Gravitational topography correction method and device, computer equipment and storage medium

Abstract

The invention discloses a gravitational topography correction method and device, computer equipment and a storage medium, and belongs to the technical field of gravitational exploration. After the space coordinates of the gravity measuring points are obtained, the flight route of the unmanned aerial vehicle can be set according to the space coordinates of the gravity measuring points, and laser ranging is carried out on the ground surface of a terrain correction area through laser radar ranging equipment on the unmanned aerial vehicle in the process that the unmanned aerial vehicle flies according to the flight route. The method comprises the following steps: acquiring original laser measurement data of a topographic correction area, determining space coordinate data of the earth surface of the topographic correction area by computer equipment according to the original laser measurement data, and further performing topographic correction calculation on a gravity measurement point. According to the method, excessive labor resources are not needed, and the efficiency and precision of gravity near-region terrain correction can be effectively improved.

Description

Technical Field

[0001] This application relates to the technical field of gravity exploration, and particularly relates to a method and device for gravity terrain correction, a computer device, and a storage medium. Background Art

[0002] In the technical field of gravity exploration, the gravitational variation caused by undulating terrain is an interference factor for gravity anomalies, and it is necessary to eliminate or suppress its influence through terrain correction means. The correction performed for each measurement point to eliminate the gravity influence caused by terrain undulation is the gravity terrain correction.

[0003] Gravity terrain correction can be divided into near - zone (the area within a radius or semi - side length of 20 meters) gravity terrain correction and mid - and far - zone (the area outside the near - zone) gravity terrain correction according to the correction range and the way of obtaining terrain data. Among them, the near - zone gravity terrain correction measures the terrain undulation changes within the near - zone range in the field and calculates the gravity terrain correction value for gravity terrain correction. The mid - and far - zone gravity terrain correction reads the elevation of topographic maps within the mid - and far - zone range or collects digital terrain data and calculates the gravity terrain correction value for gravity terrain correction.

[0004] However, at present, the near - zone gravity terrain correction method requires a large number of operating personnel and a long operation time, and the cost of field work is relatively high. The mid - and far - zone gravity terrain correction method has large measurement errors and it is difficult to ensure the accuracy of gravity terrain correction. Therefore, there is an urgent need for a method that can reduce the operation cost and improve the accuracy of gravity terrain correction. Summary of the Invention

[0005] Embodiments of this application provide a method and device for gravity terrain correction, a computer device, and a storage medium. It can solve the problem of relatively low accuracy of gravity terrain correction. The technical solutions are as follows:

[0006] On the one hand, a method for gravity terrain correction is provided. The method includes:

[0007] Obtain the spatial coordinates of a gravity measurement point, where the spatial coordinates include: planar coordinates and elevation;

[0008] Based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point, determine the spatial coordinates of a first flight point and the spatial coordinates of a second flight point. The elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, and the elevation indicated by the spatial coordinates of the first flight point and the spatial coordinates of the second flight point is greater than the elevation indicated by the spatial coordinates of the gravity measurement point;

[0009] Generate the route information of the drone based on the spatial coordinates of the first flight point and the second flight point, enable the drone to fly according to the route information, and collect the original laser measurement data of the terrain correction area during the flight;

[0010] Obtain the original laser measurement data collected by the drone, and determine the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data;

[0011] Perform terrain correction calculation on the gravity measurement points based on the spatial coordinates of each laser point in the terrain correction area.

[0012] Optionally, the original laser measurement data includes: multiple sampling time points during the flight of the drone, the spatial coordinates of the drone at each sampling time point, and the laser information emitted by the drone to at least some of the laser points at each sampling time point;

[0013] Determining the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data includes:

[0014] For any one of the laser points, based on the laser information emitted by the drone to the laser point at the corresponding sampling time point and the spatial coordinates of the drone, determine the planar coordinates of the laser point to obtain a planar coordinate data array, and the planar coordinate data array contains multiple planar coordinates corresponding one by one to multiple laser points in the terrain correction area;

[0015] For any one of the laser points, based on the laser information emitted by the drone to the laser point at the corresponding sampling time point, determine the vertical height difference between the drone and the laser point during the flight;

[0016] Based on the vertical height difference between the drone and the laser point during the flight and the elevation indicated by the spatial coordinates of the drone at the corresponding sampling time point, determine the initial elevation of the laser point to obtain an initial elevation data array, and the initial elevation data array contains multiple initial elevations corresponding one by one to multiple laser points in the terrain correction area;

[0017] Determine the spatial coordinates of each laser point according to the initial elevation data array and the planar coordinate data array.

[0018] Optionally, determining the spatial coordinates of each laser point according to the initial elevation data array and the planar coordinate data array includes:

[0019] Delete the invalid initial elevations in the initial elevation data array, where the invalid initial elevations refer to the initial elevations corresponding to the laser points irradiated on obstacles;

[0020] Use an interpolation algorithm to refill the data points deleted in the initial elevation data array to obtain an updated elevation data array;

[0021] Determine the spatial coordinates of each laser point according to the updated elevation data array and the plane coordinate data array.

[0022] Optionally, for any one of the laser points, based on the laser information emitted by the UAV to the laser point at the corresponding sampling time point, determine the vertical height difference between the UAV and the laser point during flight, including:

[0023] For any one of the laser points, select multiple corresponding sampling time points at which the UAV emits laser to the laser point among the multiple sampling time points, and based on the laser information emitted to the laser point at each of the corresponding sampling time points, determine multiple vertical height differences corresponding one-to-one to the multiple corresponding sampling time points, where each vertical height difference refers to the vertical height difference between the UAV and the laser point at the corresponding corresponding sampling time point;

[0024] Perform an optimization calculation on the multiple vertical height differences to obtain the vertical height difference between the UAV and the laser point during flight.

[0025] Optionally, for any one of the laser points, based on the laser information emitted by the UAV to the laser point at the corresponding sampling time point and the spatial coordinates of the UAV, determine the plane coordinates of the laser point, including:

[0026] For any one of the laser points, based on the laser information emitted by the UAV to the laser point at the corresponding sampling time point, determine the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the UAV;

[0027] Based on the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the UAV and the plane coordinates indicated by the spatial coordinates of the UAV at the corresponding sampling time point, determine the plane coordinates of the laser point.

[0028] Optionally, based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the gravity measurement point, determine the first flight point spatial coordinates and the second flight point spatial coordinates, including:

[0029] Determine the minimum flight altitude of the unmanned aerial vehicle relative to the gravity measurement point based on the spatial coordinates of the gravity measurement point, the topographic correction area of the gravity measurement point, and the laser emission range angle of the unmanned aerial vehicle;

[0030] Determine the elevation indicated by the spatial coordinates of the first flight point based on the minimum flight altitude of the unmanned aerial vehicle relative to the gravity measurement point and the elevation indicated by the spatial coordinates of the gravity measurement point;

[0031] Determine the plane coordinates indicated by the spatial coordinates of the first flight point and the second flight point based on the topographic correction area of the gravity measurement point;

[0032] Optionally, perform topographic correction calculation on the gravity measurement point based on the elevations indicated by the spatial coordinates of each laser point in the topographic correction area, including:

[0033] Obtain the initial gravity measurement value of the gravity measurement point;

[0034] Determine the topographic correction value of the gravity measurement point based on the spatial coordinates of each laser point in the topographic correction area, as well as the initial gravity measurement value and spatial coordinates of the gravity measurement point;

[0035] Correct the initial gravity measurement value of the gravity measurement point based on the topographic correction value of the gravity measurement point.

[0036] On the other hand, a modeling device for gravity topographic correction is provided, and the device includes:

[0037] An acquisition module, configured to acquire the spatial coordinates of a gravity measurement point, where the spatial coordinates include: plane coordinates and elevation;

[0038] A first determination module, configured to determine the spatial coordinates of a first flight point and a second flight point based on the spatial coordinates of the gravity measurement point and the topographic correction area determined by the spatial coordinates of the gravity measurement point, where the elevations indicated by the spatial coordinates of the first flight point and the elevations indicated by the spatial coordinates of the second flight point are equal, and the elevations indicated by the spatial coordinates of the first flight point and the elevations indicated by the spatial coordinates of the second flight point are greater than the elevation indicated by the spatial coordinates of the gravity measurement point;

[0039] A generation module, configured to generate route information of an unmanned aerial vehicle based on the spatial coordinates of the first flight point and the second flight point, so that the unmanned aerial vehicle flies according to the route information and collects the original laser measurement data of the topographic correction area during the flight;

[0040] A second determination module, configured to obtain the original laser measurement data collected by the drone, and determine the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data;

[0041] A correction module, configured to perform terrain correction calculation on the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area.

[0042] In another aspect, a computer device is provided. At least one instruction, at least one program, a code set or an instruction set is stored in the computer device, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for gravity terrain correction as described in any one of the above.

[0043] In still another aspect, a computer storage medium is provided. At least one instruction, at least one program, a code set or an instruction set is stored in the computer storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for gravity terrain correction as described in any one of the above.

[0044] The beneficial effects brought by the technical solution provided by the embodiments of the present application at least include:

[0045] After obtaining the spatial coordinates of the gravity measurement point, the flight route of the drone can be set according to the spatial coordinates of the gravity measurement point. During the flight of the drone along this flight route, the surface of the terrain correction area is laser-ranged by the lidar ranging device on the drone to obtain the original laser measurement data of the terrain correction area. Then, the computer device determines the spatial coordinate data of the surface of the terrain correction area according to the original laser measurement data, and further performs terrain correction calculation on the gravity measurement point. This method does not require too much human resources and can effectively improve the efficiency and accuracy of terrain correction in the near gravity area. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 is a structural block diagram of a gravity terrain correction system related to a method for gravity terrain correction provided by an embodiment of the present application;

[0048] Figure 2 is a flowchart of a method for gravity terrain correction provided by an embodiment of the present application;

[0049] Figure 3 is another flowchart of the gravity terrain correction method provided by an embodiment of the present application;

[0050] Figure 4 is a schematic diagram of a flight route designed based on a single terrain correction area provided by an embodiment of the present application;

[0051] Figure 5 is a schematic diagram of a flight route designed based on multiple terrain correction areas provided by an embodiment of the present application;

[0052] Figure 6 is a comparison chart of elevation data obtained by two different methods provided by an embodiment of the present application;

[0053] Figure 7 is a block diagram of a modeling device for gravity terrain correction provided by an embodiment of the present application. Detailed implementation manners

[0054] To make the objectives, technical solutions, and advantages of the present application clearer, the following will further describe the embodiments of the present application in detail with reference to the accompanying drawings.

[0055] Please refer to Figure 1 , Figure 1 is a block diagram of the structure of a gravity terrain correction system involved in a gravity terrain correction method provided by an embodiment of the present application. The gravity terrain correction system 100 may include: a computer device 101 and a drone 102.

[0056] The computer device 101 may be a computer, a server, a server cluster composed of several servers, or a cloud computing service center.

[0057] The drone 102 may be a multi-rotor drone or a fixed-wing drone. Optionally, the drone 102 may be equipped with a lidar ranging device, and the lidar ranging device may be used to measure the distance to the ground during the flight of the drone 102.

[0058] In the present application, the computer device 101 may establish a communication connection with the drone 102 through a wired network or a wireless network.

[0059] Optionally, the gravity terrain correction system 100 may further include: a positioning reference station 103. The positioning reference station 103 may establish a communication connection with the computer device 101 through a wired network or a wireless network. Among them, the positioning reference station 103 is used to measure the spatial coordinates of the gravity measurement points.

[0060] Please refer to Figure 2 , Figure 2It is a flowchart of a method for gravity terrain correction provided by an embodiment of the present application. The method for gravity terrain correction is applied to a computer device in the gravity terrain correction system shown in Figure 1 The computer device in the gravity terrain correction system shown. The method for gravity terrain correction may include:

[0061] Step 201, obtain the spatial coordinates of the gravity measurement point.

[0062] Here, the spatial coordinates may include: planar coordinates and elevation. It should be noted that the elevation refers to the distance from a certain point along the gravity direction to the sea level, that is, the altitude. Therefore, the elevation indicated by the spatial coordinates of the gravity measurement point refers to the altitude of the gravity measurement point. The planar coordinates refer to the coordinates of a certain point in the planar coordinate system. For example, the planar coordinates can be represented by the longitude and latitude of the earth. Another example is that since the spatial coordinates of the gravity measurement points in the present application are determined by the positioning reference station, the planar coordinates can also be the coordinates in the planar coordinate system of the positioning reference station.

[0063] Step 202, based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point, determine the spatial coordinates of the first flight point and the spatial coordinates of the second flight point.

[0064] Here, the elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, and the elevation indicated by the spatial coordinates of the first flight point and the spatial coordinates of the second flight point is greater than the elevation indicated by the spatial coordinates of the gravity measurement point.

[0065] Step 203, based on the spatial coordinates of the first flight point and the spatial coordinates of the second flight point, generate the route information of the unmanned aerial vehicle, make the unmanned aerial vehicle fly according to the route information, and collect the original laser measurement data of the terrain correction area during the flight.

[0066] Here, since the elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, during the flight of the unmanned aerial vehicle according to the route information, the unmanned aerial vehicle always maintains the same elevation for flight. And, during the flight of the unmanned aerial vehicle, the terrain correction area can be laser-ranged through the lidar ranging device carried in the unmanned aerial vehicle, and the original laser measurement data of the terrain correction area can be obtained.

[0067] Step 204, obtain the original laser measurement data collected by the unmanned aerial vehicle, and determine the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data.

[0068] Step 205, based on the spatial coordinates of each laser point in the terrain correction area, perform terrain correction calculation on the gravity measurement point.

[0069] In summary, for the method for gravity terrain correction provided in the embodiments of the present application, after obtaining the spatial coordinates of a gravity measurement point, the flight route of the unmanned aerial vehicle can be set according to the spatial coordinates of the gravity measurement point. During the flight of the unmanned aerial vehicle along this flight route, the ground surface of the terrain correction area is laser-ranged by the lidar ranging device on the unmanned aerial vehicle to obtain the original laser measurement data of the terrain correction area. Then, the computer device determines the spatial coordinate data of the ground surface of the terrain correction area according to the original laser measurement data, and further performs terrain correction calculation on the gravity measurement point. This method does not require excessive investment in human resources and can effectively improve the efficiency and accuracy of terrain correction in the near gravity area.

[0070] Please refer to Figure 3 , Figure 3 which is another flowchart of the method for gravity terrain correction provided in the embodiments of the present application. This method for gravity terrain correction is applied to the computer device in the gravity terrain correction system shown in Figure 1 . This method for gravity terrain correction may include:

[0071] Step 301, obtain the spatial coordinates of the gravity measurement point.

[0072] In the embodiments of the present application, the computer device may obtain the spatial coordinates of the gravity measurement point. Here, the gravity measurement point may be any reference point near the center within the terrain correction area. By way of example, the gravity measurement point may be the center point of the terrain correction area.

[0073] By way of example, before the computer device obtains the spatial coordinates of the gravity measurement point, it is first necessary to set up a positioning reference station, which can be used to determine the spatial coordinates of the gravity measurement point within the terrain correction area. To this end, after setting up the positioning reference station, the computer device can obtain the spatial coordinates of the gravity measurement point through the positioning reference station. Among them, the spatial coordinates may include: planar coordinates and elevation. It should be noted that the elevation refers to the distance from a certain point along the gravity direction to the sea level, that is, the altitude. Therefore, the elevation indicated by the spatial coordinates of the gravity measurement point refers to: the altitude of the gravity measurement point. The planar coordinates refer to the coordinates of a certain point in the planar coordinate system. For example, the planar coordinates can be represented by the longitude and latitude of the earth. For another example, since the spatial coordinates of the gravity measurement points in the present application are determined by the positioning reference station, the planar coordinates can also be the coordinates in the planar coordinate system of the positioning reference station.

[0074] Here, first, the staff can set up a positioning reference station near the terrain correction area. For example, when the number of terrain correction areas is one, the positioning reference station can be set up inside the terrain correction area. The position of this positioning reference station can coincide with the position of the gravity measurement point in the terrain correction area, or it can not coincide with the position of the gravity measurement point in the terrain correction area. The embodiments of the present application do not limit this. When the number of terrain correction areas is multiple, the positioning reference station can be set up inside the terrain correction area in the middle of the multiple terrain correction areas. In this way, it can ensure a relatively high accuracy in obtaining the spatial coordinates of the gravity measurement points in each terrain correction area based on the positioning reference station.

[0075] Then, the staff can select a relatively flat ground position inside the terrain correction area as the gravity measurement point. Here, when the position of the gravity measurement point does not coincide with the position of the positioning reference station, the staff can use a locator communicatively connected to the positioning reference station to obtain the spatial coordinates of the gravity measurement point.

[0076] Finally, the locator can send the spatial coordinates of the gravity measurement point to the computer device, so that the computer device can obtain the spatial coordinates of the gravity measurement point.

[0077] Step 302: Obtain the initial gravity measurement value of the gravity measurement point.

[0078] In the embodiments of the present application, the computer device can obtain the initial gravity measurement value of the gravity measurement point.

[0079] For example, after the staff determines the gravity measurement point, the staff can use a gravimeter to perform gravity measurement at the location of the gravity measurement point to obtain the initial gravity measurement value of the gravity measurement point. After that, the gravimeter can send the initial gravity measurement value of the gravity measurement point to the computer device, so that the computer device can obtain the initial gravity measurement value of the gravity measurement point.

[0080] Step 303: Determine the first flight point spatial coordinates and the second flight point spatial coordinates based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point.

[0081] In the embodiments of the present application, after the computer device obtains the spatial coordinates of the gravity measurement point, the computer device can determine the first flight point spatial coordinates and the second flight point spatial coordinates based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point.

[0082] Among them, the elevations indicated by the spatial coordinates of the first flight point and the second flight point are equal, and the elevations indicated by the spatial coordinates of the first flight point and the second flight point are greater than the elevation indicated by the spatial coordinates of the gravity measurement point. Here, after the computer device determines the spatial coordinates of the first flight point and the second flight point, it generates a corresponding flight route to enable the UAV to fly horizontally from the position indicated by the spatial coordinates of the first flight point to the position indicated by the spatial coordinates of the second flight point, and it is necessary to ensure that during the process of the UAV flying horizontally from the position indicated by the spatial coordinates of the first flight point to the position indicated by the spatial coordinates of the second flight point, the UAV always flies at the same elevation.

[0083] For example, please refer to Figure 4 , Figure 4 FIG. is a schematic diagram of a flight route designed based on a single terrain correction area provided by an embodiment of the present application. First, the computer device can determine the minimum flight height h of the UAV relative to the gravity measurement point A based on the spatial coordinates of the gravity measurement point A, the relative position of the gravity measurement point A within the terrain correction area, and the laser emission range angle α of the UAV. Here, the terrain correction area determined by the spatial coordinates of the gravity measurement point can be represented by the half side lengths (a1, a2) in the first direction X centered on the gravity measurement point A and the half side lengths (b1, b2) in the second direction Y centered on the gravity measurement point A. The laser emission range angle α of the UAV refers to the effective scanning width angle of the lidar ranging device on the UAV. The minimum flight height h of the UAV relative to the gravity measurement point A means that during the process of the UAV flying at this minimum flight height h, the height at which the laser scanning range on the UAV just covers the terrain correction area. For example, if the UAV flies along the second direction Y, the computer device needs to calculate the minimum flight height h of the UAV relative to the gravity measurement point A according to the laser emission range angle α and the relatively longer half side length among the half side lengths a1 and a2. If the UAV flies along the first direction X, the computer device needs to calculate the minimum flight height h of the UAV relative to the gravity measurement point A according to the laser emission range angle α and the relatively longer half side length among the half side lengths b1 and b2.

[0084] After that, the computer device can determine the elevation indicated by the spatial coordinates of the first flight point based on the minimum flight height h of the drone relative to the gravity measurement point A and the elevation indicated by the gravity measurement point A. For example, after the computer device determines the minimum flight height h of the drone relative to the gravity measurement point A, the computer device needs to determine the elevation indicated by the spatial coordinates of the first flight point based on the minimum flight height h of the drone relative to the gravity measurement point A, the elevation indicated by the gravity measurement point A, and the terrain undulation height within the terrain correction area. Here, the terrain undulation height within the terrain correction area is obtained by the staff based on the terrain data corresponding to the terrain correction area, and the staff can input the terrain undulation height within the terrain correction area to the computer device so that the computer device can obtain the terrain undulation height within the terrain correction area. In this application, the elevation indicated by the spatial coordinates A1 of the first flight point can be equal to the sum of the elevation indicated by the gravity measurement point A, the minimum flight height h of the drone relative to the gravity measurement point A, and the terrain undulation height within the terrain correction area. It should be noted that since the elevation indicated by the spatial coordinates A1 of the first flight point is the same as the elevation indicated by the spatial coordinates A2 of the second flight point, after the computer device obtains the elevation indicated by the spatial coordinates A1 of the first flight point, the computer device can obtain the elevation indicated by the spatial coordinates A2 of the second flight point.

[0085] Finally, the computer device can determine the plane coordinates indicated by the spatial coordinates A1 of the first flight point and the spatial coordinates A2 of the second flight point based on the relative position of the gravity measurement point A within the terrain correction area. For example, if the drone flies along the first direction X, the computer device needs to determine the plane coordinates indicated by the spatial coordinates A1 of the first flight point and the spatial coordinates A2 of the second flight point according to the half side lengths b1 and b2 and the plane coordinates indicated by the spatial coordinates of the gravity measurement point A. If the drone flies along the second direction Y, the computer device needs to determine the plane coordinates indicated by the spatial coordinates A1 of the first flight point and the spatial coordinates A2 of the second flight point according to the half side lengths a1 and a2 and the plane coordinates indicated by the spatial coordinates of the gravity measurement point A.

[0086] Here, after the computer device determines the elevation of the spatial coordinates A1 of the first flight point and the plane coordinates indicated by the spatial coordinates A1 of the first flight point, it can obtain the spatial coordinates of the spatial coordinates A1 of the first flight point. Similarly, after the computer device determines the elevation of the spatial coordinates A2 of the second flight point and the plane coordinates indicated by the spatial coordinates A2 of the second flight point, it can obtain the spatial coordinates of the spatial coordinates A2 of the second flight point.

[0087] Step 304: Generate the flight path information of the UAV based on the spatial coordinates of the first flight point and the second flight point, so that the UAV flies according to the flight path information, and collect the original lidar measurement data within the terrain correction area during the flight.

[0088] In the embodiment of the present application, after the computer device determines the spatial coordinates of the first flight point and the second flight point, the computer device can generate the flight path information of the UAV based on the spatial coordinates of the first flight point and the second flight point, so that the UAV flies according to the flight path information, and collect the original lidar measurement data within the terrain correction area through the lidar ranging device during the flight.

[0089] Here, the computer device can be communicatively connected to the UAV. After generating the flight path information of the UAV, the computer device can directly send this flight path information to the UAV, so that the UAV can fly according to this flight path information. Of course, the computer device may not be communicatively connected to the UAV. In this case, after generating the flight path information of the UAV, the computer device can present this flight path information to the staff, so that the staff can make the UAV fly according to this flight path information by manually operating the UAV. The embodiment of the present application does not limit this.

[0090] In the present application, after the UAV collects the original lidar measurement data within the terrain correction area, the UAV can send the collected original lidar measurement data to the computer device, so that the computer device can obtain this original lidar measurement data. Exemplarily, the UAV and the computer device can establish a real-time communication connection. After the UAV collects the original lidar measurement data during the flight, it can directly send it to the computer device. Of course, the UAV and the computer device may not establish a real-time communication connection, but after the UAV stops flying, the staff connects the UAV and the computer device communicatively through a wired connection, so that the UAV can send the original lidar measurement data collected during the flight to the computer device. The embodiment of the present application does not limit this.

[0091] It should be noted that during the flight of the UAV according to the flight path information, the UAV can fly horizontally from the position indicated by the spatial coordinates of the first flight point to the position indicated by the spatial coordinates of the second flight point, and during this flight process, the UAV always maintains the same elevation for flight.

[0092] It should also be noted that during the process of the UAV flying horizontally from the position indicated by the spatial coordinates of the first flight point to the position indicated by the spatial coordinates of the second flight point, the lidar ranging device on the UAV needs to continuously remain in a working state, so that the UAV can collect the original lidar measurement data within the terrain correction area through this lidar ranging device.

[0093] In the embodiment of the present application, a plurality of laser points arranged in an array are included in the terrain correction area, and these laser points are the measurement points of the lidar ranging device on the unmanned aerial vehicle. Subsequently, the computer device needs to determine the terrain correction value of the gravity measurement point based on the spatial coordinates of these laser points, as well as the initial gravity measurement value and spatial coordinates of the gravity measurement point, and adding the terrain correction value of the gravity measurement point to the initial gravity measurement value of the gravity measurement point can complete the process of gravity terrain correction for the terrain correction area. For example, the distance between two adjacent laser points in the terrain correction area can be 1 meter, 2 meters, or other distances, etc. It should be noted that the position of the gravity reference point in the terrain correction area can coincide with the position of a certain laser point in the terrain correction area, or can not coincide with the positions of each laser point in the terrain correction area. The embodiment of the present application does not make a limitation on this.

[0094] In the present application, the lidar ranging device can emit laser light to these laser points and receive the laser light reflected by these laser points, and then corresponding laser information can be obtained. For this reason, the original laser measurement data can include: a plurality of sampling time points during the flight of the unmanned aerial vehicle, the spatial coordinates of the unmanned aerial vehicle at each sampling time point, and the laser information emitted by the unmanned aerial vehicle to at least some of the laser points at each sampling time point.

[0095] For example, during the operation of the lidar ranging device, the lidar ranging device emits laser light in each direction at each sampling time point, and the lidar ranging device can receive the reflected laser light to determine the measured distance of the laser. Here, at each sampling time point, the lidar ranging device can record the emission angle of the laser light emitted in different directions, and the distance measured in this direction. For this reason, the laser information emitted by the lidar ranging device to a certain laser point can include: the emission angle of the laser light emitted by the lidar ranging device to this laser point, and the distance between the lidar ranging device and this laser point. It should be noted that the emission angle of the laser light emitted by the lidar ranging device to this laser point refers to: the angle between the direction of the laser light emitted to this laser point and the gravity direction.

[0096] In the present application, the unmanned aerial vehicle flight path information generated by the computer device can be a flight path designed based on a single terrain correction area, or a flight path designed based on multiple terrain correction areas.

[0097] For example, when the computer device designs a flight path based on a single terrain correction area, as Figure 4 shown, the unmanned aerial vehicle can fly horizontally from the position indicated by the first flight point spatial coordinate A1 to the position indicated by the second flight point spatial coordinate A2.

[0098] As another example, when the computer device designs a flight route based on multiple terrain correction regions, please refer to Figure 5 , Figure 5 FIG. Figure 5 is a schematic diagram of a flight route designed based on multiple terrain correction regions provided by an embodiment of the present application. The elevations of the flight routes designed by the computer device based on each terrain correction region may be different or the same. Taking the case where the elevations of the UAV during flight in each terrain correction region are different as an example, the elevation indicated by the first flight point spatial coordinate A1 corresponding to the terrain correction region including the gravity reference point A is different from the elevation indicated by the first flight point spatial coordinate B1 corresponding to the terrain correction region including the gravity reference point B, and is also different from the elevation indicated by the first flight point spatial coordinate C1 corresponding to the terrain correction region including the gravity reference point C. In this way, the UAV can fly in the terrain correction region including the gravity reference point A first in the flight direction X, then fly in the terrain correction region including the gravity reference point B, and finally fly in the terrain correction region including the gravity reference point C.

[0099] Here, during the flight of the UAV in the terrain correction region including the gravity reference point A, the UAV needs to fly horizontally from the position indicated by the first flight point spatial coordinate A1 to the position indicated by the second flight point spatial coordinate A2. Then, the UAV needs to fly from the position indicated by the second flight point spatial coordinate A2 to the position indicated by the first flight point spatial coordinate B1 so that the UAV can fly in the terrain correction region including the gravity reference point B. And during this process, the UAV needs to fly horizontally from the position indicated by the first flight point spatial coordinate B1 to the position indicated by the second flight point spatial coordinate B2. Finally, the UAV needs to fly from the position indicated by the second flight point spatial coordinate B2 to the position indicated by the first flight point spatial coordinate C1 so that the UAV can fly in the terrain correction region including the gravity reference point C. And during this process, the UAV needs to fly horizontally from the position indicated by the first flight point spatial coordinate C1 to the position indicated by the second flight point spatial coordinate C2.

[0100] It should be noted that in order to enable the UAV to accurately collect the original lidar measurement data in each terrain correction region during flight and reduce some unnecessary data volume, during the flight of the UAV in each terrain correction region, the lidar ranging device on the UAV needs to continuously maintain the working state, while during the flight of the UAV from the edge of one terrain correction region to the edge of another terrain correction region, the lidar ranging device on the UAV can be kept in the off state. For example, during the flight of the UAV from the position indicated by the second flight point spatial coordinate A2 to the position indicated by the first flight point spatial coordinate B1, the lidar ranging device on the UAV can be kept in the off state.

[0101] Step 305: Process the original laser measurement data to obtain a plane coordinate data matrix.

[0102] In an embodiment of the present application, after the computer device obtains the original laser measurement data collected by the unmanned aerial vehicle during flight, the computer device can process these original laser measurement data to obtain a plane coordinate data matrix. Among them, the plane coordinate array can include a plurality of plane coordinates corresponding one by one to a plurality of laser points in the terrain correction area.

[0103] Exemplarily, since the original laser measurement data includes: a plurality of sampling time points during the flight of the unmanned aerial vehicle, the spatial coordinates of the unmanned aerial vehicle at each sampling time point, and the laser information emitted by the unmanned aerial vehicle to at least some of the laser points at each sampling time point. Therefore, for any laser point in the terrain correction area, the computer device can determine the plane coordinate of this laser point based on the laser information emitted by the unmanned aerial vehicle to this laser point at the corresponding sampling time point and the spatial coordinates of the unmanned aerial vehicle.

[0104] Exemplarily, the process by which the computer device determines the plane coordinate of any laser point in the terrain correction area may include the following:

[0105] First, the computer device can determine the two-dimensional coordinate of this laser point in the two-dimensional coordinate system of the unmanned aerial vehicle based on the laser information emitted by the unmanned aerial vehicle to this laser point at the corresponding sampling time point. Exemplarily, since the lidar ranging device of the unmanned aerial vehicle is always in a working state during the process of the unmanned aerial vehicle flying horizontally from the position indicated by the first flight point spatial coordinate to the position indicated by the second flight point spatial coordinate. Therefore, for any laser point in the terrain correction area, the lidar ranging device emits laser to this laser point at a plurality of corresponding sampling time points. And the laser information emitted by the lidar device to this laser point at each corresponding sampling time point includes: the emission angle of the laser emitted to this laser point, and the distance from this laser point. For this reason, the computer device can determine the position information of this laser point relative to the unmanned aerial vehicle on the horizontal plane according to the laser information emitted by the lidar to this laser point at each corresponding sampling time point, and determine the two-dimensional coordinate of this laser point in the two-dimensional coordinate system of the unmanned aerial vehicle based on this position information.

[0106] Then, the computer device can determine the planar coordinates of this laser point based on the two-dimensional coordinates of this laser point in the two-dimensional coordinate system of the UAV and the planar coordinates indicated by the spatial coordinates of the UAV at the corresponding sampling time point. By way of example, after the computer device determines the two-dimensional coordinates of this laser point in the two-dimensional coordinate system of the UAV, the computer device can combine the planar coordinates indicated by the spatial coordinates of the UAV at the corresponding sampling time points during the flight of the UAV to convert the two-dimensional coordinates of this laser point in the two-dimensional coordinate system of the UAV into the planar coordinates of this laser point.

[0107] In an embodiment of the present application, the computer device can determine the planar coordinates of each laser point in the terrain correction area through the same process as above, and then can obtain a planar coordinate data array.

[0108] Step 306: Process the original laser measurement data to obtain an initial elevation data array.

[0109] In an embodiment of the present application, after the computer device obtains the original laser measurement data collected by the UAV during flight, the computer device can process these original laser measurement data to obtain an initial elevation data array. Among them, the initial elevation data array can include a plurality of initial elevations corresponding one-to-one to a plurality of laser points in the terrain correction area.

[0110] By way of example, since the original laser measurement data includes: a plurality of sampling time points during the flight of the UAV, the spatial coordinates of the UAV at each sampling time point, and the laser information emitted by the UAV to at least some of the laser points at each sampling time point. Therefore, for any laser point in the terrain correction area, the process by which the computer device determines the initial elevation of this laser point can include the following sub-steps:

[0111] Sub-step 3061: Determine the vertical height difference between the UAV and this laser point during the flight of the UAV based on the laser information emitted by the UAV to this laser point at the corresponding sampling time point.

[0112] In an embodiment of the present application, the computer device can determine the vertical height difference between the UAV and this laser point during the flight of the UAV based on the laser information emitted by the UAV to this laser point at the corresponding sampling time point.

[0113] By way of example, since during the process of the UAV flying horizontally from the position indicated by the first flight point spatial coordinates to the position indicated by the second flight point spatial coordinates, the lidar ranging device of the UAV will always be in a working state. Therefore, for any laser point in the terrain correction area, the lidar ranging device will emit laser light to this laser point at a plurality of corresponding sampling time points.

[0114] Therefore, for any laser point in the terrain correction area, first, the computer device can select multiple corresponding sampling time points at which the drone emits laser to this laser point among multiple sampling time points, and determine multiple vertical height differences corresponding one by one to the multiple corresponding sampling time points based on the laser information emitted to the laser point at each corresponding sampling time point. Each vertical height difference refers to the vertical height difference between the drone and the laser point at the corresponding sampling time point. Here, since at each corresponding sampling time point, the laser information emitted by the lidar ranging device on the drone to this laser point includes: the emission angle of the laser emitted to this laser point, and the distance to this laser point. Therefore, at any one corresponding sampling time, the computer device can calculate the vertical height difference between the drone and this laser point based on the emission angle of the laser emitted by the lidar ranging device to this laser point and the distance between the lidar ranging device and this laser point, and this vertical height difference is the vertical height difference corresponding to this corresponding sampling time point.

[0115] After that, the computer device can perform an optimization calculation on the multiple vertical height differences to obtain the vertical height difference between the drone and this laser point during flight. The optimization calculation may include: average value calculation, median value calculation, etc. For example, when the drone obtains multiple vertical height differences corresponding one by one to multiple corresponding sampling time points, these vertical height differences can be averaged, and the result of the average calculation is the vertical height difference between the drone and this laser point during flight.

[0116] Sub-step 3062: Determine the initial elevation of this laser point based on the vertical height difference between the drone and this laser point during flight and the elevation indicated by the spatial coordinates of the drone at the corresponding sampling time point.

[0117] In the embodiment of the present application, after the computer device determines the vertical height difference between the drone and this laser point during flight, the computer device can determine the initial elevation of this laser point based on the vertical height difference between the drone and this laser point during flight and the elevation indicated by the spatial coordinates of the drone at the corresponding sampling time point.

[0118] For example, when the drone is flying along the flight route, the computer device can calculate the vertical height difference between the drone and this laser point during flight and the elevation indicated by the spatial coordinates of the drone at the corresponding sampling time point. After that, the computer device subtracts the vertical height difference between the drone and this laser point during flight from the elevation indicated by the spatial coordinates of the drone at the corresponding sampling time point to obtain the initial elevation of this laser point.

[0119] In this application, through the above-mentioned sub-step 3061 and sub-step 3062, the computer device can obtain the initial elevation of any laser point in the terrain correction area. Therefore, the computer device can determine the initial elevations of each laser point in the terrain correction area through the same process as above, and then obtain the initial elevation data array.

[0120] Step 307: Determine the spatial coordinates of each laser point in the terrain correction area according to the initial elevation data array and the planar coordinate data array.

[0121] In the embodiment of this application, after the computer device obtains the initial elevation data array and the planar coordinate data array, the computer device can determine the spatial coordinates of each laser point in the terrain correction area according to the initial elevation data array and the planar coordinate data array.

[0122] In this application, the process by which the computer device determines the spatial coordinates of each laser point in the terrain correction area according to the initial elevation data array and the planar coordinate data array may include the following sub-steps:

[0123] Sub-step 3071: Delete the invalid initial elevations in the initial elevation data array.

[0124] In the embodiment of this application, the computer device can delete the invalid initial elevations in the initial elevation data array. Among them, the invalid initial elevation refers to the initial elevation corresponding to the laser point that irradiates on an obstacle.

[0125] For example, if there are obstacles such as plants or human-built structures in the terrain correction area, the initial elevations of the laser points that irradiate on these obstacles in the terrain correction area will be greater than the initial elevations of the laser points that do not irradiate on these obstacles around. Therefore, the computer device can regard the mutated initial elevations that occur in the initial elevation data array as invalid initial elevations, and can delete these invalid initial elevations in the initial elevation data array.

[0126] Sub-step 3072: Use an interpolation algorithm to refill the data points deleted in the initial elevation data array to obtain an updated elevation data array.

[0127] In the embodiment of this application, after the computer device deletes the invalid initial elevations in the initial elevation data array, the computer device can use an interpolation algorithm to refill the data points deleted in the initial elevation data array to obtain an updated elevation data array.

[0128] Exemplarily, for a laser point corresponding to a deleted invalid initial elevation in the initial elevation data array, the computer device may calculate a new elevation by interpolation based on the initial elevations of other laser points located near this laser point, and use this new elevation as the elevation of this laser point, and fill this new elevation in the initial elevation data array. To this end, the initial elevation data array can be updated by filling new elevations for each deleted data point in the same way, and an updated elevation data array can be obtained.

[0129] Here, after updating the initial elevation data array to obtain an updated elevation data array, each elevation in the updated elevation data array can represent the actual elevation of the corresponding laser point in the terrain correction area.

[0130] Sub-step 3073: Determine the spatial coordinates of each laser point according to the updated elevation data array and the planar coordinate data array.

[0131] In the embodiment of the present application, the computer device may determine the spatial coordinates of each laser point according to the updated elevation data array and the planar coordinate data array.

[0132] Exemplarily, since the updated elevation data array contains a plurality of elevations corresponding one-to-one to a plurality of laser points in the terrain correction area, and the planar coordinate data array contains a plurality of planar coordinates corresponding one-to-one to a plurality of laser points in the terrain correction area. Therefore, the computer device can determine the spatial coordinates of each laser point in the terrain correction area based on these data.

[0133] In the present application, in the process of the computer device obtaining the spatial coordinates of each laser point in the terrain correction area, since the initial elevations corresponding to the laser points irradiated on the obstacles in the terrain correction area are deleted, and the interpolation algorithm is used to reconfigure new elevations for these laser points irradiated on the obstacles, therefore, it can be ensured that the elevation indicated by the spatial coordinates of each laser point in the terrain correction area obtained by the computer device is the true elevation of this laser point. In this way, it can be ensured that during the subsequent gravity terrain correction of the terrain correction area, the interference caused by the obstacles in the terrain correction area to the correction can be avoided, and the accuracy of the gravity terrain correction of the terrain correction area is relatively high.

[0134] Step 308: Determine the terrain correction value of the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area, and the initial gravity measurement value and spatial coordinates of the gravity measurement point.

[0135] In an embodiment of the present application, after the computer device determines the spatial coordinates of each laser point in the terrain correction area, the computer device may determine the terrain correction value of the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area, as well as the initial gravity measurement value and elevation of the gravity measurement point.

[0136] Exemplarily, the computer device may calculate the influence value of each laser point in the terrain correction area by using a square domain or circular domain gravity terrain correction formula based on the spatial coordinates of each laser point in the terrain correction area, as well as the initial gravity measurement value and spatial coordinates of the gravity measurement point. Then, the computer device may reverse the influence value of each laser point in the terrain correction area. The reversal method is to multiply its influence value by -1. After that, by adding up the reversed influence values of each laser point, the terrain correction value of the gravity measurement point can be obtained.

[0137] Step 309: Correct the initial gravity measurement value of the gravity measurement point based on the terrain correction value of the gravity measurement point.

[0138] In an embodiment of the present application, after the computer device determines the terrain correction value of the gravity measurement point, the computer device may correct the initial gravity measurement value of the gravity measurement point based on the terrain correction value of the gravity measurement point.

[0139] Exemplarily, the computer device may add the initial gravity measurement value of the gravity measurement point to the terrain correction value of the gravity measurement point, and thus the corrected gravity measurement value of each laser point in the terrain correction area can be obtained.

[0140] In the present application, please refer to Figure 6 , Figure 6 is a comparison chart of elevation data obtained by two different methods provided in an embodiment of the present application. The horizontal axis in the figure is the distance from each gravity measurement point to the starting point (abbreviation in the figure: distance), and the vertical axis in the figure is the elevation indicated by the spatial coordinates of each gravity measurement point (abbreviation in the figure: elevation). Among them, the black solid line in the figure represents the elevation data line chart obtained by using the gravity terrain correction method of the present application, the black dots in the figure represent the elevation data point chart obtained by using the digital elevation model, and the black crosses represent the actually measured elevation of the gravity measurement points. As Figure 6 shown, the elevation data line chart obtained by using the gravity terrain correction method of the present application more detailedly reflects the terrain undulation, and its elevation has a higher compliance with the actually measured elevation of the gravity measurement points. Therefore, using the gravity terrain correction method of the present application greatly reduces the error of gravity terrain correction compared with using the digital elevation model method, thereby improving the accuracy of gravity terrain correction.

[0141] It should be noted that the sequence of the method steps for gravity terrain correction provided in the embodiments of the present application can be appropriately adjusted, and the steps can also be increased or decreased accordingly according to the situation. Any person skilled in the art in the technical field disclosed in the present application can easily think of the changed methods, which should be covered within the protection scope of the present application, so no further elaboration will be made.

[0142] In summary, for the method of gravity terrain correction provided in the embodiments of the present application, after obtaining the spatial coordinates of the gravity measurement point, the flight route of the unmanned aerial vehicle can be set according to the spatial coordinates of the gravity measurement point. During the flight of the unmanned aerial vehicle along this flight route, the ground surface of the terrain correction area is laser-ranged by the lidar ranging device on the unmanned aerial vehicle to obtain the original laser measurement data of the terrain correction area. Then, the computer device determines the spatial coordinate data of the ground surface of the terrain correction area based on the original laser measurement data, and further performs terrain correction calculation on the gravity measurement point. This method does not require excessive investment in human resources and can effectively improve the efficiency and accuracy of terrain correction in the near-gravity area.

[0143] The embodiments of the present application also provide a modeling device for gravity terrain correction. Please refer to Figure 7 , Figure 7 which is a block diagram of a modeling device for gravity terrain correction provided by the embodiments of the present application. The modeling device 400 for gravity terrain correction can be integrated in a computer device. The modeling device 400 for gravity terrain correction can include:

[0144] An acquisition module 401, configured to acquire the spatial coordinates of the gravity measurement point, where the spatial coordinates include: planar coordinates and elevation.

[0145] A first determination module 402, configured to determine the spatial coordinates of the first flight point and the spatial coordinates of the second flight point based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point. The elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, and the elevation indicated by the spatial coordinates of the first flight point and the spatial coordinates of the second flight point is greater than the elevation indicated by the spatial coordinates of the gravity measurement point.

[0146] A generation module 403, configured to generate the route information of the unmanned aerial vehicle based on the spatial coordinates of the first flight point and the spatial coordinates of the second flight point, so that the unmanned aerial vehicle flies according to the route information and acquires the original laser measurement data of the terrain correction area during the flight.

[0147] A second determination module 404, configured to acquire the original laser measurement data acquired by the unmanned aerial vehicle and determine the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data.

[0148] A correction module 405 for performing terrain correction calculation on a gravity measurement point based on the spatial coordinates of each laser point in a terrain correction area.

[0149] In summary, for the gravity terrain correction device provided in the embodiment of the present application, after obtaining the spatial coordinates of the gravity measurement point, the flight route of the unmanned aerial vehicle can be set according to the spatial coordinates of the gravity measurement point. During the flight of the unmanned aerial vehicle along this flight route, laser ranging is performed on the surface of the terrain correction area through the lidar ranging device on the unmanned aerial vehicle to obtain the original laser measurement data of the terrain correction area. Then, the computer device determines the spatial coordinate data of the surface of the terrain correction area based on the original laser measurement data, and further performs terrain correction calculation on the gravity measurement point. This method does not require excessive human resources and can effectively improve the efficiency and accuracy of terrain correction in the near gravity area.

[0150] Optionally, the original laser measurement data includes: multiple sampling time points during the flight of the unmanned aerial vehicle, the spatial coordinates of the unmanned aerial vehicle at each sampling time point, and the laser information emitted by the unmanned aerial vehicle to at least some of the laser points at each sampling time point. The second determination module in the gravity terrain correction modeling device may include:

[0151] A first determination unit, for any laser point, determines the planar coordinates of the laser point based on the laser information emitted by the unmanned aerial vehicle to the laser point and the spatial coordinates of the unmanned aerial vehicle at the corresponding sampling time point, so as to obtain a planar coordinate data array, and the planar coordinate data array contains a plurality of planar coordinates corresponding one by one to the multiple laser points in the terrain correction area.

[0152] A second determination unit for, for any laser point, determining the vertical height difference between the unmanned aerial vehicle and the laser point during the flight based on the laser information emitted by the unmanned aerial vehicle to the laser point at the corresponding sampling time point.

[0153] A third determination unit for determining the initial elevation of the laser point based on the vertical height difference between the unmanned aerial vehicle and the laser point during the flight and the elevation indicated by the spatial coordinates of the unmanned aerial vehicle at the corresponding sampling time point, so as to obtain an initial elevation data array, and the initial elevation data array contains a plurality of initial elevations corresponding one by one to the multiple laser points in the terrain correction area.

[0154] A fourth determination unit for determining the spatial coordinates of each laser point according to the initial elevation data array and the planar coordinate data array.

[0155] Optionally, the fourth determination unit is configured to: delete invalid initial elevations in the initial elevation data array, where the invalid initial elevations refer to the initial elevations corresponding to the laser points that irradiate obstacles; use an interpolation algorithm to refill the data points deleted in the initial elevation data array to obtain an updated elevation data array; and determine the spatial coordinates of each laser point according to the updated elevation data array and the planar coordinate data array.

[0156] Optionally, the second determination unit is configured to: for any laser point, select multiple corresponding sampling time points at which the drone emits laser to the laser point among multiple sampling time points, and determine multiple vertical height differences corresponding one-to-one to the multiple corresponding sampling time points based on the laser information emitted to the laser point at each corresponding sampling time point, where each vertical height difference refers to the vertical height difference between the drone and the laser point at the corresponding corresponding sampling time point; perform an optimization calculation on the multiple vertical height differences to obtain the vertical height difference between the drone and the laser point during flight.

[0157] Optionally, the first determination unit is configured to: for any laser point, determine the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the drone based on the laser information emitted by the drone to the laser point at the corresponding sampling time point; and determine the planar coordinates of the laser point based on the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the drone and the planar coordinates indicated by the spatial coordinates of the drone at the corresponding sampling time point.

[0158] Optionally, the first determination module may include:

[0159] A fifth determination unit, configured to determine the minimum flight height of the drone relative to the gravity measurement point based on the spatial coordinates of the gravity measurement point, the terrain correction area of the gravity measurement point, and the laser emission range angle of the drone.

[0160] A sixth determination unit, configured to determine the elevation indicated by the spatial coordinates of the first flight point based on the minimum flight height of the drone relative to the gravity measurement point and the elevation indicated by the spatial coordinates of the gravity measurement point.

[0161] A seventh determination unit, configured to determine the planar coordinates indicated by the spatial coordinates of the first flight point and the second flight point based on the terrain correction area of the gravity measurement point.

[0162] Optionally, the apparatus 400 for gravity terrain correction may further include:

[0163] A second acquisition module, configured to acquire the initial gravity measurement value of the gravity measurement point.

[0164] A second determination module, configured to determine the terrain correction value of the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area, and the initial gravity measurement value and spatial coordinates of the gravity measurement point.

[0165] A second correction module for correcting the initial gravity measurement value of a gravity measurement point based on the topographic correction value of the gravity measurement point.

[0166] In summary, for the gravity topographic correction modeling device provided in the embodiments of the present application, after obtaining the spatial coordinates of a gravity measurement point, the flight route of the unmanned aerial vehicle can be set according to the spatial coordinates of the gravity measurement point. During the flight of the unmanned aerial vehicle along this flight route, the ground surface of the topographic correction area is laser-ranged by the lidar ranging device on the unmanned aerial vehicle to obtain the original laser measurement data of the topographic correction area. Then, the computer device determines the spatial coordinate data of the ground surface of the topographic correction area based on the original laser measurement data, and further performs topographic correction calculation on the gravity measurement point. This method does not require excessive human resources and can effectively improve the efficiency and accuracy of near-gravity topographic correction.

[0167] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described devices, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0168] The embodiments of the present application also provide a computer device. The computer device may include: a processor and a memory. Among them, at least one instruction, at least one program, a code set, or an instruction set is stored in the memory, and the at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement Figure 2 or Figure 3 the modeling method of gravity topographic correction shown.

[0169] The embodiments of the present application also provide a computer storage medium. At least one instruction, at least one program, a code set, or an instruction set is stored in the computer storage medium, and the at least one instruction, at least one program, the code set, or the instruction set is loaded and executed by the processor to implement Figure 2 or Figure 3 the modeling method of gravity topographic correction shown.

[0170] In the present application, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. The term "plurality" means two or more unless otherwise clearly defined.

[0171] Those of ordinary skill in the art can understand that all or part of the steps of implementing the above embodiments can be completed by hardware or by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be a read-only memory, a disk, or an optical disc, etc.

[0172] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A method for gravity terrain correction, characterized in that, the method includes: Obtaining the spatial coordinates of the gravity measurement point, where the spatial coordinates include: planar coordinates and elevation; Based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point, determining the spatial coordinates of the first flight point and the spatial coordinates of the second flight point, where the elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, and the elevation indicated by the spatial coordinates of the first flight point and the spatial coordinates of the second flight point is greater than the elevation indicated by the spatial coordinates of the gravity measurement point; Based on the spatial coordinates of the first flight point and the second flight point, generating the flight path information of the unmanned aerial vehicle, causing the unmanned aerial vehicle to fly according to the flight path information, and collecting the original laser measurement data of the terrain correction area during the flight; Obtaining the original laser measurement data collected by the unmanned aerial vehicle, and determining the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data; Based on the spatial coordinates of each laser point in the terrain correction area, performing terrain correction calculation on the gravity measurement point.

2. The method according to claim 1, characterized in that, the original laser measurement data includes: multiple sampling time points during the flight of the unmanned aerial vehicle, the spatial coordinates of the unmanned aerial vehicle at each sampling time point, and the laser information emitted by the unmanned aerial vehicle to at least some of the laser points at each sampling time point; Determining the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data includes: For any one of the laser points, based on the laser information emitted by the unmanned aerial vehicle to the laser point at the corresponding sampling time point and the spatial coordinates of the unmanned aerial vehicle, determining the planar coordinates of the laser point to obtain a planar coordinate data array, where the planar coordinate data array contains multiple planar coordinates corresponding one by one to multiple laser points in the terrain correction area; For any one of the laser points, based on the laser information emitted by the unmanned aerial vehicle to the laser point at the corresponding sampling time point, determining the vertical height difference between the unmanned aerial vehicle and the laser point during the flight; Based on the vertical height difference between the unmanned aerial vehicle and the laser point during the flight and the elevation indicated by the spatial coordinates of the unmanned aerial vehicle at the corresponding sampling time point, determining the initial elevation of the laser point to obtain an initial elevation data array, where the initial elevation data array contains multiple initial elevations corresponding one by one to multiple laser points in the terrain correction area; According to the initial elevation data array and the planar coordinate data array, determining the spatial coordinates of each laser point.

3. The method according to claim 2, characterized in that, Determining the spatial coordinates of each laser point according to the initial elevation data array and the planar coordinate data array includes: Deleting the invalid initial elevations in the initial elevation data array, where the invalid initial elevations refer to the initial elevations corresponding to the laser points that irradiate obstacles; Use an interpolation algorithm to refill the deleted data points in the initial elevation data array to obtain an updated elevation data array; Determine the spatial coordinates of each laser point based on the updated elevation data array and the planar coordinate data array.

4. The method according to claim 2, wherein, For any one of the laser points, based on the laser information emitted by the unmanned aerial vehicle (UAV) to the laser point at the corresponding sampling time point, determining the vertical height difference between the UAV and the laser point during flight includes: For any one of the laser points, select multiple corresponding sampling time points at which the UAV emits laser to the laser point from the multiple sampling time points, and based on the laser information emitted to the laser point at each of the corresponding sampling time points, determine multiple vertical height differences corresponding one-to-one to the multiple corresponding sampling time points, and each vertical height difference refers to the vertical height difference between the UAV and the laser point at the corresponding corresponding sampling time point; Perform an optimization calculation on the multiple vertical height differences to obtain the vertical height difference between the UAV and the laser point during flight.

5. The method according to claim 2, wherein, For any one of the laser points, based on the laser information emitted by the UAV to the laser point at the corresponding sampling time point and the spatial coordinates of the UAV, determining the planar coordinates of the laser point includes: For any one of the laser points, based on the laser information emitted by the UAV to the laser point at the corresponding sampling time point, determine the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the UAV; Based on the two-dimensional coordinates of the laser point in the two-dimensional coordinate system of the UAV and the planar coordinates indicated by the spatial coordinates of the UAV at the corresponding sampling time point, determine the planar coordinates of the laser point.

6. The method according to any one of claims 1 to 5, wherein, Based on the spatial coordinates of the gravity measurement point and the topographic correction area determined by the gravity measurement point, determining the spatial coordinates of the first flight point and the second flight point includes: Based on the spatial coordinates of the gravity measurement point, the topographic correction area of the gravity measurement point, and the laser emission range angle of the UAV, determine the minimum flight height of the UAV relative to the gravity measurement point; Based on the minimum flight height of the UAV relative to the gravity measurement point and the elevation indicated by the spatial coordinates of the gravity measurement point, determine the elevation indicated by the spatial coordinates of the first flight point; Based on the topographic correction area of the gravity measurement point, determine the planar coordinates indicated by the spatial coordinates of the first flight point and the second flight point.

7. The method according to any one of claims 1 to 5, wherein, Based on the elevations indicated by the spatial coordinates of each laser point in the topographic correction area, perform topographic correction calculation on the gravity measurement point, including: Obtain the initial gravity measurement value of the gravity measurement point; Determine the terrain correction value of the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area, as well as the initial gravity measurement value and spatial coordinates of the gravity measurement point; Correct the initial gravity measurement value of the gravity measurement point based on the terrain correction value of the gravity measurement point.

8. A modeling device for gravity terrain correction, characterized in that, the device includes: an acquisition module, configured to acquire the spatial coordinates of a gravity measurement point, where the spatial coordinates include: planar coordinates and elevation; a first determination module, configured to determine the spatial coordinates of a first flight point and the spatial coordinates of a second flight point based on the spatial coordinates of the gravity measurement point and the terrain correction area determined by the spatial coordinates of the gravity measurement point, where the elevation indicated by the spatial coordinates of the first flight point is equal to the elevation indicated by the spatial coordinates of the second flight point, and the elevation indicated by the spatial coordinates of the first flight point and the spatial coordinates of the second flight point is greater than the elevation indicated by the spatial coordinates of the gravity measurement point; a generation module, configured to generate the flight path information of the unmanned aerial vehicle based on the spatial coordinates of the first flight point and the second flight point, so that the unmanned aerial vehicle flies according to the flight path information, and collect the original laser measurement data of the terrain correction area during the flight; a second determination module, configured to acquire the original laser measurement data collected by the unmanned aerial vehicle, and determine the spatial coordinates of each laser point in the terrain correction area according to the original laser measurement data; a correction module, configured to perform terrain correction calculation on the gravity measurement point based on the spatial coordinates of each laser point in the terrain correction area.

9. A computer device, characterized in that, at least one instruction, at least one program, a code set or an instruction set is stored in the computer device, and the at least one instruction, at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for gravity terrain correction according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that, at least one instruction, at least one program, a code set or an instruction set is stored in the computer storage medium, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by a processor to implement the method for gravity terrain correction according to any one of claims 1 to 7.

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