Data acquisition method and system based on unmanned aerial vehicle

Abstract

The invention provides a data acquisition method and system based on an unmanned aerial vehicle, and relates to the technical field of data processing, and the method comprises the steps: determining a flight region of the unmanned aerial vehicle based on a to-be-acquired region; performing fixed-point investigation on the flight area to obtain a fixed-point investigation result; according to a fixed-point investigation result, determining a route, a sailing height and a preliminary arrangement position of an image control point of the unmanned aerial vehicle; the RTK-GNSS technology is utilized to measure the initial arrangement position of the image control point, and the accurate arrangement position of the image control point is determined; according to the determined route, setting a photo overlapping degree threshold value for the same shooting area in the aerial photography process of the unmanned aerial vehicle; setting flight parameters of the unmanned aerial vehicle according to the route and the navigation height; flight operation of the unmanned aerial vehicle is executed according to the flight parameters, and image data of the to-be-collected area is collected based on the accurate arrangement positions of the image control points and the image overlapping degree threshold value.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and particularly to a data acquisition method and system based on an unmanned aerial vehicle (UAV). Background Art

[0002] With the rapid development of UAV technology, high-precision data acquisition methods based on UAVs are increasingly widely used in fields such as surveying and mapping, disaster monitoring, and engineering surveying. UAVs can flexibly cover large areas and collect rich information such as high-definition images and three-dimensional point cloud data, providing effective data support for terrain modeling, geological exploration, and disaster assessment. To ensure the accuracy and comprehensiveness of the data acquired by UAVs, reasonable route planning, setting of aerial photography parameters, and introduction of high-precision ground control points have become the key in the data acquisition process.

[0003] Currently, the data acquisition methods based on UAVs mainly include two methods: autonomous route flight and manual flight controlled by humans. The autonomous route flight method generally conducts data acquisition by pre-planning the route and setting the shooting parameters, and is suitable for scenarios with large areas and high coverage requirements; while manual flight is controlled by the operator according to real-time needs to control the flight path to achieve flexible data acquisition.

[0004] However, traditional planar grid routes face the problem of incomplete coverage in complex terrains. Especially in areas with large slope undulations, the image data planned in a plane often lacks sufficient coverage and resolution. In addition, it is difficult to arrange ground control points in complex terrains, resulting in insufficient control accuracy and affecting data quality. Summary of the Invention

[0005] In order to solve the technical problems that traditional planar grid routes face incomplete coverage in complex terrains, especially in areas with large slope undulations, the image data planned in a plane often lacks sufficient coverage and resolution. In addition, it is difficult to arrange ground control points in complex terrains, resulting in insufficient control accuracy and affecting data quality, the present invention provides a data acquisition method and system based on UAVs.

[0006] The technical solutions provided in the embodiments of the present invention are as follows:

[0007] First aspect:

[0008] A data acquisition method based on UAVs provided in an embodiment of the present invention includes:

[0009] S1: Based on the area to be acquired, determine the flight area of the UAV;

[0010] S2: Conduct fixed-point exploration on the flight area to obtain the fixed-point exploration result;

[0011] S3: Determine the flight path, flight altitude of the UAV, and the preliminary layout positions of the image control points according to the fixed-point survey results;

[0012] S4: Use RTK-GNSS technology to measure the preliminary layout positions of the image control points and determine the precise layout positions of the image control points;

[0013] S5: Set the threshold of the overlap degree of the images for the same shooting area during the UAV aerial photography according to the determined flight path;

[0014] S6: Set the flight parameters of the UAV according to the flight path and the flight altitude;

[0015] S7: Execute the UAV flight operation according to the flight parameters, and collect the image data of the area to be collected based on the precise layout positions of the image control points and the overlap degree threshold of the images.

[0016] Second aspect:

[0017] A data acquisition system based on a UAV provided by an embodiment of the present invention includes:

[0018] A processor;

[0019] A memory, on which computer-readable instructions are stored. When the computer-readable instructions are executed by the processor, the data acquisition method based on the UAV as described in the first aspect is implemented.

[0020] Third aspect:

[0021] A computer-readable storage medium provided by an embodiment of the present invention, on which a computer program is stored. When the program is executed by a processor, the data acquisition method based on the UAV as described in the first aspect is implemented.

[0022] The beneficial effects brought by the technical solutions provided by the embodiments of the present invention at least include:

[0023] (1) In the present invention, according to the fixed-point survey results, the flight path, flight altitude of the UAV, and the preliminary layout positions of the image control points are determined. By flexibly adjusting the flight path and flight altitude to adapt to the undulations of complex terrains, it is ensured that sufficient coverage can also be achieved in areas with large slopes; by setting the overlap degree thresholds in the heading and cross-track directions, especially appropriately increasing the overlap degree in complex terrains to make up for the insufficient coverage caused by terrain changes, so as to obtain complete and high-resolution image data.

[0024] (2) In the present invention, by reasonably arranging image control points in complex terrains and flexibly designing flight routes and flight altitudes according to the results of fixed-point surveys, key areas are ensured to be covered. Subsequently, these image control points are accurately measured using RTK-GNSS technology, overcoming the difficulty in laying out control points caused by large terrain undulations, significantly improving the control accuracy, and enhancing the quality of photo data. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic flowchart of a data acquisition method based on an unmanned aerial vehicle provided by an embodiment of the present invention;

[0027] Figure 2 It is a schematic structural diagram of a data acquisition system based on an unmanned aerial vehicle provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The following will describe the technical solutions in the present invention with reference to the drawings.

[0029] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations, or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two.

[0030] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same. "(of)", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference is not emphasized, the meanings they express are the same.

[0031] In the embodiments of the present invention, sometimes subscripts such as W1 may be written in a non-subscript form such as W1. When the difference is not emphasized, the meanings they express are the same.

[0032] To make the technical problems to be solved, technical solutions, and advantages of the present invention clearer, the following will be described in detail with reference to the drawings and specific embodiments.

[0033] Refer to the attached specification Figure 1 , which shows a schematic flow chart of a data collection method based on an unmanned aerial vehicle provided by an embodiment of the present invention.

[0034] An embodiment of the present invention provides a data collection method based on an unmanned aerial vehicle. This method can be implemented by a data collection device based on an unmanned aerial vehicle, and the data collection device based on an unmanned aerial vehicle can be a terminal or a server. The processing flow of the data collection method based on an unmanned aerial vehicle may include the following steps:

[0035] S1: Determine the flight area of the unmanned aerial vehicle based on the area to be collected.

[0036] S2: Conduct fixed-point exploration of the flight area to obtain the fixed-point exploration result.

[0037] In a possible implementation manner, the fixed-point exploration result specifically includes: the length of the geological body, the width of the geological body, the height difference between the front and rear edges, the planar shape, the topography and geomorphology, the local meteorological conditions, the distribution of ground facilities, the vegetation distribution, the flight range, the flight height, the flight time, and the maximum flight distance.

[0038] Specifically, the exploration content includes the characteristics of the geological body and the surrounding environment, as well as the implementation conditions of the unmanned aerial vehicle. Among them, the evaluation of the geological body characteristics includes estimating the scale such as length, width, and area, the height difference between the front and rear edges, and the planar shape, etc. The evaluation of the surrounding environment characteristics includes the topography and geomorphology and local meteorological conditions, the distribution of aerial and ground facilities, the vegetation distribution and coverage, the visual distance and visibility, etc. The evaluation of the implementation conditions of the unmanned aerial vehicle includes the takeoff and landing points, the possible flight range and flight height, the flight distance and time, the maximum flight distance, as well as the number of GNSS satellites, the signal strength and stability, the stability of the electronic compass. In addition, there are also the selection and layout of ground control points and the coordinate measurement method.

[0039] In the present invention, by comprehensively evaluating the characteristics of the geological body (such as length, width, height difference, and shape, etc.), the flight height and coverage range of the unmanned aerial vehicle can be accurately set to ensure that the data obtained by shooting can cover the target area and improve the accuracy of the photos. At the same time, by exploring the topography and geomorphology, meteorological conditions, and the distribution of aerial and ground facilities in the surrounding environment, potential flight risks can be identified in advance to ensure that the unmanned aerial vehicle avoids obstacles and adverse conditions, and improve the safety and stability of flight.

[0040] S3: Determine the flight path, flight height, and preliminary layout position of the ground control points of the unmanned aerial vehicle according to the fixed-point exploration result.

[0041] Among them, the preliminary layout positions of the image control points refer to the positions where some control points are preliminarily selected and arranged on the ground according to the exploration results before the UAV aerial survey. These control points are used to improve the spatial positioning accuracy and geometric accuracy of the aerial survey data. In areas with complex terrain or high-precision requirements, the layout of the image control points is particularly important.

[0042] In a possible implementation manner, determining the flight path of the UAV specifically includes:

[0043] S301: According to the fixed-point exploration results, determine the terrain slope type of the area to be collected.

[0044] S302: Plan the flight path of the UAV according to the terrain slope type.

[0045] In a possible implementation manner, S302 is specifically:

[0046] S3021: When the slope of the geological body object to be collected is less than 30°, the flight path determination method is as follows:

[0047] Starting from the starting point, according to the first preset grid spacing, create a first horizontal flight path parallel to the x-axis to cover the extension range of the geological body trend.

[0048] Create a first vertical flight path perpendicular to the first horizontal flight path.

[0049] Cross the first horizontal flight path and the first vertical flight path to form a first planar flight path grid.

[0050] Based on the first planar flight path grid, plan the flight path of the UAV, and cover the geological body area with the UAV along the first horizontal flight path and the first vertical flight path in sequence.

[0051] S3022: When the slope of the geological body object to be collected is between 30° and 70°, the flight path determination method is as follows:

[0052] Starting from the starting point, according to the second preset grid spacing, create a second horizontal flight path parallel to the x-axis to cover the extension range of the geological body trend.

[0053] Create a second vertical flight path perpendicular to the second horizontal flight path.

[0054] Cross the second horizontal flight path and the second vertical flight path to form an inclined flight path grid.

[0055] Based on the inclined flight path grid, plan the flight path of the UAV, and cover the geological body area with the UAV along the second horizontal flight path and the second vertical flight path in sequence.

[0056] It should be noted that the inclined flight path grid is parallel to the slope of the geological body, and the camera of the UAV points vertically towards the slope during flight.

[0057] S3023: When the slope of the geological body object to be collected is greater than 70°, the flight path determination method is as follows:

[0058] Plan the flight path of the UAV in the same way as described in S3021.

[0059] S3024: When the geological disaster body contains two or more different slope types, divide multiple flight path planning ranges according to the different slope types of the geological disaster body, and design corresponding flight path plans for each flight path planning range using a combination of gentle and steep flight paths.

[0060] Specifically, for the gentle slope part, design a planar grid flight path to cover the target area with horizontal and vertical flight paths intersecting. For the medium slope part, design an inclined grid flight path to ensure that the flight path grid is parallel to the slope and the camera points vertically towards the slope. For the steep slope part, design a horizontally directed flight path to control the camera to point horizontally towards the geological body. Through integrating the flight path planning schemes for each slope type, comprehensive coverage of the geological disaster body is achieved.

[0061] In the present invention, by designing the flight path in combination with the characteristics of different terrains, a planar grid type flight path is adopted for the gentle slope area, while a vertical grid type flight path is used in the steep slope area. This flexible combination method ensures sufficient coverage even in areas with complex terrain and large slope fluctuations, thus avoiding the coverage blind spots of traditional planar grid flight paths.

[0062] It should be noted that for determining the preliminary layout position of image control points, according to multiple practices in the mining area, under the premise of considering both the collection accuracy and implementation efficiency, for a single disaster body with limited and single area distribution, generally 3 - 5 ground image control points need to be laid out and marked, and try to ensure uniform distribution: First, the control network formed by each point is preferably composed of equilateral triangles or quadrilaterals, especially avoid laying out all points close to a straight line. Second, the control network should preferably be centered on the disaster body to cover the disaster body and the surrounding concerned areas. Third, there should be a certain height difference between the points, and try to avoid laying out all the image control points at the same elevation.

[0063] In the present invention, by reasonably arranging the positions of image control points according to the survey results, especially laying out more control points in areas with complex terrain or high accuracy requirements, the spatial positioning accuracy of aerial survey data can be improved.

[0064] In a possible implementation manner, the calculation formula for the flight altitude is:

[0065]

[0066] Wherein, H represents the flight altitude, f represents the focal length of the objective lens, a represents the pixel size, and GSD represents the ground resolution of the aerial photograph.

[0067] In the present invention, the calculation formula of the flight altitude is based on the focal length, pixel size, and ground resolution to ensure that the ground resolution (GSD) of the image meets the task requirements. By reasonably setting the flight altitude, the clarity and resolution of the image data can be controlled, so that the collected data has sufficient fineness and accuracy in the target area.

[0068] In summary, by arranging the flight lines in combination with the terrain characteristics and accurately calculating the flight altitude, high-coverage, high-resolution, and high-precision image data can be obtained, and the safety and efficiency of aerial survey operations are effectively improved.

[0069] S4: Use RTK-GNSS technology to measure the preliminary layout position of the image control points and determine the accurate layout position of the image control points.

[0070] Among them, RTK-GNSS technology (Real-Time Kinematic Global Navigation Satellite System) is a high-precision satellite positioning technology that provides centimeter-level positioning accuracy by receiving and processing GNSS satellite signals. RTK-GNSS is widely used in fields such as surveying, UAV navigation, and autonomous driving, and is particularly suitable for position positioning applications that require high precision.

[0071] In a possible implementation manner, S4 specifically includes:

[0072] S401: At the position of the preliminarily arranged image control points, set a plurality of RTK-GNSS receivers. Among them, the RTK-GNSS receivers include reference station receivers and rover receivers, and connect each reference station receiver and rover receiver to the satellite to receive satellite signals.

[0073] S402: Use RTK differential positioning technology to perform differential processing on the carrier phase observation values simultaneously observed on the reference station receiver and the rover receiver to obtain the carrier phase observation difference:

[0074]

[0075] Among them, represents the carrier phase observation difference, represents the carrier phase observation value observed on the rover receiver, represents the carrier phase observation value observed on the reference station receiver.

[0076] Among them, the RTK differential positioning technology (Real-Time Kinematic) is a high-precision satellite positioning technology that uses real-time differential correction between a reference station and a rover station to improve the positioning accuracy of GNSS (Global Navigation Satellite System).

[0077] In the present invention, through the differential correction between the reference station and the rover station, the positioning accuracy is improved from the meter level of traditional GNSS to the centimeter level, which is crucial for the layout of image control points that require high-precision positions and can ensure the spatial positioning accuracy of image data.

[0078] S403: According to the differential calculation result, calculate the position coordinate increment (Δx, Δy, Δz) of the rover station relative to the reference station.

[0079] S404: Combine the position coordinate increment and the coordinates of the reference station to determine the accurate layout position coordinates (x B +Δx, y B +Δx, z B +Δx) of the image control point, where (x B , y B , z B ) represents the coordinates of the reference station.

[0080] Specifically, positioning is achieved by combining the real-time kinematic positioning technology and the global satellite navigation system. RTK is a differential positioning technology that uses two or more receivers to simultaneously receive the signals of the same satellite and calculates the accurate position information by comparing the differences between the received signals.

[0081] It should be noted that in cases where there is no stable GNSS signal, such as in deep mountains and valleys, a total station can also be used for measurement.

[0082] In the present invention, by accurately arranging the image control points, the RTK-GNSS technology ensures the geometric accuracy of the images, making the accuracy of image stitching and 3D modeling higher. It is particularly effective in complex terrains, can ensure a high degree of consistency between the images and the actual geographical locations, and improve the reliability of the data. At the same time, RTK differential positioning corrects errors through the differential calculation of the signals of multiple receivers, can effectively overcome the influence of external environments such as the atmosphere and satellite clock errors, thereby improving the stability and accuracy of positioning.

[0083] S5: According to the determined flight path, set the overlap degree threshold of the images for the same shooting area during the UAV aerial photography process.

[0084] Among them, the photo overlap threshold refers to the proportion of the overlapping area between adjacent images during UAV aerial survey or image stitching, usually including two aspects: forward overlap and side overlap. Setting an appropriate overlap threshold is crucial for ensuring the integrity of image data, improving data quality, and achieving accurate stitching of images.

[0085] In a possible implementation, the photo overlap threshold includes: a forward overlap threshold and a side overlap threshold.

[0086] In the present invention, setting an appropriate photo overlap threshold can ensure that there is sufficient overlapping area between adjacent images, prevent data omission, and improve the accuracy of photo data. At the same time, by setting an appropriate photo overlap threshold, the integrity of the data can be ensured, and the adaptability in complex environments can be enhanced. This is crucial for ensuring high-quality data collection and accurate analysis of UAV aerial surveys.

[0087] S6: Set the flight parameters of the UAV according to the flight route and flight altitude.

[0088] S7: Execute the UAV flight operation according to the flight parameters, and collect the image data of the area to be collected based on the precise layout position of the image control points and the photo overlap threshold.

[0089] In a possible implementation, S7 specifically includes:

[0090] S701: Collect multiple photos during the flight based on the precise layout position of the image control points.

[0091] S702: Calculate the forward overlap between the photos taken continuously on the same flight route.

[0092] Among them, the forward overlap is the ratio of the overlapping part of adjacent images in the flight path (i.e., the flight direction of the UAV) to the total length of a single image during UAV aerial survey. Specifically, the forward overlap measures the overlapping degree of two continuously taken images in the flight direction of the UAV.

[0093] S703: Calculate the side overlap between the photos taken on adjacent flight routes.

[0094] Among them, the side overlap is the ratio of the overlapping part of the images between adjacent flight routes to the width of the image during UAV aerial survey. In short, the side overlap measures the overlapping degree of the images in the horizontal direction between different flight paths (i.e., adjacent flight routes).

[0095] S704: Retain the images with a heading overlap greater than the heading overlap threshold and a lateral overlap greater than the lateral overlap threshold to form the image data of the area to be collected.

[0096] In a possible implementation, the calculation formula for the heading overlap is:

[0097]

[0098] Where P x % represents the heading overlap, P x represents the overlapping length of adjacent images in the heading direction, and l x represents the total length of a single image in the heading direction.

[0099] The calculation formula for the lateral overlap is:

[0100]

[0101] Where P y % represents the lateral overlap, P y represents the overlapping width of images between adjacent flight lines in the lateral direction, and l y represents the total width of a single image in the lateral direction.

[0102] In the present invention, by setting and checking the thresholds of the heading and lateral overlaps, it can be ensured that there is sufficient overlapping area between adjacent images, ensuring that there will be no data gaps or missing data during image stitching and data integration. Only the images that meet the overlap threshold will be retained, ensuring the continuity and integrity of the images of the area to be collected. At the same time, by calculating and screening the overlap degree of each image, the coverage of image acquisition can be optimized according to the requirements of the flight mission. Ensure that the selection of the flight path and image acquisition fully cover the area to be measured, and avoid unnecessary repeated shootings.

[0103] Furthermore, the images with an overlap degree meeting the threshold can provide more stable and accurate results during post-processing (such as 3D reconstruction, georegistration, digital modeling, etc.). Due to sufficient overlap between the images, the subsequent data registration and modeling work is also more efficient, reducing errors caused by poor data quality.

[0104] In a possible implementation, after S7, it further includes:

[0105] Check the acquired image data. If there is a situation of missing images, perform supplementary shooting on the missing area.

[0106] In the present invention, by inspecting the image data, it is possible to discover the missed shooting areas and make up the shooting in a timely manner. This ensures that when there may be omissions or shooting errors in certain areas, quick remedies can be carried out to avoid data loss caused by missed shooting. The supplementary shooting process can further improve the integrity and accuracy of the data, ensuring seamless coverage of the entire area.

[0107] The beneficial effects brought by the technical solutions provided in the embodiments of the present invention at least include:

[0108] (1) In the present invention, according to the results of the fixed-point survey, the flight path, flight altitude, and preliminary layout position of the image control points of the unmanned aerial vehicle are determined. By flexibly adjusting the flight path and flight altitude to adapt to the undulations of complex terrains, it is ensured that sufficient coverage can also be achieved in areas with large slopes; by setting the overlap thresholds in the heading and cross-track directions, especially appropriately increasing the overlap in complex terrains to make up for the insufficient coverage caused by terrain changes, thus obtaining complete and high-resolution image data.

[0109] (2) In the present invention, by reasonably arranging the image control points in complex terrains and flexibly designing the flight path and flight altitude according to the results of the fixed-point survey, it is ensured to cover the key areas. Subsequently, the RTK-GNSS technology is used to accurately measure these image control points, overcoming the difficulties in arranging control points caused by large terrain undulations, significantly improving the control accuracy, and improving the quality of the photo data.

[0110] Refer to the attached Figure 2 illustrates a schematic structural diagram of a data acquisition system based on an unmanned aerial vehicle provided by the present invention.

[0111] The present invention also provides a data acquisition system 20 based on an unmanned aerial vehicle, which is applied to the above-mentioned data acquisition method based on an unmanned aerial vehicle and includes:

[0112] A processor 201.

[0113] A memory 202, on which computer-readable instructions are stored. When the computer-readable instructions are executed by the processor 201, the data acquisition method based on an unmanned aerial vehicle as in the method embodiment is realized.

[0114] The data acquisition system 20 provided by the present invention can execute the above-mentioned data acquisition method based on an unmanned aerial vehicle and achieve the same or similar technical effects. To avoid repetition, the present invention will not elaborate further.

[0115] The beneficial effects brought by the technical solutions provided in the embodiments of the present invention at least include:

[0116] (1) In the present invention, according to the results of the fixed-point survey, the flight path, flight altitude of the unmanned aerial vehicle, and the preliminary layout position of the image control points are determined. By flexibly adjusting the flight path and flight altitude, the undulations of complex terrains can be adapted to ensure full coverage even in areas with large slopes. By setting the overlap degree thresholds in the heading and lateral directions, especially increasing the overlap degree appropriately in complex terrains, the problem of insufficient coverage caused by terrain changes can be compensated, so as to obtain complete and high-resolution image data.

[0117] (2) In the present invention, by reasonably arranging the image control points in complex terrains and flexibly designing the flight path and flight altitude according to the results of the fixed-point survey, the key areas can be ensured to be covered. Subsequently, the RTK-GNSS technology is used to accurately measure these image control points, overcoming the difficulty in arranging control points caused by large terrain undulations, significantly improving the control accuracy, and enhancing the quality of the photo data.

[0118] It should be understood that the processor in the embodiments of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0119] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0120] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware, or any combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (such as infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that contains one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, or magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0121] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood by referring to the context.

[0122] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0123] It should be understood that in various embodiments of the present invention, the magnitudes of the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

[0124] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0125] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the devices, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0126] In several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in electrical, mechanical, or other forms.

[0127] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0128] In addition, the functional units in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0129] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, external hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0130] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the data acquisition method based on an unmanned aerial vehicle as described in the method embodiment.

[0131] The computer-readable storage medium provided by the present invention can implement the steps and effects of the data acquisition method based on an unmanned aerial vehicle in the above method embodiment. To avoid repetition, the present invention will not elaborate further.

[0132] The beneficial effects brought by the technical solution provided by the embodiment of the present invention at least include:

[0133] (1) In the present invention, according to the results of fixed-point survey, the flight path, flight altitude of the unmanned aerial vehicle, and the preliminary layout position of image control points are determined. By flexibly adjusting the flight path and flight altitude to adapt to the undulation of complex terrain, it is ensured that full coverage can also be achieved in areas with a large slope; by setting the overlap degree thresholds in the heading and cross-track directions, especially appropriately increasing the overlap degree in complex terrain to make up for the insufficient coverage caused by terrain changes, thereby obtaining complete and high-resolution image data.

[0134] (2) In the present invention, by reasonably arranging image control points in complex terrain and flexibly designing the flight path and flight altitude according to the results of fixed-point survey, it is ensured to cover key areas. Subsequently, the RTK-GNSS technology is used to accurately measure these image control points, overcoming the difficulty of laying out control points caused by large terrain undulation, significantly improving the control accuracy, and improving the quality of photo data.

[0135] The above is only the specific implementation manner 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 can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

[0136] The following points need to be explained:

[0137] (1) The accompanying drawings of the embodiments of the present invention only relate to the structures involved in the embodiments of the present invention, and other structures can refer to the general design.

[0138] (2) For clarity, in the accompanying drawings used to describe the embodiments of the present invention, the thickness of the layer or region is enlarged or reduced, that is, these drawings are not drawn to actual scale. It can be understood that when an element such as a layer, film, region or substrate is referred to as being "on" or "under" another element, the element can be "directly" on or under the other element or there can be an intermediate element.

[0139] (3) Without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other to obtain new embodiments.

[0140] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A data acquisition method based on an unmanned aerial vehicle, characterized in that, Including: S1: Determine the flight area of the drone based on the area to be collected; S2: Conduct a fixed-point survey of the flight area to obtain the fixed-point survey results; S3: Determine the flight path, flight altitude, and preliminary layout position of the image control points of the drone according to the fixed-point survey results; S4: Use RTK-GNSS technology to measure the preliminary layout position of the image control points and determine the accurate layout position of the image control points; S5: Set the overlap threshold of the images for the same shooting area during the aerial photography of the drone according to the determined flight path; S6: Set the flight parameters of the drone according to the flight path and the flight altitude; S7: Execute the drone flight operation according to the flight parameters, and collect the image data of the area to be collected based on the accurate layout position of the image control points and the image overlap threshold.

2. The data acquisition method based on an unmanned aerial vehicle according to claim 1, wherein The fixed-point survey results specifically include: the length of the geological body, the width of the geological body, the height difference between the front and rear edges, the planar shape, the topography and geomorphology, the local meteorological conditions, the distribution of ground facilities, the distribution of vegetation, the flight range, the flight altitude, the flight time, and the maximum flight distance.

3. The data acquisition method based on an unmanned aerial vehicle according to claim 1, wherein The determination of the flight path of the drone is specifically as follows: S301: Determine the terrain slope type of the area to be collected according to the fixed-point survey results; S302: Plan the flight path of the drone according to the terrain slope type.

4. The data acquisition method based on an unmanned aerial vehicle according to claim 3, wherein The specific content of S302 is as follows: S3021: When the slope of the geological body object to be collected is less than 30°, the flight path determination method is: Starting from the starting point, create a first horizontal flight path parallel to the x-axis according to the first preset grid spacing to cover the extension range of the geological body trend; Create a first vertical flight path perpendicular to the first horizontal flight path; Intersect the first horizontal flight path and the first vertical flight path to form a first planar flight path grid; Based on the first planar flight path grid, plan the flight route of the drone, and cover the geological body area with the drone along the first horizontal flight path and the first vertical flight path in sequence; S3022: When the slope of the geological body object to be collected is between 30° and 70°, the flight path determination method is: Starting from the starting point, create a second horizontal flight path parallel to the x-axis according to the second preset grid spacing to cover the extension range of the geological body trend; Create a second vertical flight path perpendicular to the second horizontal flight path; Intersect the second horizontal flight path and the second vertical flight path to form an inclined flight path grid; Based on the inclined flight path grid, plan the flight route of the drone, and cover the geological body area with the drone along the second horizontal flight path and the second vertical flight path in sequence; S3023: When the slope of the geological body object to be collected is greater than 70°, the flight path determination method is: Plan the flight path of the drone in the same way as S3021; S3024: When the geological disaster body contains two or more different slope types, divide multiple flight path planning ranges according to the different slope types of the geological disaster body, and design corresponding flight path plans for each flight path planning range by using a combination of steep and gentle flight paths.

5. The data acquisition method based on an unmanned aerial vehicle according to claim 1, wherein The specific content of S4 includes: S401: At the positions of the initially arranged image control points, multiple RTK-GNSS receivers are set up. Among them, the RTK-GNSS receivers include base station receivers and rover receivers, and each base station receiver and rover receiver is connected to a satellite to receive satellite signals; S402: Using RTK differential positioning technology, perform differential processing on the carrier phase observation values simultaneously observed on the base station receiver and the rover receiver to obtain a carrier phase observation difference; Among them, represents the carrier phase observation difference, represents the carrier phase observation value obtained by observation on the rover receiver, represents the carrier phase observation value obtained by observation on the reference station receiver; S403: According to the differential calculation result, calculate the position coordinate increment (Δx, Δy, Δz) of the rover relative to the base station; S404: Determine the accurately arranged position coordinates (x B +Δx, y B +Δx, z B +Δx) of the image control points by combining the position coordinate increment and the coordinates of the reference station, where (x B , y B , z B ) represent the coordinates of the reference station.

6. The data acquisition method based on an unmanned aerial vehicle according to claim 1, wherein The image overlap threshold includes: a forward overlap threshold and a lateral overlap threshold.

7. The data acquisition method based on an unmanned aerial vehicle according to claim 6, wherein The specific content of S7 includes: S701: Based on the precise arrangement position of the image control points, collect multiple images during the flight process; S702: Calculate the forward overlap degree between the images continuously taken on the same flight line; S703: Calculate the lateral overlap degree between the images taken on adjacent flight lines; S704: Retain the images with the forward overlap degree greater than the forward overlap threshold and the lateral overlap degree greater than the lateral overlap threshold to form the image data of the area to be collected.

8. The data acquisition method based on an unmanned aerial vehicle according to claim 7, wherein, The calculation formula for the forward overlap degree is: Among them, P x % represents the heading overlap degree, and P x represents the overlapping length of adjacent photos in the heading direction, and l x represents the total length of a single photo in the heading direction; The calculation formula for the lateral overlap degree is: Among them, P y % represents the side overlap degree, and P y represents the overlap width of the photos between adjacent flight lines in the side direction, and l y represents the total width of a single photo in the side direction.

9. The data acquisition method based on an unmanned aerial vehicle according to claim 1, wherein After S7, it further includes: Check the obtained image data. If there is a situation of missing images, perform re-shooting processing on the missing area.

10. A data acquisition system based on an unmanned aerial vehicle, characterized in that, It includes: A processor; A memory, on which computer-readable instructions are stored. When the computer-readable instructions are executed by the processor, the data acquisition method based on an unmanned aerial vehicle as described in any one of claims 1 to 9 is implemented.

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