DEM (Digital Elevation Model) data loading method and system for flight area of unmanned aerial vehicle and storage medium

Abstract

The invention provides an unmanned aerial vehicle flight area DEM data loading method and system and a storage medium, and the method comprises the steps: carrying out the slicing of the global DEM data according to a longitude and latitude grid of a preset size, generating a plurality of tiles, and independently storing the tiles as tif files in a disk; a flight area of the unmanned aerial vehicle is obtained, and a rectangular target area is obtained through expansion according to the flight area; according to the target area, finding a tile with an overlapping area in global tiles, and loading a corresponding tif file into a memory from the disk; the loaded tif files are spliced, and DEM data of the target area are obtained; and according to the flight area, cutting the target area DEM data to obtain flight area DEM data. According to the DEM data slice storage strategy, the spatial index mechanism and the minimum data transmission mechanism, DEM data transmission redundancy is reduced, the DEM data loading efficiency is remarkably improved, the overall framework is light, and the method is suitable for an embedded platform of an unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the technical field of digital elevation model data processing, and particularly to a method, system, and storage medium for loading DEM data in a UAV flight area. Background Art

[0002] With the development of UAV automatic flight, terrain-following flight, low-altitude simulation, and obstacle avoidance technologies, higher requirements are put forward for the real-time acquisition, management, and loading efficiency of terrain data (DEM, digital elevation model) in the flight mission area.

[0003] In the traditional method, PostgreSQL + PostGIS is generally used to store DEM raster data, and spatial indexes (such as GiST, R-Tree) are relied on for querying. Although this method has the ability of spatial query, it depends on a complex GIS tool chain, the system deployment and maintenance are complex, and the spatial index method has high technical complexity and resource consumption in the scenario of a small flight area or light use, resulting in waste of bandwidth and memory, and it is especially not suitable for embedded platforms or lightweight mission systems. Summary of the Invention

[0004] To solve the above technical problems, this application proposes a method, system, and storage medium for loading DEM data in a UAV flight area.

[0005] According to the first aspect of this application, a method for loading DEM data in a UAV flight area is proposed, including: Slicing the global DEM data according to longitude and latitude grids of a preset size to generate multiple tiles and independently saving them as tif files to the disk; Obtaining the flight area of the UAV, and expanding the flight area to obtain a rectangular target area; According to the target area, finding the tiles with overlapping areas in the global tiles, and loading the corresponding tif files from the disk into the memory; Stitching the loaded tif files to obtain the DEM data of the target area; According to the flight area, cropping the DEM data of the target area to obtain the DEM data of the flight area.

[0006] Preferably, the method further includes: Constructing a tile index table, which is used to find the tiles with overlapping areas and their corresponding tif file names according to the boundary information of the input spatial object; The step of finding the tiles with overlapping areas in the global tiles according to the target area and loading the corresponding tif files from the memory includes: According to the target area, find the tiles with overlapping areas and their corresponding tif file names in the global tiles through the tile index table, and load the corresponding tif files from the disk.

[0007] Preferably, for constructing the tile index table, the tile index table is used to find the tiles with overlapping areas and their corresponding tif file names according to the boundary information of the input spatial object, and includes: Construct the tile index table based on a relational database. The tile index table is used to find the tiles with overlapping areas through a spatial index according to the boundary information of the input spatial object, and find the tif file name corresponding to the tile. The step of finding the tiles with overlapping areas in the global tiles according to the target area and loading the corresponding tif files from the disk includes: According to the boundary information of the target area, find the tiles with overlapping areas in the global tiles through the spatial index of the tile index table, find the tif file name corresponding to the tile, and then load the corresponding tif file from the disk.

[0008] Preferably, construct the tile index table based on a MySQL database. The structure of the tile index table includes: Primary key, tif file name, minimum latitude of the tile coverage area, maximum latitude of the tile coverage area, minimum longitude of the tile coverage area, maximum longitude of the tile coverage area, and tile boundary information. Among them, store the tif file name through the filename field and perform file retrieval through this field; create a spatial index on the geometric field storing the tile boundary information to support fast queries based on spatial relationships.

[0009] Preferably, for obtaining the flight area of the drone and expanding the rectangular target area according to the flight area, it includes: Obtain the flight area of the drone, and determine the minimum longitude, minimum latitude, maximum longitude, and maximum latitude covered by the flight area. Determine the first boundary point according to the minimum longitude and minimum latitude covered by the flight area, and determine the second boundary point according to the maximum longitude and maximum latitude covered by the flight area. Determine the target area of the minimum rectangle based on the first boundary point and the second boundary point.

[0010] Preferably, for splicing the loaded tif files to obtain the DEM data of the target area, it includes: When finding tiles through the tile index table, simultaneously record the minimum latitude, maximum latitude, minimum longitude, and maximum longitude of the area covered by the tile. According to the recorded longitude and latitude information, splice the loaded tif files in a preset order to obtain the DEM data of the target area.

[0011] Preferably, splicing the loaded tif files to obtain the DEM data of the target area includes: The tif file name of each tile is named in the format of the longitude and latitude information of its covered area; Read the internal metadata of the file to obtain the longitude and latitude information when loading the tif file; According to the longitude and latitude information, splice the loaded tif files in a preset order to obtain the DEM data of the target area.

[0012] According to the second aspect of the present application, a DEM data loading system for a drone flight area is proposed, including: A slicing unit configured to slice the global DEM data according to a longitude and latitude grid of a preset size, generate multiple tiles and independently save them as tif files to the disk; An expansion unit configured to obtain the flight area of the drone and expand it to obtain a rectangular target area according to the flight area; A loading unit configured to find the tiles with overlapping areas in the global tiles according to the target area and load the corresponding tif files from the disk into the memory; A splicing unit configured to splice the loaded tif files to obtain the DEM data of the target area; A cropping unit configured to crop the DEM data of the target area according to the flight area to obtain the DEM data of the flight area.

[0013] According to the third aspect of the present application, an electronic device is proposed, including: one or more processors; a memory for storing one or more programs, when the one or more programs are executed by the one or more processors, enabling the electronic device to implement the DEM data loading method for a drone flight area provided in any implementation manner of the first aspect above.

[0014] According to the fourth aspect of the present application, a computer-readable storage medium is proposed, on which a computer program is stored, and when the program is executed by a processor, it implements the DEM data loading method for a drone flight area provided in any implementation manner of the first aspect above.

[0015] The present application proposes a method, system and storage medium for loading DEM data of an unmanned aerial vehicle (UAV) flight area. The global DEM data is sliced based on a small-range longitude and latitude grid and saved as tif files on the disk. It does not rely on a spatial database and supports caching, distribution and incremental update of DEM data, which can significantly improve data processing efficiency. A tile index table is constructed using an ordinary relational database. The target area of the smallest rectangle is obtained by expanding the flight area. Through the tile index table, tiles with overlapping areas with the target area can be quickly located. Only the necessary tif files are loaded into the memory from the disk, and then the final DEM data of the flight area is obtained through file splicing and cropping. The spatial index mechanism and the minimum data transmission mechanism of the present application reduce the redundancy of DEM data transmission, significantly improve the loading efficiency of DEM data, and the overall architecture is lightweight, suitable for the embedded platform of the UAV. Description of the Drawings

[0016] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate the embodiments and, together with the description, are used to explain the principles of the invention. Other embodiments and many of the intended advantages of the embodiments will be readily apparent as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. The same reference numerals refer to corresponding like parts.

[0017] Figure 1 is a flowchart of a method for loading DEM data of a UAV flight area according to a specific embodiment of the present application; Figure 2 is an explanatory diagram of the field structure of a tile index table according to a specific embodiment of the present application; Figure 3 is an index schematic diagram of a tile index table according to a specific embodiment of the present application; Figure 4 is a business logic diagram of loading DEM data of a UAV flight area according to a specific embodiment of the present application; Figure 5 is a schematic diagram of a system for loading DEM data of a UAV flight area according to an embodiment of the present application; Figure 6 is a schematic diagram of an electronic device according to a specific embodiment of the present application. Detailed Embodiments

[0018] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present invention by showing examples of the present invention.

[0019] It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0020] This application proposes a method for loading DEM data of a UAV flight area. Figure 1 The flowchart of the method for loading DEM data of a UAV flight area according to a specific embodiment of this application is shown. As Figure 1 shown, the method includes the following steps: Step S101: Slice the global DEM data according to the longitude and latitude grid of a preset size, generate multiple tiles and independently save them as tif files to the disk.

[0021] In a specific embodiment, the global DEM data is divided according to a fixed longitude and latitude grid of 0.2°×0.2°. A small tile is cut out from each grid and saved as an independent tif file in a folder on the disk, named in the form of N25E141_141.6_25.0.tif. Thus, the storage of DEM data does not need to rely on a spatial database and supports multi-version management, incremental update and caching.

[0022] It should be noted that the size of the tiles can be divided according to actual needs. The larger each tile is, the greater the data transmission redundancy, but the smaller the occupied space of the tiles within the same longitude and latitude range on the disk; the smaller each tile is, the smaller the data transmission redundancy, but the larger the occupied space of the tiles within the same longitude and latitude range on the disk. The reason is that metadata exists for each independent file, and the size of the space occupied by the metadata of each file is basically the same.

[0023] Step S102: Construct a tile index table, which is used to find the tiles with overlapping regions and their corresponding tif file names according to the boundary information of the input spatial object.

[0024] In a specific embodiment, a tile index table is constructed based on a relational database. The tile index table is used to find the tiles with overlapping regions in the global tiles through a spatial index according to the boundary information of the input spatial object, and find the corresponding tif file name of the tile.

[0025] In a specific embodiment, a tile index table is constructed based on the MySQL database. The table creation statement of the tile index table is as follows: CREATE TABLE flight_dem_tile_info ( id INT AUTO_INCREMENT PRIMARY KEY COMMENT 'Primary key id', filename VARCHAR(255) NOT NULL COMMENT 'TIF file name', min_lat DOUBLE NOT NULL COMMENT 'Minimum latitude of the tile coverage area (southern boundary)', max_lat DOUBLE NOT NULL COMMENT 'Maximum latitude of the tile coverage area (northern boundary)', min_lon DOUBLE NOT NULL COMMENT 'Minimum longitude of the tile coverage area (western boundary)', max_lon DOUBLE NOT NULL COMMENT 'Maximum longitude of the tile coverage area (eastern boundary)', tile_bounds GEOMETRY NOT NULL COMMENT 'Tile boundary information (spatial geometry object)', SPATIAL INDEX sp_index_tile_bounds (tile_bounds) ) ENGINE = InnoDB; Figure 2 Shows a field structure description diagram of a tile index table according to a specific embodiment of the present application, as Figure 2 shown, the tile index table structure includes: a primary key, a tif file name, the minimum latitude of the tile coverage area, the maximum latitude of the tile coverage area, the minimum longitude of the tile coverage area, the maximum longitude of the tile coverage area, and tile boundary information. Among them, the tif file name is stored in the filename field and file retrieval is performed through this field; a spatial index sp_index_tile_bounds is created on the geometric field tile_bounds storing the tile boundary information to support fast queries based on spatial relationships.

[0026] Figure 3 Shows an index schematic diagram of a tile index table according to a specific embodiment of the present application, as Figure 3 shown, by inputting the boundary information of the spatial object, the tile index table can quickly find the tiles with overlapping areas and find the corresponding tif file name, and then quickly find the corresponding tif file on the disk.

[0027] Step S103: Obtain the flight area of the drone, and expand it to obtain a rectangular target area.

[0028] In a specific embodiment, the drone ground station determines the minimum longitude, minimum latitude, maximum longitude, and maximum latitude covered by the flight area through the route data (i.e., the boundary values of the flight area in the four directions of east, west, south, and north), then determines the first boundary point according to the minimum longitude and minimum latitude covered by the flight area, determines the second boundary point according to the maximum longitude and maximum latitude covered by the flight area, and expands to obtain a minimum rectangular target area based on the first boundary point and the second boundary point. Finally, the ground station sends the boundary information of the target area to the backend server.

[0029] Step S104: According to the target area, find the tiles with overlapping areas in the global tiles, and load the corresponding tif files from the disk into the memory.

[0030] In a specific embodiment, the backend server searches for the tiles with overlapping areas with the target area in the global tiles through the sp_index_tile_bounds spatial index of the tile index table according to the boundary information of the target area, finds the tif file name corresponding to the tile through the filename field of the tile index table, and then loads the corresponding tif file from the tile folder on the disk into the memory.

[0031] It should be noted that the traditional DEM data loading method generally uses PostgreSQL + PostGIS to store DEM data. This method can handle complex spatial objects and large amounts of data, but the overall storage is bloated and dependent on the spatial database. At the same time, the deployment is complex and the running resource consumption is large, making it difficult to be used in resource-constrained devices and not suitable for embedded platforms or lightweight task systems.

[0032] In this application, by tiling and slicing the DEM data and saving it in the form of files in the folders on the disk, the DEM data storage method is more concise and does not depend on the spatial database. And by expanding the complex flight area of the drone into a simple rectangular target area, only simple rectangular spatial objects need to be processed during spatial indexing. Therefore, the spatial index of the ordinary relational database MySQL can still have good performance when processing simple objects, and can significantly improve the loading efficiency of DEM data in simple scenarios, making the overall more lightweight.

[0033] Step S105: Stitch the loaded tif files to obtain the DEM data of the target area.

[0034] Specifically, spatial indexing through the tile index table may hit multiple tiles. After the backend server loads the tif files from the tile folder on the disk, they need to be stitched in order to obtain the complete DEM data of the target area.

[0035] In a specific embodiment, the stitching process is as follows: when searching for tiles through the tile index table, record the minimum latitude, maximum latitude, minimum longitude, and maximum longitude of the area covered by the tile at the same time; according to the recorded longitude and latitude information, stitch the loaded tif files in the preset order of longitude and latitude to obtain the DEM data of the target area.

[0036] In another specific embodiment, the stitching process is as follows: the tif file name of each tile is named in the format of the longitude and latitude information (minimum latitude, maximum latitude, minimum longitude, maximum longitude) of the area it covers to improve the readability of the program; read the internal metadata of the file to obtain the longitude and latitude information when loading the tif file; stitch the loaded tif files in the preset order of longitude and latitude according to the longitude and latitude information to obtain the DEM data of the target area.

[0037] Step S106: Crop the DEM data of the target area according to the flight area to obtain the DEM data of the flight area.

[0038] Specifically, after the backend server loads and splices the target area DEM data, it crops the target area DEM data according to the actual size of the flight area to obtain the flight area DEM data, and then returns the flight area DEM data to the ground station. The ground station then transmits the flight area DEM data to the flight control by sending the TERRAIN_DATA message of the MAVLink protocol to execute the UAV flight mission.

[0039] Figure 4 Fig. shows the DEM data loading service logic diagram of the UAV flight area according to a specific embodiment of the present application. As Figure 4 shown, the overall service logic is as follows: 1) The ground station expands the flight area of the UAV to obtain the target area; 2) The ground station sends the boundary information (latitude and longitude range) of the target area to the backend server; 3) The backend server queries the tiles overlapping with the target area in the global tiles through the MySQL tile index table; 4) The MySQL tile index table returns the list of hit tile files to the backend server; 5) The backend server loads the corresponding tif file from the tile folder on the disk into the memory; 6) The backend server obtains the final flight area DEM data through DEM data splicing and cropping; 7) The backend server returns the flight area DEM data to the ground station; 8) The ground station transmits the flight area DEM data to the flight control by sending the TERRAIN_DATA message of the MAVLink protocol.

[0040] In summary, a method for loading DEM data of a UAV flight area proposed in the present application slices the global DEM data based on a small-range latitude and longitude grid and saves it as a tif file on the disk. The DEM data storage is more concise, without relying on a spatial database, and supports the caching, distribution, and incremental update of DEM data, which can significantly improve the data processing efficiency. A tile index table is constructed using the ordinary relational database MySQL. The target area of the smallest rectangle is obtained by expanding the flight area. Through the MySQL tile index table, tiles overlapping with the target area can be quickly queried in the global tiles. Only the necessary tif files are loaded from the disk into the memory, and then the final flight area DEM data is obtained through file splicing and cropping. The DEM data tiling slicing storage strategy, spatial index mechanism, and minimum data transmission mechanism of the present application reduce the redundancy of DEM data transmission, significantly improve the loading efficiency of DEM data, and the overall architecture is lightweight, suitable for the embedded platform of UAVs.

[0041] Based on the above method for loading DEM data of the UAV flight area, and based on the same inventive concept, the present application also proposes a system for loading DEM data of the UAV flight area. Figure 5 FIG. shows a schematic diagram of a system for loading DEM data of a UAV flight area according to an embodiment of the present application, as Figure 5 shown, the system includes: A slicing unit 201, configured to slice the global DEM data according to a preset longitude and latitude grid of a preset size, generate a plurality of tiles and independently save them as tif files to the disk.

[0042] An indexing unit 202, configured to construct a tile index table, which is used to find the tiles with overlapping areas and their corresponding tif file names according to the boundary information of the input spatial object.

[0043] An expansion unit 203, configured to obtain the flight area of the UAV and expand it to obtain a rectangular target area according to the flight area.

[0044] A loading unit 204, configured to find the tiles with overlapping areas in the global tiles according to the target area, and load the corresponding tif files from the disk into the memory.

[0045] A stitching unit 205, configured to stitch the loaded tif files to obtain the DEM data of the target area.

[0046] A cropping unit 206, configured to crop the DEM data of the target area according to the flight area to obtain the DEM data of the flight area.

[0047] Based on the above method for loading DEM data of the UAV flight area, and based on the same inventive concept, the present application also proposes an electronic device. Figure 6 FIG. shows a schematic diagram of an electronic device according to a specific embodiment of the present application, as Figure 6 shown, the electronic device includes: One or more processors 301, a memory 302, a bus 303, and a communication interface 304. Among them, the one or more processors 301, the memory 302, and the communication interface 304 are connected through the bus 303. The memory 302 is used to store one or more programs. When the one or more programs are executed by the one or more processors 301, the electronic device implements the method for loading DEM data of the UAV flight area provided in any of the above embodiments.

[0048] Based on the above method for loading DEM data of the UAV flight area, and based on the same inventive concept, the present application also proposes a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the method for loading DEM data of the UAV flight area provided in any of the above embodiments.

[0049] In the embodiments of the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the above-described device / system / method embodiments are merely illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the units or modules can be in an electrical or other form.

[0050] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0051] In addition, in each embodiment of the present invention, the functional units 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. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0052] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The 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 each embodiment of the present invention. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs, etc., which can store program codes.

[0053] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalent forms, the present invention also aims to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage. Any reference signs in the claims should not be construed as limiting the scope.

Claims

1. A method for loading DEM data of an unmanned aerial vehicle flight area, characterized in that, Including: Slice the global DEM data according to the longitude and latitude grid of a preset size to generate multiple tiles and independently save them as tif files to the disk; Obtain the flight area of the drone, and expand the obtained rectangular target area according to the flight area; According to the target area, find the tiles with overlapping areas in the global tiles, and load the corresponding tif files from the disk into the memory; Stitch the loaded tif files to obtain the DEM data of the target area; According to the flight area, crop the DEM data of the target area to obtain the DEM data of the flight area.

2. The method according to claim 1, characterized in that The method further includes: Construct a tile index table, which is used to find the tiles with overlapping areas and their corresponding tif file names according to the boundary information of the input spatial object; The step of finding the tiles with overlapping areas in the global tiles according to the target area and loading the corresponding tif files from the memory includes: According to the target area, find the tiles with overlapping areas and their corresponding tif file names in the global tiles through the tile index table, and load the corresponding tif files from the disk.

3. The method according to claim 2, wherein The step of constructing the tile index table, which is used to find the tiles with overlapping areas and their corresponding tif file names according to the boundary information of the input spatial object, includes: Construct the tile index table based on a relational database. The tile index table is used to find the tiles with overlapping areas through a spatial index according to the boundary information of the input spatial object, and find the tif file name corresponding to the tile; The step of finding the tiles with overlapping areas in the global tiles according to the target area and loading the corresponding tif files from the disk includes: According to the boundary information of the target area, find the tiles with overlapping areas in the global tiles through the spatial index of the tile index table, and find the tif file name corresponding to the tile, and then load the corresponding tif file from the disk.

4. The method according to claim 3, characterized in that Construct the tile index table based on the MySQL database. The structure of the tile index table includes: Primary key, tif file name, minimum latitude of the tile coverage area, maximum latitude of the tile coverage area, minimum longitude of the tile coverage area, maximum longitude of the tile coverage area, and tile boundary information; Among them, store the tif file name through the filename field and perform file retrieval through this field; create a spatial index on the geometric field storing the tile boundary information to support fast queries based on spatial relationships.

5. The method according to claim 1, wherein The step of obtaining the flight area of the drone and expanding the obtained rectangular target area according to the flight area includes: Obtain the flight area of the drone, and determine the minimum longitude, minimum latitude, maximum longitude, and maximum latitude covered by the flight area; Determine the first boundary point according to the minimum longitude and minimum latitude covered by the flight area, and determine the second boundary point according to the maximum longitude and maximum latitude covered by the flight area; Determine the target area of the minimum rectangle based on the first boundary point and the second boundary point.

6. The method according to claim 4, characterized in that, Splicing the loaded tif file to obtain DEM data of the target area, including: When looking up tiles through the tile index table, simultaneously record the minimum latitude, maximum latitude, minimum longitude, and maximum longitude of the area covered by the tile; According to the recorded latitude and longitude information, splice the loaded tif files in a preset order to obtain DEM data of the target area.

7. The method according to claim 4, wherein Splicing the loaded tif file to obtain DEM data of the target area, including: The tif file name of each tile is named in the format of the latitude and longitude information of the area it covers; Read the internal metadata of the file to obtain latitude and longitude information when loading the tif file; According to the latitude and longitude information, splice the loaded tif files in a preset order to obtain DEM data of the target area.

8. A DEM data loading system for the flight area of an unmanned aerial vehicle, characterized in that, Including: A slicing unit configured to slice the global DEM data according to a preset latitude and longitude grid of a preset size, generate multiple tiles and independently save them as tif files to the disk; An expansion unit configured to obtain the flight area of the drone and expand it to obtain a rectangular target area according to the flight area; A loading unit configured to find the tiles with overlapping areas in the global tiles according to the target area and load the corresponding tif files from the disk into the memory; A splicing unit configured to splice the loaded tif files to obtain DEM data of the target area; A cropping unit configured to crop the DEM data of the target area according to the flight area to obtain DEM data of the flight area.

9. An electronic device, characterized in that, Including: One or more processors; A memory for storing one or more programs, which when executed by the one or more processors cause the electronic device to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program, when executed by the processor, implements the method according to any one of claims 1 to 7.

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