Surveying and mapping method based on aircraft and aircraft surveying and mapping control system

Abstract

The invention discloses a surveying and mapping method based on an aircraft and an aircraft surveying and mapping control system. The surveying and mapping method based on the aircraft comprises the steps that the aircraft is controlled to fly according to a remote control flight instruction input by a user; when the aircraft flies to the position above the boundary of a plot needing surveying and mapping or above the plot needing to mark obstacles, a vertical view angle picture is shot through camera shooting equipment arranged on the aircraft, and a reference mark used for alignment and the vertical view angle picture are displayed on an image display interface. Therefore, the reference mark in the vertical view angle picture is aligned with the boundary of the land parcel to be dotted or an obstacle to manually trigger the dotting operation. According to the invention, compared with manual dotting surveying and mapping, the problem of low surveying and mapping efficiency of surveying and mapping personnel can be solved; compared with traditional unmanned aerial vehicle surveying and mapping, the surveying and mapping control process is simplified, surveying and mapping efficiency is improved, and corresponding high-precision position information can be surveyed and mapped in a short time.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle flight control, and in particular to an aircraft-based surveying and mapping method and an aircraft surveying and mapping control system.

[0002] This application is a divisional application. The parent application number is: 2018110383268. The parent application name is: A surveying and mapping method, device and system based on an aircraft. The parent application date is: 2018-09-06. Background Art

[0003] There are two main methods for map surveying. One is to use drones to survey. Generally, drone surveying requires planning the route in advance and then using the drone to survey according to the route. In the later stage, the photos need to be stitched together by software. This surveying method is too complicated and time-consuming, and is not practical for some occasions where high-precision routes are urgently needed.

[0004] The other is manual surveying. Manual surveying usually involves workers walking around with handheld surveying equipment to manually mark the locations that need to be surveyed (for example, manual surveying of farmland boundaries and obstacles in the plant protection industry). It can be seen that manual surveying requires people to walk around. When encountering some complex terrain, workers may not be able to reach the site. If they are forced to walk around on complex terrain to survey, it will bring danger to the workers. At the same time, the efficiency of manual surveying is relatively low. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides an aircraft-based surveying and mapping method and an aircraft surveying and mapping control system to solve the problems of complexity and time-consuming existing UAV surveying and mapping methods, as well as the poor safety and low surveying and mapping efficiency of manual surveying and mapping methods.

[0006] According to a first aspect, an embodiment of the present invention provides a surveying method based on an aircraft, which is used to survey land boundaries or obstacles, and the method includes: controlling the aircraft to fly according to a remote control flight instruction input by a user;

[0007] When the aircraft flies above the boundary of a plot that needs to be surveyed or above an obstacle that needs to be marked, a vertical viewing angle image is captured by a camera installed on the aircraft, and a reference mark for alignment and the vertical viewing angle image are displayed on an image display interface so that the reference mark in the vertical viewing angle image can be used to align with the boundary of the plot or the obstacle to be marked to manually trigger a marking operation.

[0008] Compared with manual point surveying, the aircraft-based surveying method of the embodiment of the present invention can solve the problem of low surveying efficiency; compared with traditional UAV surveying, it simplifies the surveying control process, improves the surveying efficiency, and can achieve the mapping of corresponding high-precision routes in a short time.

[0009] In combination with the first aspect, in the first embodiment of the first aspect, the aircraft-based surveying and mapping method includes: a controller receives a trigger operation input by a user, generates a control instruction according to the trigger operation, and sends the control instruction to a flight control module of the aircraft, the flight control module controls the aircraft to perform dotting according to the control instruction, and the trigger operation includes a surveying and dotting instruction instructing the aircraft to perform dotting.

[0010] In combination with the first embodiment of the first aspect, in the second embodiment of the first aspect, the controller is a remote control device.

[0011] In combination with the first aspect, in a third implementation of the first aspect, the reference mark for alignment is set in the middle position of the vertical viewing angle picture.

[0012] In combination with the first aspect, in a fourth implementation of the first aspect, the reference mark is a cross-finding line, and the cross-finding line is used to identify position information in the image.

[0013] In combination with the fourth embodiment of the first aspect, in the fifth embodiment of the first aspect, the direction of the cross-finder is adjusted according to a specific object in the display screen, or the direction of the cross-finder changes with reference to the flight direction of the aircraft.

[0014] In combination with the first aspect, in a sixth implementation of the first aspect, the method includes:

[0015] Receive trigger actions from user input;

[0016] Recording the marked points in the image according to the trigger operation;

[0017] The actual surveying and mapping point position information corresponding to the marked point is obtained according to the mapping relationship between the image and the real position.

[0018] In combination with the sixth implementation of the first aspect, in the seventh implementation of the first aspect, obtaining the actual surveying and mapping point position information corresponding to the marked point according to the mapping relationship between the image and the real position includes:

[0019] Acquire the real-time differential positioning coordinate information of the aircraft, the attitude information of the camera device of the aircraft, the relative position information between the camera device and the positioning device, and the captured image, wherein the positioning device is used to confirm the real-time differential positioning coordinate information of the aircraft;

[0020] The actual surveying and mapping point position information is generated according to the real-time differential positioning coordinate information, the posture information, the relative position information between the camera device and the positioning device, and the image.

[0021] In combination with the seventh implementation manner of the first aspect, in the eighth implementation manner of the first aspect, the posture information is vertical angle photographing information of the camera device, and the image is a vertical photographing image taken by the camera device.

[0022] In combination with the first aspect, in a ninth implementation of the first aspect, a real-time differential positioning system is provided on the aircraft to monitor the real-time differential positioning coordinate information of the aircraft in real time.

[0023] In combination with the first aspect, in a tenth implementation of the first aspect, the image display interface includes a map screen for an operator to have an overall view.

[0024] In combination with the first aspect, in an eleventh implementation of the first aspect, the method includes:

[0025] A first-person main perspective picture is captured by a camera device arranged on the aircraft, and the first-person main perspective picture and the vertical perspective picture are switched and displayed through operation.

[0026] According to a second aspect, an embodiment of the present invention provides an aircraft mapping control system, including: the aircraft mapping control system includes: an aircraft, a controller and a display device, the aircraft includes: a flight control module and at least one camera device,

[0027] The aircraft mapping control system is used to execute the aircraft-based mapping method described in the first aspect.

[0028] Compared with manual point mapping, the aircraft mapping control system of the embodiment of the present invention can solve the problem of low mapping efficiency; compared with traditional UAV mapping, it simplifies the mapping control process, improves the mapping efficiency, and can map the corresponding high-precision position information in a short time. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0030] Figure 1 A schematic diagram of the structure of an aircraft mapping control system according to an embodiment of the present invention is shown;

[0031] Figure 2 A schematic diagram showing a picture displayed in a display device according to an embodiment of the present invention is shown;

[0032] FIG. 3A to FIG. 3C A schematic diagram showing a flight trajectory of an aircraft according to an embodiment of the present invention;

[0033] Figure 4 A schematic diagram of a flow chart of a surveying and mapping method based on an aircraft according to an embodiment of the present invention is shown;

[0034] Figure 5 A schematic diagram of the structure of a surveying and mapping device based on an aircraft according to an embodiment of the present invention is shown;

[0035] Figure 6 A schematic diagram of a flow chart of a surveying and mapping method based on an aircraft according to another embodiment of the present invention is shown;

[0036] Figure 7 A schematic structural diagram of an aircraft-based surveying and mapping method according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0038] like Figure 1 , which is a schematic diagram of an application scenario of an aircraft mapping control system according to an embodiment of the present invention. The aircraft mapping control system mainly comprises: an aircraft 1 , a controller 2 and a display device 3 , wherein the aircraft 1 comprises: a flight control module 11 and at least one camera device 12 .

[0039] The camera device 12 captures images of the aircraft 1 during flight; the image display interface of the display device 3 displays reference marks for alignment and the image. Optionally, in some embodiments of the present invention, the camera device 12 may include: a forward-looking camera and a vertical ground-shooting camera, wherein the forward-looking camera is mainly used for monitoring obstacles in the first-person perspective (FPV) image, and the vertical ground-shooting camera is mainly used for capturing vertical perspective images 22 for surveying and marking. Correspondingly, Figure 2 As shown, the display device 3 can be configured to display two screens, or two display devices 3 are configured to respectively display the first-person perspective (FPV) screen 21 and the vertical perspective screen 22. Further, the display device 3 can also display a third screen, or a third display device 3 is configured to display the entire map screen 22, so that the operator can have an overview of the overall situation.

[0040] The controller 2 is used to receive a trigger operation input by a user, record the marked points in the image according to the trigger operation, generate a control instruction according to the trigger operation, and send the control instruction to the flight control module 11. The flight control module 11 controls the aircraft 1 to take corresponding photos and mark points according to the control instruction, and transmits the photo information and the real-time differential positioning coordinate information of the aircraft to the controller 2. The controller 2 obtains the actual surveying point position information corresponding to the marked point according to the photo information and the real-time differential positioning coordinate information, and the relative position information between the camera 12 and the positioning device.

[0041] Optionally, in some embodiments of the present invention, the positioning device of the aircraft surveying and mapping control system is a real-time differential positioning system (RTK). The RTK system is arranged on the aircraft 1, and monitors the real-time differential positioning coordinate information of the aircraft 1 in real time, and provides it to the camera device 12. The camera device 12 packages and uploads the vertical perspective image of the captured point and the real-time differential positioning coordinate information, thereby providing more accurate photographing information, thereby determining more accurate surveying and mapping point location information.

[0042] In actual applications, the trigger operation input by the user can be input according to a separately set controller 2 (such as a remote control device, etc.), or it can be touch input through the touch screen of the display device 3, and the touch screen operation is sent to the controller 2. The present invention is not limited to this.

[0043] Optionally, in some embodiments of the present invention, the above-mentioned image display interface refers to the first-person perspective (FPV) screen 21, the vertical perspective screen 22 and the map screen 23. The trigger operation input by the user can mainly include two aspects of instructions. On the one hand, it is a remote control flight instruction for remotely controlling the aircraft 1 to fly, and the flight path, direction, speed, altitude, etc. of the aircraft 1 are controlled by the remote control flight instruction. On the other hand, it is a surveying and marking instruction for instructing the aircraft 1 to mark points. When the user enters the surveying and marking instruction, the vertical perspective shooting camera on the aircraft 1 takes pictures.

[0044] Compared with manual point-marking surveying, the surveying process implemented by the aircraft surveying and mapping control system in the embodiment of the present invention can solve the problems of low safety and low surveying efficiency of point-marking personnel walking on the boundaries of complex plots; compared with traditional UAV surveying, it simplifies the surveying and mapping control process, improves the surveying and mapping efficiency, and can achieve corresponding high-precision route mapping in a short time.

[0045] The following further describes the aircraft-based surveying and mapping method and aircraft surveying and mapping control system according to an embodiment of the present invention in conjunction with a specific application example.

[0046] Figure 2What is shown is a schematic diagram of the screen displayed in the display device 3, and the content displayed in the display device 3 mainly includes: a first-person main perspective screen 21, a vertical perspective screen 22, a map screen 23, a plot boundary 20, a plot obstacle 222, and a cross-view line 221 (i.e., a reference mark for alignment). It should be noted that the three screens in the display device 3 can be three screens at different positions in a screen, or only one screen can be displayed through operation switching. The display device 3 can also be divided into multiple display devices for separately displaying corresponding screens. The cross-view line 221 can also be a reference mark of other shapes (such as an arrow shape, etc.). The cross-view line 221 can also be set at any position except the middle position of the vertical viewing angle screen 22. The viewfinder can be used to mark objects of specific shapes in the picture. For example, a straight line in the image can be identified by the hough algorithm, and then when the operator does not operate, the viewfinder can be marked by default on the identified straight line. Specific objects in the image can also be identified according to the recognition algorithm. The recognition algorithm can also be a matching algorithm. For example, an intersection in the image can be matched. When an intersection in the image is identified by the matching algorithm, the viewfinder can be marked by default at the intersection; the surveying and mapping dot-marking command issued by the operator can also be confirmed by touching the screen of the display device 3.

[0047] First, the user observes the screen and map displayed on the display device 3, and at the same time, the user can remotely control the flight of the aircraft 1 through the control terminal, and its flight trajectory can be adjusted according to the actual screen display, such as FIG. 3A to FIG. 3C As shown, the aircraft 1 is flown by the operator according to the boundary 20 of the plot 30. The boundary 20 can be a boundary 20 of a regular shape such as a circle, an ellipse, a rectangle, or an irregular shape. When the aircraft 1 flies above the boundary 20 of the plot that needs to be surveyed or above the obstacle 222 that needs to be marked, the flight altitude is higher than the ground or the crop surface. The cross-view line 221 in the vertical viewing angle screen 22 of the display device 3 is aligned with the boundary of the plot or the obstacle to be marked to manually trigger the marking operation. At this time, the flight control module 11 provides the currently collected RTK positioning coordinate information to the vertical camera module according to the triggered marking operation. The camera module will save the currently captured photos and the RTK three-dimensional coordinate information together, generate the photo marking information, and provide feedback.

[0048] The cross-view line 221 is used to identify the position information in the image. It can be a "cross" and its direction can be changed. For example, it can adjust the direction according to the specific object in the image display interface. The horizontal line or vertical line of the cross-view line 221 can always be kept roughly parallel to the edge of the road, and its position can also be kept in the center of the road as much as possible; the cross-view line 221 can also be fixed in position or direction. The cross-view line can also change direction with reference to the flight direction of the drone. For example, if the current direction of the drone is due north, the vertical line of the cross-view line is displayed in the north-south direction; if it is an arrow viewfinder, the direction of the arrow can always be kept consistent with the direction of the road, or kept consistent with the flight direction of the drone.

[0049] The embodiment of the present invention also provides a surveying and mapping method based on an aircraft, which can be applied to the above-mentioned aircraft surveying and mapping control system. Figure 4 As shown, the surveying and mapping method includes:

[0050] Step S41: Acquire the image of the aircraft during flight, and display the reference mark for alignment and the image on the image display interface; wherein, the image of the aircraft during flight can be obtained by shooting with a camera device installed on the aircraft, and the camera device may include: a forward-looking camera and a vertical ground-shooting camera, the forward-looking camera is mainly used for obstacle monitoring in the first-person perspective (FPV) screen, and the vertical ground-shooting camera is mainly used for shooting vertical perspective screens for surveying and mapping. The image display interface mainly includes: a first-person perspective shooting screen, a vertical perspective shooting screen, and a map screen.

[0051] Step S42: receiving a trigger operation input by the user; the trigger operation input by the user may be a touch input through the touch screen of the display device, or may be an input according to a separately set remote control device, such as a button, a dip switch, etc., but the present invention is not limited thereto.

[0052] Step S43: Record the marked points in the image according to the triggering operation; for example, when the operator triggers the center point of the image, the coordinate information of the corresponding pixel point of the triggered point in the current image is recorded.

[0053] Step S44: obtaining the actual surveying point position information corresponding to the marked point according to the mapping relationship between the image and the real position.

[0054] Optionally, in some embodiments of the present invention, the process of step S44 specifically includes: obtaining the real-time differential positioning coordinate information of the aircraft, the attitude information of the camera device of the aircraft, the relative position information between the camera device and the positioning device, and the captured image, wherein the positioning device is used to confirm the real-time differential positioning coordinate information of the aircraft; generating the actual surveying point position information according to the real-time differential positioning coordinate information, attitude information, the relative position information between the camera device and the positioning device, and the image. In a preferred embodiment, the attitude information may be the vertical angle photographing information of the camera device, and the image is the vertical photographing image captured by the camera device.

[0055] Optionally, in some embodiments of the present invention, the user may also input remote control flight instructions through the display device; and control the flight of the aircraft according to the remote control flight instructions.

[0056] Compared with manual surveying and mapping, the aircraft-based surveying and mapping method of the embodiment of the present invention can solve the problem of low safety of surveying personnel walking on the boundaries of complex plots; compared with traditional drone surveying and mapping, it simplifies the surveying and mapping control process, improves the efficiency of surveying and mapping, and can achieve the mapping of corresponding high-precision routes in a short time.

[0057] The embodiment of the present invention also provides a surveying and mapping device based on an aircraft, such as Figure 5 As shown, the surveying and mapping device mainly includes:

[0058] The display module 41 is used to obtain the image of the aircraft during flight, and display the reference mark for alignment and the image on the image display interface; wherein the image of the aircraft during flight can be obtained by shooting with a camera device installed on the aircraft, and the camera device may include: a forward-looking camera and a vertical ground-shooting camera, the forward-looking camera is mainly used for obstacle monitoring in the first-person perspective (FPV) screen, and the vertical ground-shooting camera is mainly used for shooting vertical perspective screens for surveying and mapping. The image display interface mainly includes: a first-person perspective shooting screen, a vertical perspective shooting screen, and a map screen.

[0059] The control instruction receiving module 42 is used to receive a trigger operation input by a user; the trigger operation input by the user can be a touch input through a touch screen of the display device, or can be input according to a separately set remote control device, and the present invention is not limited thereto.

[0060] A marking point recording module 43, used to record the marking points in the image according to the trigger operation;

[0061] The actual surveying and mapping point position information acquisition module 44 is used to acquire the actual surveying and mapping point position information corresponding to the marked point according to the mapping relationship between the image and the real position. Specifically, the actual surveying and mapping point position information acquisition module 44 includes: a coordinate acquisition and photo taking submodule, which is used to acquire the real-time differential positioning coordinate information of the aircraft, the attitude information of the camera device of the aircraft, the relative position information between the camera device and the positioning device, and the captured image, wherein the positioning device is used to confirm the real-time differential positioning coordinate information of the aircraft; and an actual surveying and mapping point position information generation submodule, which is used to generate the actual surveying and mapping point position information according to the real-time differential positioning coordinate information, attitude information, the relative position information between the camera device and the positioning device, and the image.

[0062] Optionally, in some embodiments of the present invention, the user can also input remote control flight instructions through the display device; the aircraft-based surveying and mapping device also includes: a remote control flight instruction receiving module, which is used to receive remote control flight instructions input by the user according to the image display interface; and a flight control module, which is used to control the flight of the aircraft according to the remote control flight instructions.

[0063] Compared with manual point-marking surveying, the aircraft-based surveying and mapping device in the embodiment of the present invention can solve the problem of low safety of point-marking personnel walking on the boundaries of complex plots; compared with traditional drone surveying, it simplifies the surveying and mapping control process, improves the efficiency of surveying, and can map the corresponding high-precision routes in a short time.

[0064] The embodiment of the present invention also provides a surveying and mapping method based on an aircraft, which can be applied to the above-mentioned aircraft 1, such as Figure 6 As shown, the surveying and mapping method includes:

[0065] Step S61: sending images of the aircraft in flight taken by at least one camera device installed on the aircraft to the controller;

[0066] Step S62: receiving a control instruction sent by the controller, where the control instruction is generated according to a trigger operation input by the user on the controller;

[0067] Step S63: Take photos according to the control instruction, and send the photo information and the real-time differential positioning coordinate information of the aircraft to the controller.

[0068] Optionally, in some embodiments of the present invention, the photographed information includes: the posture information of the at least one camera device and the image. Preferably, the posture information is the vertical angle photographing information of the at least one camera device, and the image is a vertical photographing image taken by the at least one camera device. In a preferred embodiment, the position difference between the camera device that takes the vertical photographing image and the RTK antenna installation is compensated by a software algorithm. For example, the position information of the RTK antenna installation relative to a reference point A of the drone can be obtained, and the position information of the camera device relative to the reference point A can be obtained, so that the position difference between the camera device and the RTK can be calculated, and the relative position information of the camera device and the RTK antenna can be calculated.

[0069] Compared with manual surveying and mapping, the aircraft-based surveying and mapping method of the embodiment of the present invention can solve the problem of low safety of surveying personnel walking on the boundaries of complex plots; compared with traditional drone surveying and mapping, it simplifies the surveying and mapping control process, improves the efficiency of surveying and mapping, and can achieve the mapping of corresponding high-precision routes in a short time.

[0070] The embodiment of the present invention also provides a surveying and mapping device based on an aircraft, such as Figure 7 As shown, the surveying and mapping device mainly includes:

[0071] An image sending module 61 is used to send an image of the aircraft in flight taken by at least one camera device provided on the aircraft to the controller;

[0072] A control instruction receiving module 62, used to receive a control instruction sent by a controller, wherein the control instruction is generated according to a trigger operation input by a user on the controller;

[0073] The surveying and mapping information sending module 63 is used to take photos according to the control instruction, and send the photo information and the real-time differential positioning coordinate information of the aircraft to the controller.

[0074] Optionally, in some embodiments of the present invention, the photographed information includes: the attitude information of the at least one camera device, the relative position information between the camera device and the positioning device, and the image, wherein the positioning device is used to confirm the real-time differential positioning coordinate information of the aircraft. Preferably, the attitude information is the vertical angle photographing information of the at least one camera device, and the image is the vertical photographing image taken by the at least one camera device. In a preferred embodiment, the positioning device is an RTK antenna, and the relative position information between the camera device and the RTK antenna is calculated according to the installation positions of the camera device and the RTK antenna.

[0075] Compared with manual point-marking surveying, the aircraft-based surveying and mapping device in the embodiment of the present invention can solve the problem of low safety of point-marking personnel walking on the boundaries of complex plots; compared with traditional drone surveying, it simplifies the surveying and mapping control process, improves the efficiency of surveying, and can map the corresponding high-precision routes in a short time.

[0076] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A surveying and mapping method based on an aircraft, characterized in that: For mapping land boundaries or obstacles, the method comprises: Controlling the flight of the aircraft according to remote control flight instructions input by a user; When the aircraft flies above the boundary of a plot that needs to be surveyed or above an obstacle that needs to be marked, a vertical viewing angle image is captured by a camera installed on the aircraft, and a reference mark for alignment and the vertical viewing angle image are displayed on an image display interface so that the reference mark in the vertical viewing angle image can be used to align with the boundary of the plot or the obstacle to be marked to manually trigger a marking operation.

2. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The method comprises: The controller receives a trigger operation input by a user, generates a control instruction according to the trigger operation, and sends the control instruction to the flight control module of the aircraft. The flight control module controls the aircraft to perform dotting according to the control instruction. The trigger operation includes a surveying and dotting instruction instructing the aircraft to perform dotting.

3. The method for surveying and mapping based on an aircraft according to claim 2, characterized in that: The controller is a remote control device.

4. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The reference mark for alignment is arranged at a middle position of the vertical viewing angle picture.

5. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The reference mark is a crosshair, and the crosshair is used to identify position information in an image.

6. The method for surveying and mapping based on an aircraft according to claim 5, characterized in that: The direction of the crosshairs is adjusted according to a specific object in the display image, or the direction of the crosshairs is changed with reference to the flight direction of the aircraft.

7. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The method comprises: Receive trigger actions from user input; Recording the marked points in the image according to the trigger operation; The actual surveying and mapping point position information corresponding to the marked point is obtained according to the mapping relationship between the image and the real position.

8. The method for surveying and mapping based on an aircraft according to claim 7, characterized in that: The step of obtaining the actual surveying and mapping point position information corresponding to the marked point according to the mapping relationship between the image and the real position includes: Acquire the real-time differential positioning coordinate information of the aircraft, the attitude information of the camera device of the aircraft, the relative position information between the camera device and the positioning device, and the captured image, wherein the positioning device is used to confirm the real-time differential positioning coordinate information of the aircraft; The actual surveying and mapping point position information is generated according to the real-time differential positioning coordinate information, the posture information, the relative position information between the camera device and the positioning device, and the image.

9. The method for surveying and mapping based on an aircraft according to claim 8, characterized in that: The posture information is vertical angle photographing information of the camera device, and the image is a vertical photographing image taken by the camera device.

10. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The aircraft is provided with a real-time differential positioning system to monitor the real-time differential positioning coordinate information of the aircraft in real time.

11. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The image display interface includes a map screen for operators to have an overall view.

12. The method for surveying and mapping based on an aircraft according to claim 1, characterized in that: The method comprises: A first-person main perspective picture is captured by a camera device arranged on the aircraft, and the first-person main perspective picture and the vertical perspective picture are switched and displayed through operation.

13. An aircraft mapping control system, characterized in that: The aircraft mapping control system comprises: an aircraft, a controller and a display device, wherein the aircraft comprises: a flight control module and at least one camera device, The aircraft mapping control system is used to execute the aircraft-based mapping method described in any one of claims 1-12.

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