A UAV surveying and mapping method and system for geographic information collection

Abstract

The present invention relates to the field of geographic surveying and mapping technology, and discloses a method and system for surveying and mapping of unmanned aerial vehicles for geographic information collection, including a data acquisition module and a surveying and mapping modeling module. The method and system for surveying and mapping of unmanned aerial vehicles for geographic information collection sequentially set target points around a target area, obtain the longitude and latitude of each target point, establish a two-dimensional coordinate system, analyze and generate target coordinates, the positioning information of each target point corresponds to a two-dimensional coordinate point, and then analyze and generate a regional area and a geometric data group to obtain the maximum span in the horizontal direction and the maximum span in the vertical direction of the target area. According to the operation data of the unmanned aerial vehicles, a surveying and mapping formation is organized in a grid, and an operation index is generated by analysis. The grid formation surveying and mapping modeling is efficient, and the central control console determines whether the number of unmanned aerial vehicles meets the surveying and mapping needs of the target area. If the surveying and mapping needs are met, each unmanned aerial vehicle is controlled to fly fixedly along a zigzag route, and the surveying and mapping needs are accurately predicted, and the flight safety is high.

Description

Technical Field

[0001] The present invention relates to the field of geographic surveying and mapping technology, and in particular to an unmanned aerial vehicle surveying and mapping method and system for geographic information collection. Background Art

[0002] Drone mapping is a technology that uses drones equipped with high-precision sensors to measure ground targets. The main principle is to use the camera, lidar and other equipment on the drone to take real-time photos and collect data of ground targets, and then process and analyze the collected data through professional data processing software to finally generate accurate maps and three-dimensional models. The application scenarios of three-dimensional models are very wide. In urban planning, the analysis and simulation of geographic information such as urban land use and transportation networks can provide a scientific basis for urban development planning. In terms of natural resource management, the geographic information in the three-dimensional model can be used to monitor the distribution and status of natural resources such as forest resources and water resources, which is conducive to the rational development and protection of resources. In addition, the geographic information in the three-dimensional model also plays an important role in disaster management and environmental protection. For example, by analyzing the geographic information data before and after the flood, the impact range and loss degree of the flood can be evaluated, providing decision support for post-disaster reconstruction.

[0003] At present, in order to ensure the mapping resolution and modeling accuracy, the traditional drone mapping method used for geographic information collection needs to adjust the number of drones and mapping paths multiple times according to the target area. The mapping and modeling efficiency is low. In addition, while ensuring the maximum battery power of the drones, it is impossible to accurately predict whether the number of drones can meet the mapping needs of the target area. After multiple automatic obstacle avoidance outdoors, the drone is prone to crashing due to exhaustion of power. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a UAV surveying and mapping method and system for geographic information collection, which has the advantages of high efficiency in grid formation surveying and mapping modeling, accurate prediction of surveying and mapping needs, and high flight safety. It solves the problem that traditional UAV surveying and mapping methods for geographic information collection have low surveying and mapping modeling efficiency and cannot accurately predict whether the number of UAVs meets the surveying and mapping needs of the target area.

[0005] To achieve the above object, the present invention provides the following technical solution: a UAV surveying and mapping method for geographic information collection, comprising:

[0006] Set them up in a clockwise order around the target area. The target points are then obtained through the Geographic Information System (GIS) to obtain the corresponding positioning information of each target point, establish a two-dimensional coordinate system, and analyze and generate the target coordinates. , the positioning information of each target point corresponds to a two-dimensional coordinate point;

[0007] According to the two-dimensional coordinate system, the area of ​​the target area is analyzed and generated and geometry data set , get the maximum span in the horizontal direction and the maximum span in the vertical direction of the target area;

[0008] Obtain the drone's operating data through the central console and analyze and generate the scanning distance , combined with the regional area Grid-based surveying and mapping teams to analyze and generate operational indexes , determine whether the number of drones meets the surveying and mapping needs of the target area. If so, the central console controls the drones to scan geographic information synchronously according to the surveying and mapping formation;

[0009] Whenever the drone encounters an obstacle while scanning according to the surveying and mapping formation, the central control console controls the drone to move in the vertical direction to avoid it. After completing the avoidance, the drone is controlled to return to the fixed path of the surveying and mapping formation to continue scanning and build a regional model.

[0010] Preferably, the method of obtaining the positioning information corresponding to each target point through a geographic information system GIS and establishing a two-dimensional coordinate system includes: the geographic information system GIS represents the positioning information of the target point through longitude and latitude, and takes the first set target point as the origin. Establish a two-dimensional coordinate system and mark the longitude of the first target point as , latitude marked as , and then in clockwise order, the second target point longitude is marked as , latitude marked as , the third target point longitude mark is , latitude marked as , No. The longitude of the target point set is marked as , latitude marked as .

[0011] Preferably, the analysis generates target coordinates include:

[0012] Substitute the longitude information of each target point into the two-dimensional coordinate system Axis, the latitude information of each target point is substituted into the two-dimensional coordinate system Axis, the first one is used as the origin The two-dimensional coordinates of the target point are , the two-dimensional coordinates of the second target point are , the two-dimensional coordinates of the third target point are , No. The two-dimensional coordinates of the target points are ; ;In the formula, represents the target coordinates, express Among the target points The coordinate points corresponding to the target points and the origin The horizontal distance express Among the target points The coordinate points corresponding to the target points and the origin The vertical distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The horizontal distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The vertical distance.

[0013] Preferably, the area of ​​the target area is analyzed and generated according to the two-dimensional coordinate system. include:

[0014] In a two-dimensional coordinate system, the origin As the starting point, connect the two-dimensional coordinate points corresponding to each target point in clockwise order, and then A polygon is formed for the end point, and the area of ​​the polygon is the area of ​​the region , and its calculation formula is as follows: ;In the formula, Indicates the area of ​​the region, express Among the target points Target points and origin The horizontal distance express Among the target points Target points and origin The vertical distance and for Two adjacent two-dimensional coordinate points among the target points, It means that the area of ​​the target area is obtained according to the polygon area calculation formula.

[0015] Preferably, the geometric data set The calculation formula is as follows: ;In the formula, represents a geometric data set, express The target points and the origin The coordinate point with the farthest horizontal distance, express The target points and the origin The horizontal distance to the nearest coordinate point, It means the maximum horizontal distance minus the minimum horizontal distance, which is the maximum horizontal span of the polygon. express The target points and the origin The coordinate point with the longest vertical distance, express The target points and the origin The vertical distance to the nearest coordinate point, It means that the maximum vertical distance is subtracted from the minimum vertical distance to get the maximum span of the polygon in the vertical direction. The geometric data group includes the maximum span in the horizontal direction and the maximum span in the vertical direction.

[0016] Preferably, the operation data of the drone is obtained through the central control console, and the scanning distance is generated by analysis. include:

[0017] The operation data of the drone is obtained through the central console. The operation data of the drones in the surveying and mapping formation are the same, including the scanning speed. And battery life ;

[0018] Analyze and generate scanning distance based on the drone's operating data , and its calculation formula is as follows: ;In the formula, Indicates the scanning distance, It represents the product of the scanning speed and flight time of the drone, which is the scanning distance of a single drone.

[0019] Preferably, the operating index The calculation process is as follows:

[0020] According to the area , with the origin in the two-dimensional coordinate system As the starting point, mesh the polygons, and the side length of the mesh is , each grid corresponds to a single drone, That is, the number of drones in the surveying and mapping formation; ;In the formula, represents the running index, Indicates the scanning distance and area of ​​a single drone The ratio of the inner grid side lengths is the running index.

[0021] Preferably, the determining whether the number of drones meets the surveying and mapping requirements of the target area, and if so, controlling the drones to synchronously scan geographic information according to the surveying and mapping formation through the central control console includes:

[0022] The central console is set with index thresholds , if the running index Below index threshold , it means that the number of drones does not meet the mapping needs of the target area. If the operation index Included in or exceeds index threshold When , it means that the number of drones meets the mapping needs of the target area. The central console controls each drone to start from the upper right corner of each grid and fly in a zigzag route to the upper left corner of each grid as the end point.

[0023] Preferably, the construction of the regional model includes: the drones in the surveying and mapping formation synchronously transmit the scanned and collected geographic information to the central control console through the network, and the central control console constructs the regional model based on the two-dimensional coordinate system.

[0024] An unmanned aerial vehicle surveying and mapping system for geographic information collection includes a data collection module and a surveying and mapping modeling module;

[0025] The data acquisition module is composed of a target positioning unit and an operation data unit. The target positioning unit is connected to the geographic information system GIS through the network to obtain the positioning information corresponding to all target points, and form a positioning data set. The positioning data set includes the longitude data and latitude data of all target points. The operation data unit is connected to the central control console through the network to obtain the operation data of all drones participating in the surveying and mapping tasks, and form an operation data set. The operation data set includes the operation data of all drones and the geographic information collected by scanning. The data acquisition module transmits the positioning data set and the operation data set to the surveying and mapping modeling module through the network;

[0026] The surveying and mapping modeling module consists of a coordinate analysis unit, a regional analysis unit and a formation management unit. The coordinate analysis unit establishes a two-dimensional coordinate system based on the positioning data set and analyzes and generates target coordinates. , and transmitted to the regional analysis unit through the network, and the regional analysis unit determines the target coordinates according to the target coordinates. and positioning data sets, analyzing and generating regional areas and geometry data set The formation management unit analyzes and generates the scanning distance according to the running data set. , combined with the area Grid-based surveying and mapping teams to analyze and generate operational indexes , determine whether the number of drones meets the surveying and mapping needs of the target area, and correspondingly control the drones to synchronously scan geographic information according to the surveying and mapping formation and build a regional model.

[0027] Compared with the prior art, the present invention provides a UAV surveying and mapping method and system for geographic information collection, which has the following beneficial effects:

[0028] The present invention arranges the target area in a clockwise order. The target points are then obtained through the geographic information system GIS to obtain the latitude and longitude corresponding to each target point, establish a two-dimensional coordinate system, and analyze and generate the target coordinates. The positioning information of each target point corresponds to a two-dimensional coordinate point, which can ensure that there will be no alignment or misalignment problems when splicing the surveying and mapping models of multiple areas. The positioning information of each target point is proportionally corresponding to the two-dimensional coordinate system. According to the two-dimensional coordinate system, the area of ​​the target area is analyzed and generated. and geometry data set , get the maximum span in the horizontal direction and the maximum span in the vertical direction of the target area, ensure that the polygon can completely cover the surveying area of ​​the target area, obtain the operation data of the drone through the central console, analyze and generate the scanning distance The scanning distance is also the longest distance the drone can fly when the battery is sufficient. Grid-based surveying and mapping teams to analyze and generate operational indexes ,The operation index is the maximum number of times a single UAV can fly back and forth along the grid edge length, and the grid formation surveying and modeling is highly efficient.

[0029] The present invention sets an index threshold through the central control console , if the running index Below index threshold , it means that the number of drones does not meet the mapping needs of the target area. If the operation index Included in or exceeds index threshold When , it means that the number of drones meets the mapping needs of the target area. The central control console controls each drone to start from the upper right corner of each grid and fly in a zigzag route to the upper left corner of each grid as the end point. Whenever a drone encounters an obstacle during the scanning process of the mapping formation, the central control console controls the drone to move in the vertical direction to avoid it. After the avoidance is completed, the drone is controlled to return to the fixed path of the mapping formation to continue scanning. There is no need for manual calibration and regression. The fixed route avoids the problem of collision between drones during flight, accurately predicts mapping needs, and has high flight safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a step diagram of the method of the present invention;

[0031] Figure 2 It is a schematic diagram of the system flow of the present invention. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In order to ensure the mapping resolution and modeling accuracy, the traditional UAV mapping method for geographic information collection needs to adjust the number of UAVs and the mapping path multiple times according to the target area, which leads to low mapping and modeling efficiency. In addition, it is impossible to accurately predict whether the number of UAVs can meet the mapping needs of the target area while ensuring the maximum power of the UAVs. After multiple automatic obstacle avoidances outdoors, the UAVs are prone to crash due to power exhaustion. Therefore, the present invention provides a UAV mapping method and system for geographic information collection, please refer to Figure 1 , the method comprises the following steps:

[0034] Step 1: Set up the target area in clockwise order. The target points are then obtained through the Geographic Information System (GIS) to obtain the corresponding positioning information of each target point, establish a two-dimensional coordinate system, and analyze and generate the target coordinates. , the positioning information of each target point corresponds to a two-dimensional coordinate point;

[0035] The geographic information system GIS uses longitude and latitude to represent the location information of the target point. The expression of longitude and longitude is expressed in decimal minutes. The decimal system is directly expressed in degrees and decimals, such as longitude 37.2° and latitude 122.4°. Longitude represents the east-west direction of a position relative to the earth. With 0 degrees as the reference line, east is positive, west is negative, and the maximum value is 180 degrees. Latitude represents the north-south direction of a position relative to the earth. With the equator as the reference line, north is positive, south is negative, and the maximum value is 90 degrees. The first set target point is taken as the origin. Establish a two-dimensional coordinate system and mark the longitude of the first target point as , latitude marked as , and then in clockwise order, the second target point longitude is marked as , latitude marked as , the third target point longitude mark is , latitude marked as , No. The longitude of the target point set is marked as , latitude marked as ;

[0036] Substitute the longitude information of each target point into the two-dimensional coordinate system Axis, the latitude information of each target point is substituted into the two-dimensional coordinate system Axis, the first one is used as the origin The two-dimensional coordinates of the target point are , the two-dimensional coordinates of the second target point are , the two-dimensional coordinates of the third target point are , No. The two-dimensional coordinates of the target points are ; ;In the formula, represents the target coordinates, express Among the target points The coordinate points corresponding to the target points and the origin The horizontal distance express Among the target points The coordinate points corresponding to the target points and the origin The vertical distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The horizontal distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin Vertical distance. Large-scale geographic surveying and mapping usually needs to be divided into multiple areas. On the basis of the longitude and latitude information of the geographic information system GIS, a two-dimensional coordinate system is established to ensure that when the surveying and mapping models of multiple areas are spliced, there will be no alignment and misalignment problems. The positioning information of each target point is proportional to the two-dimensional coordinate system.

[0037] Step 2: Analyze and generate the area of ​​the target area based on the two-dimensional coordinate system and geometry data set , get the maximum span in the horizontal direction and the maximum span in the vertical direction of the target area;

[0038] In a two-dimensional coordinate system, the origin As the starting point, connect the two-dimensional coordinate points corresponding to each target point in clockwise order, and then A polygon is formed for the end point, and the area of ​​the polygon is the area of ​​the region , and its calculation formula is as follows: ;In the formula, Indicates the area of ​​the region, express Among the target points Target points and origin The horizontal distance express Among the target points Target points and origin The vertical distance and for Two adjacent two-dimensional coordinate points among the target points, It means that the area of ​​the target area is obtained according to the polygon area calculation formula, which ensures that the polygon can completely cover the surveying and mapping area of ​​the target area; ;In the formula, represents a geometric data set, express The target points and the origin The coordinate point with the farthest horizontal distance, express The target points and the origin The horizontal distance to the nearest coordinate point, It means the maximum horizontal distance minus the minimum horizontal distance, which is the maximum horizontal span of the polygon. express The target points and the origin The coordinate point with the longest vertical distance, express The target points and the origin The vertical distance to the nearest coordinate point, Indicates the maximum vertical distance minus the minimum vertical distance, and the maximum span of the polygon in the vertical direction is obtained. The geometric data group includes the maximum horizontal span and the maximum vertical span. The geometric data group includes the maximum horizontal span and the maximum vertical span. If the polygon is a long and narrow geometric shape, the span in one direction is small, and the span in another direction is large, you can directly use the geometric data group Set up a straight line formation, skip step 3 and go directly to step 4. If the polygon is not a long and narrow geometric shape, continue with steps 3 to 4;

[0039] Step 3: Obtain the drone’s operating data through the central console and analyze and generate the scanning distance , combined with the regional area Grid-based surveying and mapping teams to analyze and generate operational indexes , determine whether the number of drones meets the surveying and mapping needs of the target area. If so, the central console controls the drones to scan geographic information synchronously according to the surveying and mapping formation;

[0040] The operating data of the drones in the surveying and mapping formation are the same to avoid affecting the quality of subsequent modeling due to differences in individual models. The operating data includes scanning speed And battery life , analyze and generate scanning distance based on the operation data of the drone , and its calculation formula is as follows: ;In the formula, Indicates the scanning distance, It represents the product of the drone's scanning speed and flight time, which is the scanning distance of a single drone. The scanning distance is also the maximum distance the drone can fly if it has sufficient power.

[0041] According to the area , with the origin in the two-dimensional coordinate system As the starting point, mesh the polygons, and the side length of the mesh is , each grid corresponds to a single drone, That is, the number of drones in the surveying formation. The grid limits the flight range of each drone to ensure coverage; ;In the formula, represents the running index, Indicates the scanning distance and area of ​​a single drone The ratio of the inner grid side lengths is the operation index, which is the maximum number of times a single drone can fly back and forth along the grid side length. Grid formation surveying and modeling is highly efficient.

[0042] The central console is set with index thresholds , if the running index Below index threshold , it means that the number of drones does not meet the mapping needs of the target area. If the operation index Included in or exceeds index threshold When , it means that the number of drones meets the mapping needs of the target area. The central control console controls each drone to start from the upper right corner of each grid and fly to the upper left corner of each grid in a zigzag route. The fixed route avoids the problem of collision between drones during flight, accurately predicts mapping needs, and has high flight safety.

[0043] Step 4: Whenever the drone encounters an obstacle during the scanning process of the surveying and mapping formation, the central control console controls the drone to move in the vertical direction to avoid it. After the avoidance is completed, the drone is controlled to return to the fixed path of the surveying and mapping formation to continue scanning. No manual calibration and regression are required. The drones in the surveying and mapping formation synchronously transmit the geographic information collected by the scanning to the central control console through the network. The central control console builds a regional model based on the two-dimensional coordinate system.

[0044] The above-mentioned UAV surveying and mapping method for geographic information collection is realized by relying on a UAV surveying and mapping system for geographic information collection, which includes a data collection module and a surveying and mapping modeling module;

[0045] The data acquisition module consists of a target positioning unit and an operation data unit. The target positioning unit is connected to the geographic information system GIS through the network to obtain the positioning information corresponding to all target points, and form a positioning data set. The positioning data set includes the longitude and latitude data of all target points. The operation data unit is connected to the central control console through the network to obtain the operation data of all drones involved in the surveying and mapping tasks, and form an operation data set. The operation data set includes the operation data of all drones and the geographic information collected by scanning. The data acquisition module transmits the positioning data set and the operation data set to the surveying and mapping modeling module through the network;

[0046] The surveying and mapping modeling module consists of a coordinate analysis unit, a regional analysis unit, and a formation management unit. The coordinate analysis unit establishes a two-dimensional coordinate system based on the positioning data set and analyzes and generates target coordinates. The positioning information of each target point corresponds to a two-dimensional coordinate point and is transmitted to the regional analysis unit through the network. The regional analysis unit calculates the target coordinates according to the target coordinates. and positioning data sets, analyzing and generating regional areas and geometry data set , the maximum horizontal span and the maximum vertical span of the target area are obtained. The formation management unit analyzes and generates the scanning distance according to the running data set , combined with the regional area Grid-based surveying and mapping teams to analyze and generate operational indexes , the grid formation surveying and mapping modeling is highly efficient, and it can determine whether the number of drones meets the surveying and mapping needs of the target area. The corresponding drones are controlled to synchronously scan geographic information according to the surveying and mapping formation, and a regional model is constructed to accurately predict the surveying and mapping needs with high flight safety.

[0047] Example 1: In this experiment, four target points are set. The longitude and latitude of the target points are (10.1°, 3.1°), (10.2°, 3.2°), (10.15°, 3.16°) and (10.21°, 3.29°). The positioning information of each target point corresponds to a two-dimensional coordinate point. The target coordinates The calculation process is as follows:

[0048] Substitute the longitude information of each target point into the two-dimensional coordinate system Axis, the latitude information of each target point is substituted into the two-dimensional coordinate system Axis, the first one is used as the origin The two-dimensional coordinates of the target point are , the two-dimensional coordinates of the second target point are , , , the two-dimensional coordinates of the third target point are , , , the two-dimensional coordinates of the fourth target point are , , ; ;In the formula, represents the target coordinates, express Among the target points The coordinate points corresponding to the target points and the origin The horizontal distance express Among the target points The coordinate points corresponding to the target points and the origin The vertical distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The horizontal distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The vertical distance.

[0049] Example 2: In this experiment, five target points are set, and the two-dimensional coordinates of the five target points are , , , and , area The calculation formula is as follows: ; ;In the formula, Indicates the area of ​​the region, express Among the target points Target points and origin The horizontal distance express Among the target points Target points and origin The vertical distance and for Two adjacent two-dimensional coordinate points among the target points, It means that according to the polygon area calculation formula, the area of ​​the target area is 3.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for surveying and mapping by using an unmanned aerial vehicle for collecting geographic information, characterized in that: include: Set them up in a clockwise order around the target area. The target points are then obtained through the Geographic Information System (GIS) to obtain the corresponding positioning information of each target point, establish a two-dimensional coordinate system, and analyze and generate the target coordinates. , the positioning information of each target point corresponds to a two-dimensional coordinate point; According to the two-dimensional coordinate system, the area of ​​the target area is analyzed and generated and geometry data set , get the maximum span in the horizontal direction and the maximum span in the vertical direction of the target area; Obtain the drone's operating data through the central console and analyze and generate the scanning distance , combined with the area Grid-based surveying and mapping teams to analyze and generate operational indexes , determine whether the number of drones meets the surveying and mapping needs of the target area. If so, the central console controls the drones to scan geographic information synchronously according to the surveying and mapping formation; Whenever the drone encounters an obstacle during the scanning process of the surveying and mapping formation, the central control console controls the drone to move in the vertical direction to avoid it. After the avoidance is completed, the drone is controlled to return to the fixed path of the surveying and mapping formation to continue scanning and build a regional model; The method of obtaining the positioning information corresponding to each target point through the geographic information system GIS and establishing a two-dimensional coordinate system includes: The geographic information system GIS represents the positioning information of the target point through longitude and latitude, and takes the first set target point as the origin Establish a two-dimensional coordinate system and mark the longitude of the first target point as , latitude marked as , and then in clockwise order, the second target point longitude is marked as , latitude marked as , the third target point longitude mark is , latitude marked as , No. The longitude of the target point set is marked as , latitude marked as ; The analysis generates target coordinates include: Substitute the longitude information of each target point into the two-dimensional coordinate system Axis, the latitude information of each target point is substituted into the two-dimensional coordinate system Axis, the first one is used as the origin The two-dimensional coordinates of the target point are , the two-dimensional coordinates of the second target point are , the two-dimensional coordinates of the third target point are , No. The two-dimensional coordinates of the target points are ; ， In the formula, represents the target coordinates, express Among the target points The coordinate points corresponding to the target points and the origin The horizontal distance express Among the target points The coordinate points corresponding to the target points and the origin The vertical distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The horizontal distance Indicates simultaneous calculation The coordinate points corresponding to the target points and the origin The vertical distance; The area of ​​the target area is analyzed and generated according to the two-dimensional coordinate system. include: In a two-dimensional coordinate system, the origin As the starting point, connect the two-dimensional coordinate points corresponding to each target point in clockwise order, and then A polygon is formed for the end point, and the area of ​​the polygon is the area of ​​the region , and its calculation formula is as follows: ， In the formula, Indicates the area of ​​the region, express Among the target points Target points and origin The horizontal distance express Among the target points Target points and origin The vertical distance and for Two adjacent two-dimensional coordinate points among the target points, Indicates that the area of ​​the target area is obtained according to the polygon area calculation formula; The geometric data set The calculation formula is as follows: ， In the formula, represents a geometric data set, Table representation The target points and the origin The coordinate point with the farthest horizontal distance, express The target points and the origin The horizontal distance to the nearest coordinate point, It means the maximum horizontal distance minus the minimum horizontal distance, which is the maximum horizontal span of the polygon. express The target points and the origin The coordinate point with the longest vertical distance, express The target points and the origin The vertical distance to the nearest coordinate point, It means that the maximum vertical distance is subtracted from the minimum vertical distance to get the maximum span of the polygon in the vertical direction. The geometric data group includes the maximum span in the horizontal direction and the maximum span in the vertical direction.

2. The method for surveying and mapping by using an unmanned aerial vehicle for collecting geographic information according to claim 1, characterized in that: The central control console is used to obtain the operation data of the drone and analyze and generate the scanning distance. include: The operation data of the drones is obtained through the central console. The operation data of the drones in the surveying and mapping formation are the same, including the scanning speed. And battery life ; Analyze and generate scanning distance based on the drone's operating data , and its calculation formula is as follows: ， In the formula, Indicates the scanning distance, It represents the product of the scanning speed and flight time of the drone, which is the scanning distance of a single drone.

3. The method for surveying and mapping by using an unmanned aerial vehicle for collecting geographic information according to claim 2, characterized in that: The operating index The calculation process is as follows: According to the area , with the origin in the two-dimensional coordinate system As the starting point, mesh the polygons, and the side length of the mesh is , each grid corresponds to a single drone, That is, the number of drones in the surveying and mapping formation; ， In the formula, represents the running index, Indicates the scanning distance and area of ​​a single drone The ratio of the inner grid side lengths is the running index.

4. The method for surveying and mapping by using an unmanned aerial vehicle for collecting geographic information according to claim 3, characterized in that: The determination of whether the number of drones meets the surveying and mapping requirements of the target area, if the surveying and mapping requirements are met, controlling the drones to synchronously scan geographic information according to the surveying and mapping formation through the central control console includes: The central console is set with index thresholds , if the running index Below index threshold , it means that the number of drones does not meet the mapping needs of the target area. If the operation index Included in or exceeds index threshold When , it means that the number of drones meets the mapping needs of the target area. The central console controls each drone to start from the upper right corner of each grid and fly in a zigzag route to the upper left corner of each grid as the end point.

5. The method for surveying and mapping by using an unmanned aerial vehicle for collecting geographic information according to claim 4, characterized in that: The constructing of the regional model comprises: The drones in the surveying and mapping formation synchronously transmit the scanned and collected geographic information to the central control console through the network. The central control console constructs a regional model based on the two-dimensional coordinate system.

6. An unmanned aerial vehicle surveying and mapping system for geographic information collection, applied to the unmanned aerial vehicle surveying and mapping method for geographic information collection according to any one of claims 1 to 5, characterized in that: Including data acquisition module and surveying and mapping modeling module; The data acquisition module is composed of a target positioning unit and an operation data unit. The target positioning unit is connected to the geographic information system GIS through the network to obtain the positioning information corresponding to all target points, and form a positioning data set. The positioning data set includes the longitude data and latitude data of all target points. The operation data unit is connected to the central control console through the network to obtain the operation data of all drones participating in the surveying and mapping tasks, and form an operation data set. The operation data set includes the operation data of all drones and the geographic information collected by scanning. The data acquisition module transmits the positioning data set and the operation data set to the surveying and mapping modeling module through the network; The surveying and mapping modeling module consists of a coordinate analysis unit, a regional analysis unit and a formation management unit. The coordinate analysis unit establishes a two-dimensional coordinate system based on the positioning data set and analyzes and generates target coordinates. , and transmitted to the regional analysis unit through the network, and the regional analysis unit determines the target coordinates according to the target coordinates. and positioning data sets, analyzing and generating regional areas and geometry data set The formation management unit analyzes and generates the scanning distance according to the running data set. , combined with the area Grid-based surveying and mapping teams to analyze and generate operational indexes , determine whether the number of drones meets the surveying and mapping needs of the target area, and correspondingly control the drones to synchronously scan geographic information according to the surveying and mapping formation and build a regional model.

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