A simulation national territorial space planning system using VR and GIS technologies

Abstract

The present invention discloses a simulation national territorial space planning system adopting VR and GIS technologies, which relates to the field of national territorial space planning; it includes: a national territorial information collection and processing module, which is used to collect national territorial space information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, location coordinate data of land, remote sensing images of land, and types of land. After these data are preprocessed, they are sent to the central control module; a VR image collection and processing module, which uses VR technology to collect images of the national territorial space within the region and surrounding images, and performs preprocessing; a GIS data processing module, which receives the data of the national territorial information collection and processing module and performs spatial analysis using GIS technology. The present invention improves the planning efficiency: through three-dimensional simulation and VR display, the planning process is made more intuitive and efficient, reducing the cumbersome steps in traditional two-dimensional planning; it enhances the planning effect: by providing an immersive experience using VR technology.

Description

Technical Field

[0001] The present invention relates to the field of territorial spatial planning, and in particular to a simulated territorial spatial planning system using VR and GIS technologies. Background Art

[0002] Territorial space is the home on which people depend for survival and development, including land, inland waters, internal waters, territorial seas, territorial airspace, etc. With the acceleration of China's urbanization process, the demand for space in urban development has increased, and spatial planning has become particularly important.

[0003] Virtual reality (VR) technology is a computer simulation system that can create and experience virtual worlds. Through devices such as head-mounted displays and handles, the user's senses such as vision and hearing are brought into the virtual world to achieve natural interaction with the virtual environment. And geographic information system (GIS) is a technology that processes, analyzes, and displays geographic information through computer technology and geographical principles, capable of collecting, sorting, processing, and analyzing geographic information data and performing visual display.

[0004] Most traditional territorial spatial planning systems can only perform two-dimensional displays, lacking intuitive three-dimensional senses and interactivity, and it is difficult to meet the complex requirements of modern urban planning.

[0005] Therefore, the present invention proposes a simulated territorial spatial planning system using VR and GIS technologies. Summary of the Invention

[0006] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose a simulated territorial spatial planning system using VR and GIS technologies.

[0007] To achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A simulated territorial spatial planning system using VR and GIS technologies, comprising:

[0009] A territorial information collection and processing module, used to collect territorial spatial information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, position coordinate data of land, remote sensing images of land, and types of land. After these data are preprocessed, they are sent to the central control module;

[0010] A VR image collection and processing module, which uses VR technology to collect images of territorial space within a region and surrounding images, and performs preprocessing;

[0011] A GIS data processing module, which receives the data from the territorial information collection and processing module, uses GIS technology to perform spatial analysis, and the analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module;

[0012] A central control module, which is the core of the system, responsible for receiving, processing, and distributing data and information from each module, and coordinating the work among modules;

[0013] A 3D model construction module, which constructs a 3D simulation model of the national territorial space based on the data from the VR image acquisition and processing module and the GIS data processing module, and realizes the construction of a virtual environment;

[0014] A planning analysis module, which uses the constructed 3D model and combines with the GIS analysis results to conduct an analysis of national territorial space planning, including the evaluation of resource and environmental carrying capacity, the judgment of national territorial space pollution situation, and the evaluation of national territorial space suitability;

[0015] A VR display module, which uses VR devices to display the 3D simulation model and the planning analysis results to users in the form of a virtual environment.

[0016] Preferably: The image acquisition of the VR image acquisition and processing module adopts an acquisition method based on a drone swarm, which specifically includes the following steps:

[0017] A1: Mount the image collector on the bottom of the drone;

[0018] A2: According to the regions of the national territorial space, conduct separate path planning for each drone;

[0019] A3: Control the drones to fly according to the planned paths, conduct image acquisition, and transmit the acquired images based on the optimal transmission method;

[0020] A4: Meanwhile, during the flight process, obtain the flight positions of the drones through the built-in positioning modules of the drones, and then correct the paths of the drones in combination with the planned positions.

[0021] Preferably: In the step A3, the optimal transmission method includes the following steps:

[0022] A31: Assign a unique identifier M to the communication module of each drone and obtain the communication capabilities of the drone ;

[0023] A32: According to the communication positions of the drones, select a communication area S, the communication area , where D is the communication width of the drone, L is the communication length, and H is the communication height;

[0024] A33: Interconnect the drones within the communication area S, and simultaneously calculate the optimal communication drones;

[0025] A34: Transmit all the remaining drone information within each area S to the optimal communication drone, and then have the optimal drone pack the information and transmit it to the central control module.

[0026] Preferably: In step A33, it includes the following steps:

[0027] A331: Calculate the communication distance d of the drone from the central control module;

[0028] A332: Then calculate the priority of each drone according to the formula where Z is the drone priority, and are the weights of d and respectively, preset by the administrator.

[0029] Preferably: The optimal transmission method also has a built-in positioning verification algorithm, and its positioning verification method includes the following steps:

[0030] B1: Select the target drone and obtain its real-time position (x, y, z) through communication;

[0031] B2: In its area S, select other drones and obtain the communication positions of other drones through communication , which represents the position of the i-th drone in area S;

[0032] B3: Obtain the relative position difference between the target drone and the i-th drone according to the mutual communication between the two drones ;

[0033] B4: Set the error coefficient k;

[0034] B5: Calculate the error distance according to the formula If , then the position evaluation result of the i-th drone for the target drone is "inaccurate", otherwise it is "accurate";

[0035] B6: Follow steps B1 - B5 to traverse other drones in area S and count the voting results. If the frequency of "accurate" is greater than that of "inaccurate", it means the position of the target drone is accurate. If the frequency of "accurate" is less than that of "inaccurate", there is a fault in the communication positioning of the target drone, and then position correction is performed until the frequency of "accurate" is greater than that of "inaccurate".

[0036] Preferably: Step A4 includes the following steps:

[0037] A41: Obtain the theoretical azimuths between each drone according to the path planning;

[0038] A42: Determine the actual orientation between each UAV based on the acquisition of image markers by the image acquisition module;

[0039] A43: Use the deviation between the theoretical orientation and the actual orientation to vote on the position accuracy of the target UAV, and determine the reference UAV according to the voting results;

[0040] A44: Then, in combination with the acquisition and orientation calculation of the image markers on the reference UAV by the image acquisition module, adjust the UAV orientation.

[0041] Preferably: In step A43, it includes the following steps:

[0042] A431: Set the allowable deviation coefficient k;

[0043] A432: Decompose the orientation along the three-dimensional space to obtain the theoretical distances on the X, Y, and Z axes and the actual distances ;

[0044] A433: Judgment ①: 、②: 、③: ;

[0045] A434: Determine the voting score according to the compliance judgment of ①②③;

[0046] A435: Average the voting results of all UAVs on the target UAV to obtain the voting score of the target UAV.

[0047] Preferably: In step A434, if ①②③ all meet the requirements, the voting result for the target UAV is 1; if one of ①②③ does not meet the requirements, the voting result for the target UAV is 2 / 3; if two of ①②③ do not meet the requirements, the voting result for the target UAV is 1 / 3; if ①②③ all do not meet the requirements, the voting result is 0.

[0048] Preferably: For the three-dimensional model construction module, its construction method includes the following steps:

[0049] C1: Point cloud processing: Filter, classify, and segment the point cloud data to extract terrain and building elements;

[0050] C2: Model construction: Use three-dimensional real-scene modeling software to construct a three-dimensional model based on the point cloud data or other data sources;

[0051] C3: Scene integration: Integrate multiple three-dimensional models into a unified scene to form a complete three-dimensional city model or national land space model;

[0052] C4: Model Optimization: On the premise of ensuring the image effect, simplify the model, reduce the data volume, and improve the rendering efficiency. At the same time, compress the texture image to reduce the file size.

[0053] Preferably: In the C2 step, the three-dimensional model includes geometric shape, texture mapping, and material.

[0054] The beneficial effects of the present invention are as follows:

[0055] The present invention improves the planning efficiency: Through three-dimensional simulation and VR display, the planning process becomes more intuitive and efficient, reducing the cumbersome steps in traditional two-dimensional planning; enhances the planning effect: Utilizing the immersive experience provided by VR technology enables users to better understand and perceive the planning scheme, improving the accuracy and feasibility of the planning; promotes planning innovation: Through the spatial analysis and data processing capabilities of GIS technology, it provides a scientific basis for the formulation of planning schemes, promoting the innovation and development of planning methods.

[0056] In the present invention, the communication between the unmanned aerial vehicles and the central control module is networked, and the entire unmanned aerial vehicle network is divided into different regions, and then centralized transmission of optimal communication is carried out, so as to ensure the quality of data transmission and prevent packet loss.

[0057] In the present invention, based on optimal communication, the mutual positioning between unmanned aerial vehicles is utilized and threshold control is performed, so as to realize position verification and increase the flight position accuracy of the unmanned aerial vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 It is the logic diagram of the VR image acquisition and processing module of a simulation national land space planning system using VR and GIS technologies proposed by the present invention;

[0059] Figure 2 It is the logic diagram of the three-dimensional model construction module of a simulation national land space planning system using VR and GIS technologies proposed by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0060] The technical solutions of the present invention will be further described in detail below in conjunction with the specific embodiments.

[0061] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0062] Embodiment 1: A simulation national land space planning system using VR and GIS technologies, which includes:

[0063] A national land information collection and processing module, which is used to collect national land space information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, location coordinate data of land, remote sensing images of land, and types of land. After these data are preprocessed, they are sent to the central control module;

[0064] A VR image collection and processing module, which uses VR technology to collect images of the national land space within a region and surrounding images, and performs preprocessing;

[0065] A GIS data processing module, which receives the data from the national land information collection and processing module, uses GIS technology for spatial analysis, and the analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module;

[0066] A central control module, which is the core of the system, responsible for receiving, processing, and distributing data and information from each module, and coordinating the work between each module;

[0067] A three-dimensional model construction module, which constructs a three-dimensional simulation model of the national land space according to the data from the VR image collection and processing module and the GIS data processing module, and realizes the construction of a virtual environment;

[0068] A planning analysis module, which uses the constructed three-dimensional model and combines with the GIS analysis results to conduct analysis of national land space planning, including evaluation of resource and environmental carrying capacity, judgment of national land space pollution situation, and evaluation of national land space suitability;

[0069] A VR display module, which uses VR devices to display the three-dimensional simulation model and the planning analysis results to users in the form of a virtual environment.

[0070] The present invention improves the planning efficiency: Through three-dimensional simulation and VR display, the planning process is made more intuitive and efficient, reducing the cumbersome steps in traditional two-dimensional planning; enhances the planning effect: Utilizing the immersive experience provided by VR technology enables users to better understand and perceive the planning scheme, improving the accuracy and feasibility of the planning; promotes planning innovation: Through the spatial analysis and data processing capabilities of GIS technology, it provides a scientific basis for the formulation of planning schemes, promoting the innovation and development of planning methods.

[0071] Embodiment 2: A simulation national land space planning system using VR and GIS technologies, which includes:

[0072] The national land information collection and processing module is used to collect national land spatial information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, location coordinate data of land, remote sensing images of land, and land types. After these data are preprocessed, they are sent to the central control module;

[0073] The VR image collection and processing module uses VR technology to collect images of the national land space within a region and surrounding images, and performs preprocessing;

[0074] The GIS data processing module receives the data from the national land information collection and processing module, uses GIS technology for spatial analysis, and the analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module;

[0075] The central control module, which is the core of the system, is responsible for receiving, processing, and distributing data and information from each module, and coordinating the work between each module;

[0076] The 3D model construction module constructs a 3D simulation model of the national land space based on the data from the VR image collection and processing module and the GIS data processing module to realize the construction of a virtual environment;

[0077] The planning analysis module uses the constructed 3D model and combines the GIS analysis results to conduct an analysis of national land space planning, including resource and environmental carrying capacity evaluation, judgment of national land space pollution conditions, and national land space suitability evaluation;

[0078] The VR display module uses VR devices to display the 3D simulation model and the planning analysis results to users in the form of a virtual environment.

[0079] The image collection of the VR image collection and processing module adopts a collection method based on a drone swarm, which specifically includes the following steps:

[0080] A1: Mount the image collector on the bottom of the drone;

[0081] A2: According to the region of the national land space, conduct individual path planning for each drone;

[0082] A3: Control the drone to fly according to the planned path, conduct image collection, and transmit the collected images based on the optimal transmission method;

[0083] A4: At the same time during the flight, obtain the flight position of the drone through the positioning module built in the drone, and then correct the path of the drone in combination with the planned position.

[0084] In the step A3, the optimal transmission method includes the following steps:

[0085] A31: Assign a unique identifier M to the communication module of each drone and obtain the communication capabilities of the drone. ;

[0086] A32: Select a communication area S according to the communication location of the drone. The communication area , where D is the communication width of the drone, L is the communication length, and H is the communication height.

[0087] A33: Interconnect the drones within the communication area S and calculate the optimal communication drone at the same time.

[0088] A34: Transmit the information of the remaining drones in each area S to the optimal communication drone, and then the optimal drone packs the information and transmits it to the central control module.

[0089] In step A33, it includes the following steps:

[0090] A331: Calculate the communication distance d between the drone and the central control module.

[0091] A332: Then calculate the priority of each drone according to the formula , where Z is the drone priority, and are the weights of d and respectively, which are preset by the administrator.

[0092] In the present invention, for the communication between the drone and the central control module, a network communication is carried out. The entire drone network is divided into different areas, and then a centralized transmission of optimal communication is performed, so as to ensure the quality of data transmission and prevent packet loss.

[0093] Embodiment 3: A simulation national land space planning system using VR and GIS technologies, which includes:

[0094] A national land information collection and processing module, which is used to collect national land space information data in the area, including landform type, shape, area, terrain, water conservancy distribution, location coordinate data of the land, remote sensing images of the land, and types of the land. After these data are preprocessed, they are sent to the central control module.

[0095] A VR image collection and processing module, which uses VR technology to collect images of the national land space in the area and surrounding images and performs preprocessing.

[0096] A GIS data processing module, which receives the data from the national land information collection and processing module and uses GIS technology for spatial analysis. The analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module.

[0097] The central control module, which is the core of the system, is responsible for receiving, processing, and distributing data and information from each module, and coordinating the work among the modules;

[0098] The 3D model construction module constructs a 3D simulation model of the national land space based on the data from the VR image acquisition and processing module and the GIS data processing module to realize the construction of the virtual environment;

[0099] The planning analysis module uses the constructed 3D model and combines it with the GIS analysis results to conduct the analysis of the national land space planning, including the evaluation of the resource and environment carrying capacity, the judgment of the pollution situation of the national land space, and the evaluation of the suitability of the national land space;

[0100] The VR display module uses VR devices to display the 3D simulation model and the planning analysis results to users in the form of a virtual environment.

[0101] The image acquisition of the VR image acquisition and processing module adopts an acquisition method based on a drone swarm, which specifically includes the following steps:

[0102] A1: Mount the image collector on the bottom of the drone;

[0103] A2: Conduct individual path planning for each drone according to the region of the national land space;

[0104] A3: Control the drone to fly according to the planned path, conduct image acquisition, and transmit the acquired images based on the optimal transmission method;

[0105] A4: Meanwhile, during the flight, obtain the flight position of the drone through the built-in positioning module of the drone, and then correct the path of the drone in combination with the planned position.

[0106] In step A3, the optimal transmission method includes the following steps:

[0107] A31: Assign a unique identifier M to the communication module of each drone and obtain the communication ability of the drone ;

[0108] A32: Select the communication area S according to the communication position of the drone, and the communication area , where D is the communication width of the drone, L is the communication length, and H is the communication height;

[0109] A33: Interconnect the drones within the communication area S and calculate the optimal communication drones at the same time;

[0110] A34: Transmit the information of the remaining drones in each area S to the optimal communication drone, and then the optimal drone packs the information and transmits it to the central control module.

[0111] In step A33, it includes the following steps:

[0112] A331: Calculate the communication distance d between the drone and the central control module;

[0113] A332: Then calculate the priority of each drone according to the formula where Z is the drone priority, and are the weights of d and respectively, which are preset by the administrator.

[0114] The positioning verification algorithm is also built into the optimal transmission method, and its positioning verification method includes the following steps:

[0115] B1: Select the target drone and obtain its real-time position (x, y, z) through communication;

[0116] B2: In its area S, select other drones and obtain the communication positions of other drones through communication , which represents the position of the i-th drone in area S;

[0117] B3: Obtain the relative position difference between the target drone and the i-th drone according to the mutual communication between the two drones ;

[0118] B4: Set the error coefficient k;

[0119] B5: Calculate the error distance according to the formula If , the position evaluation result of the i-th drone for the target drone is "inaccurate", otherwise it is "accurate";

[0120] B6: Traverse other drones in area S according to steps B1 - B5 and count the voting results. If the frequency of "accurate" is greater than that of "inaccurate", it means the position of the target drone is accurate. If the frequency of "accurate" is less than that of "inaccurate", there is a fault in the communication positioning of the target drone, and then position correction is performed until the frequency of "accurate" is greater than that of "inaccurate".

[0121] In the present invention, based on optimal communication, the mutual positioning cooperation between drones is utilized to control the threshold, so as to realize position verification and increase the flight position accuracy of drones.

[0122] Embodiment 4: A simulation national land space planning system using VR and GIS technologies, which includes:

[0123] The national land information collection and processing module is used to collect national land space information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, location coordinate data of land, remote sensing images of land, and land types. After these data are pre-processed, they are sent to the central control module;

[0124] The VR image collection and processing module uses VR technology to collect images of the national land space within a region and surrounding images, and performs pre-processing;

[0125] The GIS data processing module receives the data from the national land information collection and processing module, and uses GIS technology for spatial analysis. The analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module;

[0126] The central control module, which is the core of the system, is responsible for receiving, processing, and distributing data and information from each module, and coordinating the work among the modules;

[0127] The 3D model construction module constructs a 3D simulation model of the national land space based on the data from the VR image collection and processing module and the GIS data processing module to realize the construction of a virtual environment;

[0128] The planning analysis module uses the constructed 3D model and combines with the GIS analysis results to conduct analysis of national land space planning, including resource and environmental carrying capacity evaluation, judgment of national land space pollution conditions, and national land space suitability evaluation;

[0129] The VR display module uses VR devices to display the 3D simulation model and the planning analysis results to users in the form of a virtual environment.

[0130] The said step A4 includes the following steps:

[0131] A41: Obtain the theoretical azimuths between each UAV according to the path planning;

[0132] A42: Judge the actual azimuths between each UAV according to the acquisition of image markers by the image acquisition module;

[0133] A43: Use the deviation between the theoretical azimuth and the actual azimuth to vote on the position accuracy of the target UAV, and determine the reference UAV according to the voting result;

[0134] A44: Then, combine the acquisition and azimuth calculation of the image markers on the reference UAV by the image acquisition module to adjust the azimuth of the UAV.

[0135] In the said step A43, it includes the following steps:

[0136] A431: Set the allowable deviation coefficient k;

[0137] A432: Decompose the orientation in three-dimensional space to obtain the theoretical distances along the X, Y, and Z axes and the actual distances ;

[0138] A433: Judgment ①: , ②: , ③: ;

[0139] A434: Determine the voting score according to the compliance conditions of ①②③;

[0140] A435: Average the voting results of all drones for the target drone to obtain the voting score of the target drone.

[0141] In the step A434, if ①②③ all meet the conditions, the voting result for the target drone is 1; if one of ①②③ does not meet the conditions, the voting result for the target drone is 2 / 3; if two of ①②③ do not meet the conditions, the voting result for the target drone is 1 / 3; if ①②③ all do not meet the conditions, the voting result is 0.

[0142] In the present invention, a probability-based voting form is adopted for the position of the drone, so that when the unmanned positioning signal is poor and the positioning accuracy is low, secondary positioning is realized by networking between drones, thereby increasing the positioning accuracy.

[0143] Embodiment 5: A simulation national land space planning system using VR and GIS technologies, which includes:

[0144] A national land information collection and processing module, which is used to collect national land space information data in the area, including landform type, shape, area, terrain, water conservancy distribution, position coordinate data of the land, remote sensing images of the land, and types of the land. After these data are preprocessed, they are sent to the central control module;

[0145] A VR image collection and processing module, which uses VR technology to collect images of the national land space in the area and surrounding images, and performs preprocessing;

[0146] A GIS data processing module, which receives the data from the national land information collection and processing module, uses GIS technology for spatial analysis, and the analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module;

[0147] A central control module, which is the core of the system, is responsible for receiving, processing, and distributing data and information from each module, and coordinating the work between modules;

[0148] 3D Model Construction Module: Based on the data from the VR Image Acquisition and Processing Module and the GIS Data Processing Module, construct a 3D simulation model of the national territorial space to realize the construction of a virtual environment.

[0149] Planning Analysis Module: Utilize the constructed 3D model and combine with the GIS analysis results to conduct analysis of national territorial space planning, including evaluation of resource and environmental carrying capacity, judgment of national territorial space pollution situation, and evaluation of national territorial space suitability.

[0150] VR Display Module: Through VR devices, display the 3D simulation model and the planning analysis results to users in the form of a virtual environment.

[0151] For the 3D Model Construction Module, its construction method includes the following steps:

[0152] C1: Point Cloud Processing: Perform filtering, classification, and segmentation processing on point cloud data to extract terrain and building elements.

[0153] C2: Model Construction: Use 3D real-scene modeling software to construct a 3D model based on point cloud data or other data sources.

[0154] C3: Scene Integration: Integrate multiple 3D models into a unified scene to form a complete 3D city model or national territorial space model.

[0155] C4: Model Optimization: On the premise of ensuring the image effect, simplify the model to reduce the data volume and improve the rendering efficiency. At the same time, compress the texture images to reduce the file size.

[0156] In the C2 step, the 3D model includes geometric shape, texture mapping, and material.

[0157] As mentioned above, it is only the preferred specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A simulation national territorial space planning system using VR and GIS technologies, characterized in that, Including: A national land information collection and processing module, which is used to collect national land space information data within a region, including landform types, shapes, areas, terrains, water conservancy distributions, location coordinate data of land, remote sensing images of land, and types of land. After these data are preprocessed, they are sent to the central control module; A VR image collection and processing module, which uses VR technology to collect images of the national land space within a region and surrounding images, and performs preprocessing; A GIS data processing module, which receives the data from the national land information collection and processing module, and uses GIS technology for spatial analysis. The analysis content includes terrain analysis and resource distribution analysis. After the analysis, the analysis results are sent to the central control module; A central control module, which is the core of the system, responsible for receiving, processing, and distributing data and information from each module, and coordinating the work between each module; A three-dimensional model construction module, which constructs a three-dimensional simulation model of the national land space according to the data from the VR image collection and processing module and the GIS data processing module, and realizes the construction of a virtual environment; A planning analysis module, which uses the constructed three-dimensional model and combines the GIS analysis results to perform analysis of national land space planning, including evaluation of resource and environmental carrying capacity, judgment of national land space pollution conditions, and evaluation of national land space suitability; A VR display module, which uses VR devices to display the three-dimensional simulation model and the planning analysis results to users in the form of a virtual environment; The image collection of the VR image collection and processing module adopts a collection method based on a drone swarm, and specifically includes the following steps: A1: Mount the image collector on the bottom of the drone; A2: According to the region of the national land space, perform separate path planning for each drone; A3: Control the drone to fly according to the planned path, perform image collection, and transmit the collected images based on the optimal transmission method; A4: At the same time during the flight, obtain the flight position of the drone through the positioning module built in the drone, and then correct the path of the drone in combination with the planned position; In the step A3, the optimal transmission method includes the following steps: A31: Assign a unique identifier M to the communication module of each drone and obtain the communication capability P of the drone M ; A32: According to the communication position of the drone, select the communication area S, and the communication area S = D × L × H, where D is the communication width of the drone, L is the communication length, and H is the communication height; A33: Interconnect the drones within the communication area S, and at the same time calculate the optimal communication drone; A34: Transmit the information of the remaining drones in each area S to the optimal communication drone, and then the optimal drone performs information packaging and transmits it to the central control module.

2. The simulation national land space planning system using VR and GIS technologies according to claim 1, characterized in that In the step A33, it includes the following steps: A331: Calculate the communication distance d of the drone from the central control module; A332: Then, calculate the priority of each UAV according to the formula where Z is the UAV priority, and k1 and k2 are the weights of d and P M respectively, which are preset by the administrator.

3. A simulation national territorial space planning system using VR and GIS technologies according to claim 1, characterized in that, The optimal transmission method also has a built-in positioning verification algorithm, and its positioning verification method includes the following steps: B1: Select the target drone, and obtain its real-time position (x, y, z) through communication; B2: Select other drones within its area S and obtain the communication positions (x i , y i , z i ) of other drones through communication, which represent the positions of the i-th drone within area S; B3: According to the mutual communication between the target drone and the i-th drone, obtain the relative position difference (Δx, Δy, Δz) between the two drones; B4: Set the error coefficient k; B5: Calculate the error distance according to the formula If ΔS > k, the position evaluation result of the i-th UAV for the target UAV is "inaccurate", otherwise it is "accurate". B6: Follow the steps B1 - B5 to traverse other drones within area S and count the voting results. If the frequency of "accurate" is greater than that of "inaccurate", it means the position of the target drone is accurate. If the frequency of "accurate" is less than that of "inaccurate", it means there is a communication positioning failure of the target drone, and then position correction is performed until the frequency of "accurate" is greater than that of "inaccurate".

4. A simulation national territorial space planning system using VR and GIS technologies according to claim 2, characterized in that, The step A4 includes the following steps: A41: Obtain the theoretical azimuths between each drone according to the path planning. A42: Judge the actual azimuths between each drone according to the acquisition of image markers by the image acquisition module. A43: Use the deviation between the theoretical azimuth and the actual azimuth to vote on the position accuracy of the target drone, and determine the reference drone according to the voting results. A44: Then, in combination with the acquisition and azimuth calculation of the image markers on the reference drone by the image acquisition module, adjust the azimuth of the drone.

5. The simulation national territorial space planning system using VR and GIS technologies according to claim 4, characterized in that In the step A43, it includes the following steps: A431: Set the allowable deviation coefficient k. A432: Decompose the orientation along the three-dimensional space to obtain the theoretical distances L X , L Y , L Z and the actual distances L′ X , L′ Y , L′ Z ; A433: Judgment ①: L′ X ∈[(1 - k)L X , (1 + k)L X , ②: L′ Y ∈[(1 - k)L Y , (1 + k)L Y , ③ L′ X ∈[(1 - k)L Z , (1 + k)L Z ; A434: Determine the voting score according to the compliance judgment of ①②③. A435: Average the voting results of all drones on the target drone to obtain the voting score of the target drone.

6. The simulation national land space planning system using VR and GIS technologies according to claim 5, characterized in that, In the step A434, if ①②③ all comply, the voting result for the target drone is 1; if one of ①②③ does not comply, the voting result for the target drone is 2 / 3; if two of ①②③ do not comply, the voting result for the target drone is 1 / 3; if ①②③ all do not comply, the voting result is 0.

7. A simulated national territorial space planning system using VR and GIS technologies according to claim 1, characterized in that For the three - dimensional model construction module, its construction method includes the following steps: C1: Point cloud processing: Perform filtering, classification, and segmentation processing on the point cloud data to extract terrain and building elements. C2: Model construction: Use three - dimensional real - scene modeling software to construct a three - dimensional model according to the point cloud data. C3: Scene integration: Integrate multiple three - dimensional models into a unified scene to form a complete three - dimensional urban model or national land space model. C4: Model optimization: On the premise of ensuring the image effect, simplify the model to reduce the data volume and improve the rendering efficiency. At the same time, compress the texture image to reduce the file size.

8. A simulation national territorial space planning system using VR and GIS technologies according to claim 7, characterized in that, In the step C2, the three - dimensional model includes geometric shape, texture mapping, and material.

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