A complex terrain surveying and mapping system and surveying and mapping method

Abstract

The present invention relates to the field of surveying and mapping technology, and discloses a complex terrain surveying and mapping system, including: a terrain surveying and mapping unit, a data extraction unit, a data processing unit, a terrain modeling unit and a data analysis unit; wherein: the terrain surveying and mapping unit: is used to shoot the complex terrain at low altitude, obtain ground image data, and use laser radar technology to measure the complex ground elevation. By analyzing the size, pixel, grayscale and ground elevation information data of the complex terrain image, judging from the clarity of the complex terrain image, the processing index of the image and the elevation deviation rate, when the clarity of the terrain image is unqualified, the image will be re-shot and acquired, when the processing index of the terrain image is unqualified, the complex terrain image will be re-processed, and when the elevation deviation rate of the terrain image is unqualified, the complex terrain image will be re-modeled in three dimensions, which is conducive to improving the accuracy of complex terrain surveying and mapping.

Description

Technical Field

[0001] The present invention relates to the field of surveying and mapping technology, and more specifically discloses a complex terrain surveying and mapping system and a surveying and mapping method. Background Art

[0002] Complex terrain mapping is an important work in the field of geographic information science and cartography. It aims to obtain, analyze and visualize the terrain information of the earth's surface, including the elevation, terrain features, mountains, rivers, valleys, lakes, buildings, etc. of the surface. Topographic mapping has a wide range of applications in many fields, including geographic information systems, urban planning, environmental monitoring, natural resource management, military planning, civil aviation navigation, earthquake research and satellite navigation. However, after the completion of the existing complex terrain mapping, the integrity of the complex terrain model is usually detected by the detection system, and then the accuracy of the appearance of the complex terrain model is manually checked. However, since terrain mapping usually involves data collection, processing and modeling steps, when there is a slight abnormality in any link, the accuracy of complex terrain mapping will change (this change will not affect the integrity of complex terrain mapping, but it is not noticeable to the human eye). Even if there is a slight deviation, it will cause the position on the complex terrain mapping model to deviate greatly from the actual position. For some fields with high requirements for terrain mapping accuracy (such as military planning, civil aviation navigation, etc.), this accuracy error will have a significant impact. Summary of the invention

[0003] The present invention mainly provides a complex terrain mapping system and a mapping method, which can solve the problem that after the existing complex terrain mapping is completed, the integrity of the complex terrain model is usually detected by a detection system, and then the accuracy of the appearance of the complex terrain model is manually checked. However, since terrain mapping usually involves data collection, processing and modeling steps, when a slight abnormality occurs in any link, the accuracy of complex terrain mapping will change (this change will not affect the integrity of complex terrain mapping, but it cannot be detected by the human eye). Even if there is a slight deviation, it will cause a large deviation between the position on the complex terrain mapping model and the actual position. For some fields with high requirements for terrain mapping accuracy (such as military planning, civil aviation navigation, etc.), this accuracy error will have a significant impact.

[0004] To solve the above technical problems, according to one aspect of the present invention, more specifically, a complex terrain mapping system includes: a terrain mapping unit, a data extraction unit, a data processing unit, a terrain modeling unit and a data analysis unit; wherein:

[0005] Topographic mapping unit: used to take low-altitude photos of complex terrain, obtain ground image data, and use laser radar technology to measure the elevation of complex terrain;

[0006] Data extraction unit: used to extract the size, grayscale, pixel and elevation data of the image in the process of terrain mapping;

[0007] Data processing unit: used to process the information data collected by the data extraction unit and integrate different types of data into the coordinate system;

[0008] Terrain modeling unit: used to perform 3D terrain modeling on complex terrains using 3D modeling tools based on the collected and processed data;

[0009] Data analysis unit: used to receive information data from the data extraction unit, data processing unit and terrain modeling unit, and analyze and process the received information data to judge the quality of the information data, and display the analysis and judgment results and the surveying and mapping model.

[0010] Furthermore, the terrain mapping unit includes: an image mapping module and an elevation mapping module;

[0011] Image mapping module: used to take low-altitude photos of complex terrain and obtain ground image data;

[0012] Elevation mapping module: used to measure complex ground elevation using lidar technology.

[0013] Furthermore, the data extraction unit includes: a size extraction module, a grayscale extraction module, a pixel extraction module and an elevation extraction module;

[0014] Size extraction module: used to extract the size data of the image mapped by the terrain mapping unit;

[0015] Grayscale extraction module: used to extract grayscale data of the image mapped by the terrain mapping unit;

[0016] Pixel extraction module: used to extract pixel data of the image mapped by the terrain mapping unit;

[0017] Elevation extraction module: used to extract elevation data surveyed by the topographic mapping unit and elevation data measured by field sampling.

[0018] Furthermore, the data analysis unit includes: a data receiving module, an analysis and judgment module, a report generation module and a terminal display module;

[0019] Data receiving module: used to receive information data from the data extraction unit, the data processing unit and the terrain modeling unit;

[0020] Analysis and judgment module: used to analyze and process the information data received by the data receiving module and judge the quality of the information data;

[0021] Report generation module: used to generate complex terrain surveying and mapping reports based on the results of analysis and judgment;

[0022] Terminal display module: used to display analysis and judgment results and surveying and mapping models.

[0023] Furthermore, when analyzing and judging the data, the analysis and judgment module can receive the size and grayscale information data of the complex terrain image from the data extraction unit, and can analyze the clarity of the complex terrain image based on the above received data:

[0024]

[0025] Where g is the image definition, M and N are the width and height of the image, respectively, and both M and N are positive integers, and f (x，y) is the gray value of the image at point (x, y), f (x+1，y) is the gray value of the image at point (x+1, y), f (x，y+1) is the gray value of the image at point (x, y+1), g e It is the preset threshold parameter of image clarity.

[0026] Furthermore, when analyzing and judging the data, the analysis and judgment module can receive the size, grayscale and pixel information data of the complex terrain image before and after processing from the data extraction unit and the data processing unit respectively, and can analyze the processing index of the complex terrain image based on the above received data:

[0027]

[0028] Where, μ is the processing index of complex terrain images, I (i,j) is the pixel value of the original image at coordinate (i, j), K (i,j) is the pixel value of the processed image at coordinate (i, j), M and N are the width and height of the image respectively, T r is the proportion of pixels with gray value r in the original image, t r is the proportion of pixels with gray value r in the processed image, μ e is the threshold parameter of the preset image processing index, δ is the conversion coefficient, and its value is 0.7.

[0029] Furthermore, when analyzing and judging the data, the analysis and judgment module can receive ground elevation information data from the terrain modeling unit and the field sampling measurement, and can analyze the elevation deviation rate of the complex terrain by combining the above received data:

[0030]

[0031] Where ω is the elevation deviation rate, A is the total number of sampling points in complex terrain, and H k is the elevation value of the digital terrain model at the sampling point in the complex terrain, h k It is the actual elevation value of the sampling point in complex terrain.

[0032] According to another aspect of the present invention, a complex terrain surveying and mapping method is provided. The method is implemented based on the above complex terrain surveying and mapping system and specifically includes the following steps:

[0033] S1. By using high-performance drones as carriers, equipped with high-definition cameras and multi-spectral camera sensor equipment, low-altitude photography of complex terrain is carried out to obtain ground image data. At the same time, laser radar technology is used to measure the elevation of complex ground.

[0034] S2, extracting the terrain-related data obtained through surveying and mapping, and analyzing and judging the size and grayscale information data of the extracted complex terrain image;

[0035] S3, processing the extracted data, integrating different types of data into a coordinate system, and analyzing and judging the size, grayscale, and pixel information data of the complex terrain image before and after processing;

[0036] S4. Based on the extracted and processed data, three-dimensional terrain modeling is performed using a three-dimensional modeling tool, and the ground elevation information data is analyzed and judged;

[0037] S5. Display the analysis and judgment results and the surveying and mapping model on the data terminal device.

[0038] The beneficial effects of the complex terrain surveying and mapping system and method of the present invention are as follows: by analyzing the size, pixel, grayscale and ground elevation information data of the complex terrain image, judgments are made from three aspects: the clarity of the complex terrain image, the image processing index and the elevation deviation rate. When the clarity of the terrain image is unqualified, the image will be re-captured and acquired; when the processing index of the terrain image is unqualified, the complex terrain image will be re-processed; when the elevation deviation rate of the terrain image is unqualified, the complex terrain image will be re-three-dimensionally modeled, which is beneficial to improving the accuracy of complex terrain surveying and mapping. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The present invention is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0040] Figure 1 This is a schematic diagram of the system principle;

[0041] Figure 2 A schematic diagram of the method flow chart. DETAILED DESCRIPTION

[0042] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

[0043] According to one aspect of the present invention, Figure 1-2 As shown, a complex terrain surveying and mapping system and method are provided. First, a high-performance UAV is used as a carrier, equipped with a high-definition camera and a multi-spectral camera sensor device, to take low-altitude photos of the complex terrain and obtain ground image data. At the same time, the complex ground elevation is measured using laser radar technology.

[0044] Then, the terrain-related data obtained by surveying and mapping is extracted, and the size and grayscale information data of the complex terrain image can be received from the data extraction unit, and the clarity of the complex terrain image can be analyzed by combining the above received data. If:

[0045]

[0046] This means that the clarity of the complex terrain image is acceptable, which is convenient for extracting image information. <g e , it means that the clarity of the complex terrain image is not up to standard, which will reduce the efficiency of image information extraction and require re-photographing the complex terrain image. Among them, g is the clarity of the image, M and N are the width and height of the image, and M and N are both positive integers, and f (x，y) is the gray value of the image at point (x, y), f (x+1，y) is the gray value of the image at point (x+1, y), f (x，y+1) is the gray value of the image at point (x, y+1), g e It is the preset threshold parameter of image clarity.

[0047] Then, the extracted data is processed, and different types of data are integrated into the coordinate system. The size, grayscale and pixel information data of the complex terrain image before and after processing can be received from the data extraction unit and the data processing unit respectively, and the processing index of the complex terrain image can be analyzed by combining the above received data. If:

[0048]

[0049] This indicates that the processing index of the complex terrain image is qualified, and the qualified complex terrain image can be further modeled. If μ<μ e , it means that the processing index of the complex terrain image is unqualified and the complex terrain image needs to be reprocessed, where μ is the processing index of the complex terrain image, I (i,j) is the pixel value of the original image at coordinate (i, j), K(i,j) is the pixel value of the processed image at coordinate (i, j), M and N are the width and height of the image respectively, T r is the proportion of pixels with gray value r in the original image, t r is the proportion of pixels with gray value r in the processed image, μ e is the threshold parameter of the preset image processing index, δ is the conversion coefficient, and its value is 0.7.

[0050] Afterwards, 3D terrain modeling is performed based on the extracted and processed data through 3D modeling tools, and ground elevation information data can be received from the terrain modeling unit and field sampling measurements. The elevation deviation rate of complex terrain can be analyzed based on the above received data. If:

[0051]

[0052] This means that the elevation deviation rate of the complex terrain image is qualified, and the qualified complex terrain modeling can be output. This means that the elevation deviation rate of the complex terrain image is unqualified and it is necessary to re-model the complex terrain image in three dimensions, where ω is the elevation deviation rate, A is the total number of sampling points in the complex terrain, and H k is the elevation value of the digital terrain model at the sampling point in the complex terrain, h k It is the actual elevation value of the sampling point in complex terrain.

[0053] Finally, a complex terrain surveying and mapping report is generated based on the analysis and judgment results, and the analysis and judgment results and the surveying and mapping model are displayed on the data terminal device.

[0054] The electrical components that appear in this article are all electrical components that exist in reality.

[0055] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention also fall within the protection scope of the present invention.

Claims

1. A complex terrain mapping system, characterized in that: include: A terrain surveying and mapping unit, a data extraction unit, a data processing unit, a terrain modeling unit, and a data analysis unit; wherein: Topographic mapping unit: used to take low-altitude photos of complex terrain, obtain ground image data, and use laser radar technology to measure the elevation of complex terrain; Data extraction unit: used to extract the size, grayscale, pixel and elevation data of the image in the process of terrain mapping; The data processing unit is used to process the information data collected by the data extraction unit and integrate different types of data into the coordinate system. The data processing unit includes: an analysis and judgment module, which is used to analyze and process the information data received by the data receiving module and judge the quality of the information data; When analyzing and judging the data, the analysis and judgment module can receive the size and grayscale information data of the complex terrain image from the data extraction unit, and can analyze the clarity of the complex terrain image based on the above received data: Where g is the image definition, M and N are the width and height of the image, respectively, and both M and N are positive integers, and f (x，y) is the gray value of the image at point (x, y), f (x+1，y) is the gray value of the image at point (x+1, y), f (x，y+1) is the gray value of the image at point (x, y+1), g e is the preset threshold parameter of image clarity; When analyzing and judging the data, the analysis and judgment module can receive the size, grayscale and pixel information data of the complex terrain image before and after processing from the data extraction unit and the data processing unit respectively, and can analyze the processing index of the complex terrain image based on the above received data: Where, μ is the processing index of complex terrain images, I (i,j) is the pixel value of the original image at coordinate (i, j), K (i,j) is the pixel value of the processed image at coordinate (i, j), M and N are the width and height of the image respectively, T r is the proportion of pixels with gray value r in the original image, t r is the proportion of pixels with gray value r in the processed image, μ e is the threshold parameter of the preset image processing index, δ is the conversion coefficient, and its value is 0.7; When analyzing and judging the data, the analysis and judgment module can receive ground elevation information data from the terrain modeling unit and field sampling measurement, and can analyze the elevation deviation rate of complex terrain by combining the above received data: Where ω is the elevation deviation rate, A is the total number of sampling points in complex terrain, and H k is the elevation value of the digital terrain model at the sampling point in the complex terrain, h k is the actual elevation value of the sampling point in the complex terrain; Terrain modeling unit: used to perform 3D terrain modeling on complex terrains using 3D modeling tools based on the collected and processed data; Data analysis unit: used to receive information data from the data extraction unit, data processing unit and terrain modeling unit, and analyze and process the received information data to judge the quality of the information data, and display the analysis and judgment results and the surveying and mapping model.

2. A complex terrain mapping system according to claim 1, characterized in that: The terrain mapping unit includes: an image mapping module and an elevation mapping module; Image mapping module: used to take low-altitude photos of complex terrain and obtain ground image data; Elevation mapping module: used to measure complex ground elevation using lidar technology.

3. A complex terrain mapping system according to claim 2, characterized in that: The data extraction unit includes: a size extraction module, a grayscale extraction module, a pixel extraction module and an elevation extraction module; Size extraction module: used to extract the size data of the image mapped by the terrain mapping unit; Grayscale extraction module: used to extract grayscale data of the image mapped by the terrain mapping unit; Pixel extraction module: used to extract pixel data of the image mapped by the terrain mapping unit; Elevation extraction module: used to extract elevation data surveyed by the topographic mapping unit and elevation data measured by field sampling.

4. A complex terrain surveying and mapping system according to claim 3, characterized in that: The data analysis unit also includes: a data receiving module, a report generating module and a terminal display module; Data receiving module: used to receive information data from the data extraction unit, the data processing unit and the terrain modeling unit; Report generation module: used to generate complex terrain surveying and mapping reports based on the results of analysis and judgment; Terminal display module: used to display analysis and judgment results and surveying and mapping models.

5. A complex terrain surveying and mapping method, characterized in that: The method is implemented based on a complex terrain mapping system according to any one of claims 1 to 4, and specifically comprises the following steps: S1. By using high-performance drones as carriers, equipped with high-definition cameras and multi-spectral camera sensor equipment, low-altitude photography of complex terrain is carried out to obtain ground image data. At the same time, laser radar technology is used to measure the elevation of complex ground. S2, extracting the terrain-related data obtained through surveying and mapping, and analyzing and judging the size and grayscale information data of the extracted complex terrain image; S3, processing the extracted data, integrating different types of data into a coordinate system, and analyzing and judging the size, grayscale, and pixel information data of the complex terrain image before and after processing; S4. Based on the extracted and processed data, three-dimensional terrain modeling is performed using a three-dimensional modeling tool, and the ground elevation information data is analyzed and judged; S5. Display the analysis and judgment results and the surveying and mapping model on the data terminal device.

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