transmittance and atmospheric upward radiation parameters (preferably using water and iron plates as underlying surfaces, but it is applicable to any object with a large temperature difference). Specifically, two sets of ground observation probes can be arranged on the colder water and the hotter iron plate, and then calculated using the following formula:

[0059] Formula (2):

[0060]

[0061] By decomposing the above formula, the atmospheric transmittance can be obtained as shown in the following formula:

[0062] Formula (3):

[0063]

[0064] In the formula, and The surface temperature data LST and T of the iron plate and water body obtained by UAV before correction are iron With T water are the ground observation results of the iron plate and the water body, respectively, obtained through the deployed ground observation probes, ε iron With ε water are the surface emissivity LSE of the iron plate and the water body, is the atmospheric downward radiation, is the atmospheric upward radiation, B λ is the radiance emitted by the surface.

[0065] The atmospheric transmittance and atmospheric upward radiation are calculated by formula (2) and formula (3). Compared with the atmospheric transmittance and atmospheric upward radiation calculated by MODTRAN fitting, the error is very small, which further illustrates the effectiveness of the calculation method of the present invention. Then, the inverted UAV surface temperature data can be calculated using formula (1).

[0066] S4, obtaining verification standard data, and performing accuracy verification on the surface temperature data of the UAV based on the verification standard data.

[0067] like Figure 1As shown, in one embodiment, the ground measured data of the meteorological element gradient observation system data of Daman and Huazhaizi super stations in the middle reaches of the Heihe hydrological and meteorological observation network is used as the inspection standard data for the inspection of the UAV temperature inversion product. Specifically, it includes: deploying a gradient observation device (2) at the same position where the UAV flies, and obtaining the true temperature values ​​at different heights as the ground measured temperature data.

[0068] The inverted UAV land surface temperature results were tested using ground observation data, and it was found that the land surface temperature data LST of the two experimental areas of the present invention had an error reduced from the original error of about 3.2°C to about 0.5°C, which significantly improved the accuracy of UAV LST.

[0069] The present invention also provides a UAV surface temperature detection system for a near-ground environment, comprising:

[0070] The preheating module is used to preheat the drone lens for a predetermined time to stabilize the lens system error. The drone lens is a thermal infrared lens. The predetermined preheating time is preferably 30 minutes.

[0071] The UAV remote sensing platform is used to mount the UAV to perform a flight mission, so that the UAV descends at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain multiple thermal radiation remote sensing images with equal heights;

[0072] Among them, the UAV remote sensing platform is preferably a DJI M210 UAV remote sensing platform equipped with an XT-2 thermal infrared lens, and the initial observation height is preferably 200 meters.

[0073] The DJI M210 UAV remote sensing platform equipped with the XT-2 thermal infrared lens is an advanced flight platform used to perform high-precision surface temperature detection tasks. The UAV platform uses advanced flight control systems and stability technologies, enabling reliable flight under various complex weather conditions and ensuring high-quality data acquisition during flight.

[0074] When executing the flight plan, the drone carried a professional XT-2 thermal infrared lens, which has the characteristics of high sensitivity and high resolution, and can accurately capture the thermal radiation information of the surface. By mounting it on the DJI M210 drone, the XT-2 thermal infrared lens can achieve all-round observation and a wide coverage, thus meeting the needs of comprehensive detection of surface temperature.

[0075] The DJI M210 UAV remote sensing platform equipped with an XT-2 thermal infrared lens is used to execute the flight plan. At an observation altitude of 200 meters, the drone is made to descend at a constant speed, and the ground objects in the field of view are photographed at fixed intervals to obtain thermal radiation remote sensing images at different altitudes and distances.

[0076] The inversion module is used to determine the atmospheric upward radiation and atmospheric transmittance. Based on the thermal radiation remote sensing image, the atmospheric upward radiation and atmospheric transmittance are used to calculate the inverted UAV surface temperature data;

[0077] In one embodiment, meteorological parameters of the meteorological element gradient observation system data of the Daman and Huazhaizi super stations in the middle reaches of the Heihe hydrological and meteorological observation network are used in conjunction with MODTRAN to calculate the atmospheric upward radiation and atmospheric transmittance. Alternatively, the atmospheric upward radiation and atmospheric transmittance can also be calculated using ground correction points.

[0078] Specifically, a field experiment can be designed to conduct continuous observation with a drone lens at different altitudes. It is verified that at altitudes of 0-200m, the near-ground atmospheric transmittance is an approximately linear relationship. The atmospheric transmittance value at an altitude of 200m is inferred using an empirical formula. Based on the calculated surface emissivity and the upward and downward atmospheric radiation, the drone surface temperature results are corrected using the radiation transfer equation.

[0079] Preferably, the inverted UAV surface temperature data is calculated using the following formula using atmospheric upward radiation and atmospheric transmittance:

[0080]

[0081] The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, B λ is the radiance emitted by the surface (unit: W / m 2 ·μm·sr), is the radiance value received by the sensor (unit: W / m 2 ·μm·sr), is the atmospheric upward radiation (unit: W / m 2 ·μm·sr), is the atmospheric downward radiation (unit: W / m 2 ·μm·sr), τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, and λ is the altitude of the UAV.

[0082] Among them, the radiance value received by the sensor is the result of the combined effect of five factors: the surface, near-surface air, and atmospheric downward radiation, as well as the surface emissivity and atmospheric transmittance. Atmospheric upward radiation refers to the energy radiated from the atmosphere to the surface, while atmospheric downward radiation refers to the energy radiated outward from the atmosphere. The existence of these two will affect the radiance value of the surface, which needs to be considered and corrected in the calculation. Atmospheric transmittance refers to the degree of penetration of the atmosphere into the surface radiation, which is affected by factors such as the optical properties of the atmosphere and the propagation distance.

[0083] The inspection module is used to obtain inspection standard data and perform accuracy inspection on the surface temperature data of the UAV based on the inspection standard data.

[0084] Among them, in one embodiment, the ground measured data of the meteorological element gradient observation system data of the Daman and Huazhaizi super stations in the middle reaches of the Heihe hydrological and meteorological observation network is used as the inspection standard data for the inspection of the drone temperature inversion product. Specifically, it includes: deploying a gradient observation device at the same position where the drone flies, and obtaining the true temperature values ​​at different altitudes as the ground measured temperature data.

[0085] The inverted UAV land surface temperature results were tested using ground observation data, and it was found that the error of the land surface temperature data LST in the two experimental areas of the present invention was reduced from the original error of about 3.2°C to about 0.5°C, which significantly improved the accuracy of UAV LST.

[0086] In summary, the beneficial effects of the present invention include:

[0087] First, the present invention improves the accuracy of surface temperature detection. Traditional surface temperature detection methods have problems such as unstable flight altitude and large lens system errors, which affect the detection accuracy. The present invention significantly improves the accuracy and stability of surface temperature data by preheating the lens, collecting thermal radiation remote sensing images at different altitudes, and combining atmospheric parameters to calculate and invert the surface temperature, effectively solving the problem of low accuracy in the prior art. By reducing the systematic error of the drone lens and the error caused by the proximity effect, the accuracy of the drone load surface temperature observation data is significantly improved, so that drones can be more used in research with high requirements for the true value accuracy of surface temperature, such as the authenticity inspection of satellite remote sensing products.

[0088] Secondly, the present invention improves data stability. Traditional surface temperature detection methods are affected by factors such as weather and environment, and data stability is poor. However, the present invention preheats the lens and performs data inversion correction based on atmospheric parameters, making the surface temperature data of the drone more stable and reliable, providing a reliable basis for subsequent research.

[0089] Finally, the present invention improves real-time performance and response speed. Traditional surface temperature detection methods mainly rely on ground temperature measurement stations and remote sensing satellites, with a long data acquisition cycle and poor real-time performance. The present invention uses drones to perform flight missions, which can achieve fast and flexible data collection, greatly improve the real-time performance and response speed of data, and meet the needs of real-time monitoring and early warning.

[0090] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0091] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for detecting the surface temperature of an unmanned aerial vehicle in a near-ground environment, characterized in that: The following steps are involved: S1, preheating the drone lens for a predetermined time to stabilize the lens system error, wherein the drone lens is a thermal infrared lens; S2, the UAV performs a flight mission, the UAV is made to descend at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain a plurality of thermal radiation remote sensing images with equal heights; S3, determine the atmospheric upwelling radiation and atmospheric transmittance, and calculate the inverted UAV surface temperature data based on thermal radiation remote sensing images; S4, obtaining inspection standard data, and performing accuracy inspection on the surface temperature data of the UAV based on the inspection standard data; Among them, S3 uses ground correction points to determine atmospheric upward radiation and atmospheric transmittance, uses water and iron plates as underlying surfaces, and deploys two sets of ground observation probes on the water and iron plates. The calculation formula is as follows: In the formula, and are the surface temperature data of the iron plate and the water body obtained by the drone before correction, LST, T iron With T water are the ground observation results of the iron plate and the water body, respectively, obtained through the deployed ground observation probes, ε iron With ε water are the surface emissivity LSE of the iron plate and the water body, is the atmospheric downward radiation, is the atmospheric upward radiation, B λ is the radiance value emitted by the surface; Among them, S3 uses atmospheric upward radiation and atmospheric transmittance to calculate the inverted drone surface temperature data. The calculation formula specifically includes: The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, is the radiance value received by the sensor, τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, λ is the height of the UAV, where, It is the result of the combined effects of five factors: the ground surface, near-ground air, and downward atmospheric radiation, as well as the ground emissivity and atmospheric transmittance.

2. The method according to claim 1, wherein: S1, preheating the drone lens for a predetermined time, wherein the predetermined time is 30 minutes.

3. The method according to claim 1, wherein: S2, making the UAV descend at a uniform speed at an initial observation height, wherein the initial observation height is 200 meters.

4. The method according to claim 1, wherein: S3, determining the atmospheric upward radiation and the atmospheric transmittance, wherein the atmospheric upward radiation and the atmospheric transmittance are calculated by using meteorological parameters provided by the meteorological element gradient observation system in conjunction with MODTRAN software.

5. The method according to claim 1, wherein: S4, obtaining verification standard data, which is the ground measured temperature data provided by the meteorological element gradient observation system, specifically including: deploying a gradient observation device at the same position where the UAV flies, and obtaining the true temperature values ​​at different heights as the ground measured temperature data.

6. A surface temperature detection system for an unmanned aerial vehicle in a near-ground environment, characterized in that: include: A preheating module is used to preheat the drone lens for a predetermined time to stabilize the lens system error, wherein the drone lens is a thermal infrared lens; The UAV remote sensing platform is used to mount the UAV to perform a flight mission, so that the UAV descends at a uniform speed from an initial observation height, and the UAV lens takes pictures of the ground objects in the field of view at fixed intervals to obtain multiple thermal radiation remote sensing images with equal heights; The inversion module is used to determine the atmospheric upward radiation and atmospheric transmittance. Based on the thermal radiation remote sensing image, the atmospheric upward radiation and atmospheric transmittance are used to calculate the inverted UAV surface temperature data. Among them, the atmospheric upward radiation and atmospheric transmittance are determined using ground correction points, and water bodies and iron plates are used as the underlying surfaces respectively. Two sets of ground observation probes are arranged on the water bodies and iron plates. The calculation formula is as follows: In the formula, and are the surface temperature data of the iron plate and the water body obtained by the drone before correction, LST, T iron With T water are the ground observation results of the iron plate and the water body, respectively, obtained through the deployed ground observation probes, ε iron With ε water are the surface emissivity LSE of the iron plate and the water body, is the atmospheric downward radiation, is the atmospheric upward radiation, B λ is the radiance value emitted by the surface; A verification module, used to obtain verification standard data, and perform accuracy verification on the surface temperature data of the UAV based on the verification standard data; Among them, the inversion module is used to calculate the inverted drone surface temperature data, and the calculation formula specifically includes: The formula is the inverse form of Planck's law, where T S The inverted UAV land surface temperature data LST, is the radiance value received by the sensor, τ λ is the atmospheric transmittance, ε λ is the surface emissivity LSE, λ is the height of the UAV, where, It is the result of the combined effects of five factors: the ground surface, near-ground air, and downward atmospheric radiation, as well as the ground emissivity and atmospheric transmittance.

7. The system according to claim 6, wherein: The inspection module is used to obtain inspection standard data, which is the ground measured temperature data provided by the meteorological element gradient observation system. Specifically, it includes: deploying a gradient observation device at the same position where the UAV flies, and obtaining the true temperature value at different heights as the ground measured temperature data.

Images