A ranging method for detecting meteorological parameters by using a drone, a terminal device and a storage medium

Abstract

The application discloses a ranging method for meteorological parameter detection by using a UAV, a terminal device and a storage medium, and utilizes a collection platform formed by a UAV carrying a meteorological parameter observation instrument to determine meteorological parameter values of each small block area on an electromagnetic wave object observation path according to a set flight route in a space range, so as to obtain a real electromagnetic wave ranging value of the corresponding section by modifying the distance value of the corresponding section, and to obtain a precise electromagnetic wave ranging value by comprehensively adding each small section. The distance observation value obtained by the direct obtaining method is more accurate. The application uses a measured value to replace a fitting value, and creatively solves the influence of meteorological parameters on photoelectric ranging when the weather changes greatly and the photoelectric ranging is far in a high mountain and valley area, so as to improve the precision of the photoelectric ranging value and can be used for high-precision photoelectric ranging observation.

Description

Technical Field

[0001] This invention relates to the technical fields of valley width (chord) measurement, engineering surveying, deformation monitoring measurement, and trigonometric leveling, and in particular to a ranging method for meteorological parameter detection using unmanned aerial vehicles (UAVs). Background Technology

[0002] Electro-optical ranging has been widely used in various distance measurement methods. Its basic principle is to use a light beam to measure the distance between two points, and it is one of the most widely used and mature distance measurement methods. However, in precise deformation observation, the distance measurement value may be inaccurate due to environmental factors such as local temperature, air pressure, and illumination. For example, in the measurement of the valley width (chord line) of a dam, because the observation location is in a high mountain and canyon area, atmospheric refraction, temperature differences between the shaded and sunny sides, and humidity all directly affect the refraction and delay of the light beam during the distance measurement. In addition, the excessively long observation distance leads to the accumulation of errors, resulting in inaccurate final observation values. Currently, most methods first measure the distance between observation points, and then correct the distance value by using meteorological parameters and model corrections. There is a lot of research in this area, whether it is the observation and modification of meteorological parameters or the study of refined correction models, but in summary, they are still indirect methods.

[0003] Currently, the commonly used meteorological correction procedure is as follows. First, measure the meteorological data such as air temperature, air pressure, and humidity at the two ends of the measuring station (e.g., the positions of the total station and the prism). By assuming that these parameters change linearly, their average values ​​can be used to represent the meteorological conditions of the entire measuring line. Then, based on the average meteorological observations, correct the total station distance measurement values ​​using the "Medium and Short Range Electro-optical Distance Measurement Specification" (GB / T 16818-2008) or a meteorological correction model determined by the equipment manufacturer. This method assumes that the main meteorological influencing factors for electro-optical distance measurement are air temperature, air pressure, and humidity, and that a specified universal formula is used for calculation regardless of time or location. For ordinary measurements, by selecting appropriate measurement time and meteorological conditions (e.g., around sunrise or sunset), this method can meet the requirements of the regulations in most cases (e.g., Class I distance measurement accuracy less than or equal to 5 mm). However, for high-precision deformation requirements (such as valley deformation monitoring), the meteorological parameters on the observation line are obtained by fitting or averaging, or by fitting only the meteorological parameter values ​​at the two ends of the opposite observation. These methods approximate the meteorological parameters on the electromagnetic wave propagation path, rather than the actual meteorological parameter values. They are indirect methods, which are undoubtedly not rigorous enough. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a ranging method, terminal equipment and storage medium for meteorological parameter detection using UAVs, which directly corrects the distance observation value with measured meteorological parameters, making it more accurate and closer to the real distance observation value.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a ranging method for meteorological parameter detection using a drone, comprising the following steps:

[0006] S1. Fill the space between the two opposing observation points with a cube of side length a to form a rectangular cube-shaped space cube.

[0007] S2. Determine the three-dimensional spatial coordinates of the center point of each cube, connect the center points of cubes at the same elevation, and form the drone flight path of the same layer.

[0008] S3. Connect the drone flight paths between each layer according to the shortest principle to form the flight path connecting the center point of the entire space cube;

[0009] S4. The UAV equipped with meteorological observation sensors flies along the route connecting the center points of the entire spatial cube, and measures meteorological parameters at each observation point to obtain the true values ​​of meteorological parameters at each observation point within the spatial range between the observation axes; the observation point is set as the center point of the cube at the corresponding location.

[0010] S5. The true values ​​of the meteorological parameters of each observation point are used as the meteorological parameters of the intersection segment of the electromagnetic wave propagation path and the cube where each observation point is located. The distance of the intersection segment is modified to obtain the true distance of the corresponding intersection segment.

[0011] S6. Calculate the sum of the true distances of all intersection segments of the paths to obtain the true value of the photoelectric ranging path in the object observation.

[0012] This invention utilizes a UAV equipped with meteorological parameter observation instruments to form a data acquisition platform. Following a pre-defined flight path within a spatial range, it measures meteorological parameter values ​​for various small areas along the electromagnetic wave observation path. This data is then used to modify the distance values ​​of corresponding segments to obtain the true electromagnetic wave ranging values ​​for that segment. The values ​​from each small segment are then summed to obtain the precise electromagnetic wave ranging value. This invention's direct method yields more accurate distance observation values. By using measured values ​​instead of fitted values, this invention creatively addresses the impact of meteorological parameters on electro-optical ranging in high-altitude and canyon areas with significant weather variations and long distances, thereby improving the accuracy of electro-optical ranging values. It can be used for high-precision electro-optical ranging observations.

[0013] In step S1, if the cube has a topological intersection with the terrain surface, the cube is cancelled. When filling cubes, collisions between the cube and the terrain surface or spatial objects are avoided. If a topological intersection exists, the cube is cancelled to ensure flight safety.

[0014] The side length 'a' is set to 1m to 20m. The center points of each cube in this invention are a1, a2, a3..., where the longer the side length, the lower the accuracy, and vice versa.

[0015] As an inventive concept, the present invention also provides a terminal device, including a memory, a processor, and a computer program stored in the memory; the processor executes the computer program to implement the steps of the methods described above.

[0016] As an inventive concept, the present invention also provides a computer-readable storage medium having a computer program / instructions stored thereon; characterized in that the computer program / instructions, when executed by a processor, implement the steps of the above-described method.

[0017] As an inventive concept, the present invention also provides a computer program product, including a computer program / instructions; when the computer program / instructions are executed by a processor, they implement the steps of the above-described method.

[0018] Compared with existing technologies, the advantages of this invention are as follows: This invention utilizes a data acquisition platform formed by a UAV carrying meteorological parameter observation instruments. Following a pre-defined flight path within a spatial range, it measures the meteorological parameter values ​​of various small areas along the electromagnetic wave observation path. This value is then used to modify the distance values ​​of corresponding segments to obtain the true electromagnetic wave ranging value for that segment. The values ​​of each small segment are then summed to obtain the accurate electromagnetic wave ranging value. In contrast, existing technologies measure the meteorological parameters at both ends of the photoelectric ranging, then modify the observed distance values ​​at these ends using linear equations or correction models, and use the modified result as the final observation result. This method does not actually measure the true meteorological parameter values ​​along the object's distance observation path; it is a fitting method and thus an indirect method. The direct method of this invention yields more accurate distance observation values. Therefore, the method of this invention, based on the traditional fitting method, has been subjected to actual measurement. With the help of the flexibility and mobility of UAVs, it can be widely applied to electromagnetic wave ranging technologies such as valley width (chord) measurement, deformation monitoring measurement, trigonometric leveling measurement, and engineering measurement. It is used to solve the problem of large local variations in meteorological parameters such as temperature, air pressure, and humidity in high mountain and canyon areas due to the long observation distance of the object. The actual measured values ​​are used to replace the traditional equation or model fitting values, which improves the accuracy of distance observation, ensures the accuracy and quality of the results, and provides a solid guarantee for the next step of application analysis. Attached Figure Description

[0019] Figure 1 A schematic diagram of photoelectric ranging in the canyon area;

[0020] Figure 2 A schematic diagram of a spatial Rubik's Cube provided for this invention;

[0021] Figure 3 A route map planned in the space cube;

[0022] Figure 4 A schematic diagram of the coordinates for the flight path planning in the top-level Rubik's Cube. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example 1

[0025] This invention employs an unmanned aerial vehicle (UAV) platform equipped with various meteorological parameter measuring instruments. Through the flight path planning method of this invention, the UAV measures the actual values ​​of various meteorological parameters within the entire spatial range at fixed times and locations. The actual values ​​of meteorological parameters measured along the observation route are then modified by distance along the route to obtain precise distance observation values.

[0026] Several patents have been researched regarding instruments for meteorological parameter detection using drones, but these primarily focus on the invention and design of drone detection platforms and meteorological parameter detection modules, emphasizing the platform design and integration for meteorological parameter detection. This invention, however, builds upon this foundation by utilizing a drone hardware platform and employing the method described herein for flight path planning and design to obtain meteorological parameter values ​​within a certain range along the electromagnetic wave propagation path. This method is applicable to situations where traditional methods, such as deformation monitoring and measurement in high mountain and canyon areas, cannot obtain measured meteorological parameter values, and instead rely on fitting or model correction methods to adjust precise distance observations. This method can directly correct distance observations for measured meteorological parameters, making them more accurately approximate the true distance observation values, thus providing a new approach for precision measurement.

[0027] This invention provides a novel method for meteorological parameter detection based on unmanned aerial vehicle (UAV) technology, which can be widely applied in engineering practice. The method steps are as follows:

[0028] (1) Use the three-dimensional coordinate values ​​of the two endpoints V1 and V2 of the photoelectric ranging to locate and orient the area, obtain the approximate spatial range of the survey area, and determine the side length of the small cube as a (1m-20m), and the center points of each cube as a1, a2, a3..., where the longer the side length, the lower the accuracy, and vice versa;

[0029] (2) Fill the space between the two observation points in opposite directions with a cube with side length a to form a cuboid "space cube" (hereinafter referred to as cube). The four points at the top are M1, M2, M3, and M4, and the four points at the bottom are N1, N2, N3, and N4. Avoid collisions between the cube and the terrain surface and spatial objects during filling. If there is a topological intersection, cancel the cube to ensure flight safety.

[0030] (3) Determine the spatial three-dimensional coordinates of the center point of each small cube according to the coordinates in (1) and the relationship between the cube group and the observation axis. Number the cubes at the same elevation and connect the center lines of each cube continuously according to the principle of avoiding redundancy in UAV flight path planning to form the UAV flight path of the same layer.

[0031] (4) The routes on the same floor are planned according to the serpentine routes in aerial photogrammetry. The routes of each floor are planned from top to bottom, and the layers are connected according to the principle of shortest distance to form the routes connecting the center point of the entire space cube (magic cube).

[0032] (5) Using UAVs equipped with various meteorological observation sensors, the aircraft flies along a planned route to measure and store meteorological parameters at each observation point. Finally, the measured matrix values ​​of meteorological parameters within the spatial range between the observation axes are obtained.

[0033] (6) Using the actual values ​​of meteorological parameters at the center point of each cube as the meteorological parameters of the intersection between the electromagnetic wave propagation path and the cube, the distance of this section (the spatial distance of this section can be obtained according to the spatial geometric relationship) is modified (the distance of this section is modified using existing classical or other models) to obtain the accurate distance value of this section. By analogy, the accurate distance values ​​of each section on the observation path are obtained. The summation can finally obtain the accurate photoelectric ranging distance value of this path.

[0034] As a preferred approach, the three-dimensional coordinates of the two ends of the photoelectric ranging in steps (1) and (2) are V1(X1,Y1,Z1) and V2(X2,Y2,Z2), respectively, and the relative relationship between the Rubik's Cube and the AB path can be artificially set according to the principles of solid geometry. Therefore, using these two points for positioning and orientation, the three-dimensional coordinates of the center points a1, a2, a3, etc., of each small cube with side length a inside the Rubik's Cube are calculated. This provides accurate positioning for the UAV to fly in space. As a preferred approach, steps (3) and (4) require the use of knowledge of flight path planning in aerial photogrammetry. The general principle is that the flight path formed by connecting the center points of each small cube inside the Rubik's Cube should form a continuous and smooth serpentine shape between the same layers, and the connection between adjacent layers should follow the principle of shortest distance to improve the flight efficiency of the UAV.

[0035] As a preferred method, in steps (5) and (6), a UAV equipped with a meteorological detection instrument is used to measure the meteorological parameters of each segment along the photoelectric ranging electromagnetic wave route according to a set reasonable flight path. This allows for the acquisition of the actual meteorological parameter values ​​along the path. The distance of each segment along the path is then modified using meteorological parameters to obtain the actual distance value, thereby obtaining a more accurate value for electromagnetic wave laser ranging. When setting the flight path, it is necessary to hover or continuously measure at each measurement point for a certain period of time. This can be set according to the measurement method of the meteorological observation instrument; correspondingly, the hovering time of each recording point along the flight path only needs to be set between zero seconds and several seconds.

[0036] The core of this invention is to utilize a UAV flight path planning method to plan the three-dimensional coordinates of various measuring points within a spatial range, thereby forming a flight path. The UAV, equipped with meteorological parameter measuring instruments, then measures the meteorological parameters at each flight point. This method addresses situations where traditional methods cannot obtain meteorological parameters with subtle spatial variations. Instead, it uses the meteorological parameters from both endpoints, along with a correction model, to fit the meteorological parameter values ​​along the photoelectric ranging line. In other words, it uses measured values ​​instead of fitted values, creatively addressing the impact of meteorological parameters on photoelectric ranging in high-mountain and canyon areas with significant weather variations and long distances, thereby improving the accuracy of photoelectric ranging values. This method can be used for high-precision photoelectric ranging observations.

[0037] Considering the impact on drone flight efficiency, the starting point for flight route planning is generally chosen to be point a1 on the top layer of the space cube, and the flight proceeds layer by layer from top to bottom.

[0038] In step 5, the dwell time of the UAV at each observation point can be set according to the measurement cycle of the meteorological parameter measuring instrument, and then written into the UAV flight path file. It can also be dynamically adjusted in combination with the weather change cycle.

[0039] In step 6, the actual values ​​of the meteorological parameters at the center points of each cube are used as the meteorological parameters for the section where the electromagnetic wave propagation path intersects with the cube. This is because the cubes are small, and the changes in meteorological parameters within this small spatial range are negligible. Furthermore, the smaller the side length 'a' of the small cube, the smaller this difference becomes; by reducing the value of 'a', this change can be controlled to a negligible range.

[0040] Figures 1-4 This paper describes the flight path planning process for meteorological parameter detection using a drone in an embodiment of the present invention. It dynamically illustrates how the meteorological parameters at the center point of a small spatial cube are used to accumulate the meteorological parameter values ​​for each segment of the photoelectric ranging line, and how the measured meteorological parameters are used to modify the distance values ​​of the corresponding segments to obtain the final accurate photoelectric ranging distance value.

[0041] Example 2

[0042] Embodiment 2 of the present invention provides a terminal device corresponding to Embodiment 1 above. The terminal device can be a processing device for a client, such as a mobile phone, a laptop, a tablet computer, a desktop computer, etc., to execute the method of the above embodiments.

[0043] The terminal device in this embodiment includes a memory, a processor, and a computer program stored in the memory; the processor executes the computer program in the memory to implement the steps of the method in Embodiment 1 described above.

[0044] In some implementations, the memory may be high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage device.

[0045] In other implementations, the processor can be any type of general-purpose processor, such as a central processing unit (CPU) or a digital signal processor (DSP), and there is no limitation here.

[0046] Example 3

[0047] Embodiment 3 of the present invention provides a computer-readable storage medium corresponding to Embodiment 1 above, on which a computer program / instructions are stored. When the computer program / instructions are executed by a processor, they implement the steps of the method of Embodiment 1 above.

[0048] A computer-readable storage medium can be a tangible device that holds and stores instructions for use by an instruction execution device. A computer-readable storage medium can be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any combination thereof.

[0049] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code. The solutions in the embodiments of this application can be implemented in various computer languages, such as the object-oriented programming language Java and the interpreted scripting language JavaScript.

[0050] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0051] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0052] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0053] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A ranging method for meteorological parameter detection using a drone, characterized in that, Includes the following steps: S1. Fill the space between the two opposing observation points with a cube of side length a to form a rectangular cube-shaped space cube. S2. Determine the three-dimensional spatial coordinates of the center point of each cube, connect the center points of cubes at the same elevation, and form the drone flight path of the same layer. S3. Connect the drone flight paths between each layer according to the shortest principle to form the flight path connecting the center point of the entire space cube; S4. The UAV equipped with meteorological observation sensors flies along the route connecting the center points of the entire spatial cube, and measures meteorological parameters at each observation point to obtain the true values ​​of meteorological parameters at each observation point within the spatial range between the observation axes; the observation point is set as the center point of the cube at the corresponding location. S5. The true values ​​of the meteorological parameters of each observation point are used as the meteorological parameters of the intersection segment of the electromagnetic wave propagation path and the cube where each observation point is located. The distance of the intersection segment is modified to obtain the true distance of the corresponding intersection segment. S6. Calculate the sum of the true distances of all intersection segments of the paths to obtain the true value of the photoelectric ranging path in the object observation.

2. The ranging method for meteorological parameter detection using a UAV according to claim 1, characterized in that, In step S1, if the cube has a topological intersection with the terrain surface, then the cube is cancelled.

3. The ranging method for meteorological parameter detection using a UAV according to claim 1, characterized in that, The side length 'a' is set to 1m to 20m.

4. A terminal device, comprising a memory, a processor, and a computer program stored in the memory; characterized in that, The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 3.

5. A computer-readable storage medium having a computer program / instructions stored thereon; characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1 to 3.

6. A computer program product, comprising a computer program / instructions; characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method according to any one of claims 1 to 3.

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