An intelligent surveying and mapping system and method based on remote sensing technology

Abstract

The present invention discloses an intelligent surveying and mapping system and method based on remote sensing technology, which relates to the field of land surveying and mapping technology. The system comprises a central control module, an information acquisition module, a stability identification module and a surveying and mapping processing module. The central control module is used for receiving and feeding back surveying and mapping results, storing them and sending corresponding execution instructions. The central control module is signal-connected to a surveying and mapping body unit. A photographic unit is connected to the bottom of the surveying and mapping body unit via a rod. The photographic unit is equipped with remote sensing technology. The information acquisition module is used for collecting corresponding surveying and mapping parameters according to pre-set required surveying and mapping data with the assistance of the photographic unit. The stability identification module is used for identifying the stability of the collected surveying and mapping parameters. The surveying and mapping processing module is used for obtaining the surveying and mapping parameters after stability identification and performing modeling and drawing according to their values, which are displayed on a back-end processor. The system improves the surveying and mapping accuracy of land.

Description

Technical Field

[0001] The present invention relates to the field of land surveying and mapping technology, and in particular to an intelligent surveying and mapping system and method based on remote sensing technology. Background Art

[0002] With the development of technology, remote sensing technology has become one of the most suitable methods for land surveying and mapping. It mainly uses sensors to detect and receive information such as electromagnetic waves from target objects or the environment, and obtains surface or atmospheric characteristics by processing and analyzing this information, thereby forming recognizable remote sensing image data.

[0003] At present, most remote sensing technologies are carried by near-ground platforms, aviation platforms and aerospace platforms. For land surveying and mapping, especially land surveying and mapping within an area, near-ground platforms are still preferred. Near-ground platforms, such as drones, are equipped with sensors to receive feedback electromagnetic wave signals and transmit data. The data is processed and analyzed by computers, for example, through radiation correction, geometric correction, image enhancement, classification and other processing methods, to extract useful information and realize intelligent surveying and mapping.

[0004] However, in the remote sensing mapping process of drones, fuzzy data feedback still occurs. Sometimes, relying solely on back-end data processing and analysis cannot achieve the accuracy of mapping data. Therefore, how to further improve the accuracy of land mapping remains a problem to be solved by people in this field. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent surveying and mapping system and method based on remote sensing technology to solve the problems raised in the above background technology.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions: an intelligent surveying and mapping system based on remote sensing technology, comprising:

[0007] The central control module is used to receive feedback and store surveying and mapping results, as well as send corresponding execution instructions. The central control module is connected to the surveying and mapping body unit through signals. The lower part of the surveying and mapping body unit is connected to the photography unit through a rod. The photography unit is equipped with remote sensing technology.

[0008] An information acquisition module is used to acquire corresponding surveying and mapping parameters according to pre-set required surveying and mapping data with the assistance of a photography unit;

[0009] A stability identification module, used to identify the stability of the above-collected surveying and mapping parameters; and

[0010] The surveying and mapping processing module is used to obtain the surveying and mapping parameters after stability identification and to perform modeling and mapping based on their values, and to display them on the back-end processor;

[0011] The central control module is connected to the information acquisition module by signal, and the information acquisition module is connected to the stability identification module by signal. The information acquisition module and the stability identification module interact with each other in surveying and mapping data. The surveying and mapping processing module is connected to the central control module by signal, and the measurement data can be fed back to the stability identification module through the central control module.

[0012] The present invention further illustrates that the information collection module includes:

[0013] The path planning module is used to determine the preset flight path of the surveying and mapping body unit and verify the actual flight path of the surveying and mapping body unit. The preset flight path is represented by L, the actual flight path is represented by FP, and the value of the actual flight path is marked as , A is the deviation angle, D is the deviation distance, the preset flight path is the measurement origin, and the circular area with the measurement origin as the center and the limit value R as the radius is set as the reasonable flight area;

[0014] A state setting module, used to determine the flight parameters of the surveying and mapping unit and the operating parameters of the photography unit; and

[0015] The photography recording module is used to obtain remote sensing images. The photography recording module controls the photography unit to initially perform oblique photography. The initial oblique angle of the photography unit is denoted as α, and α0 is set as the preset initial oblique angle.

[0016] The present invention further illustrates that the stable recognition module includes:

[0017] The color recognition module and the shooting point determination module are used to collect color features and shape features respectively, and divide specific areas in the model; and

[0018] The error reduction module is used to filter and reduce noise on the acquired remote sensing images to improve the accuracy of specific area division, and to obtain the flight path data of the surveying and mapping unit and the initial tilt angle of the photography unit.

[0019] The present invention further illustrates that when the stable identification module is unable to identify a specific area in the surveying area, the stable identification module will transmit a regional warning signal to the information acquisition module. The information acquisition module defines the flight path position corresponding to the incorrect identification of the specific area as a fuzzy position point. The warning data of the fuzzy position point corresponds to the actual flight path data and the initial tilt angle.

[0020] The present invention further illustrates that the surveying and mapping processing module includes:

[0021] The reference determination module is used to perform 3D modeling based on the surveying and mapping parameters of a clearly demarcated specific area. Warning data of ambiguous location points are also marked in the model.

[0022] The overlapping comparison module can perform overlapping comparison on remote sensing images and convert them into topographic maps. The three-dimensional modeling map can also be converted into the initial topographic map, and the warning data is retained in the initial topographic map.

[0023] The present invention further illustrates that the information acquisition module controls the photographic unit to fly in the reverse direction along the preset flight path to the position corresponding to the blurred position point, and performs remote sensing photography again to perform compensation mapping and identification;

[0024] If the fuzzy location point is just outside the reasonable flight area, the path planning module controls the camera unit to fly to the measurement origin of the preset flight path. If the stable recognition module is able to identify the specific area, the fuzzy location point data in the 3D model and the initial terrain map are updated for the specific area, and the camera unit and the stable recognition module proceed to identify the next adjacent fuzzy location point.

[0025] When the blurred position point is located inside or on the edge of the reasonable flight area, the photography recording module controls the photography unit to adjust the tilt angle, and the path planning module controls the photography unit to perform the specific area recognition process of the remote sensing image again at the position of the actual flight path; if the stable recognition module is able to perform specific area recognition, the execution process is as above.

[0026] The present invention further illustrates that if the stable identification module continues to transmit the regional warning signal to the information acquisition module, an XY coordinate system and a radius line segment R from the origin to the edge are created based on the reasonable flight area where the fuzzy position point is located. FP , radius segment R FP Set along the straight line direction between the origin and the fuzzy position point, select a number of measurement position points on the radius line segment, the number of measurement position points is recorded as n, and at least include the origin and the edge intersection on the radius line segment;

[0027] Under the action of the information acquisition module, the path planning module controls the photographic unit to start from the measurement position point where the origin is located, and obtain the remote sensing image at each measurement position point until the measurement at the measurement position point where the edge intersection is located is completed; if the radius line segment R where the measurement position point is located is FP When overlapping with the X-ray, the tilt angles corresponding to the photographic units at all measurement positions are consistent with the initial tilt angle at the origin; if the radius line segment R where the measurement position is located is FP When not overlapping with the X-ray, in addition to the initial tilt angle at the origin remaining unchanged, the tilt angle α corresponding to the photographic unit at the measurement position is related to the distance H; a tilt angle calculation formula can be established in combination with the origin height.

[0028] The present invention further illustrates that the tilt angles corresponding to the photographic units at the n measurement positions are respectively related to the distance H between the corresponding measurement positions and the X-line; when the measurement position is above the X-line, H is a positive number; when the measurement position is below the X-line, H is a negative number; and when the measurement position overlaps the X-line, H is zero.

[0029] The present invention further illustrates that, after the stable recognition module identifies a specific area in the surveying and mapping area, the information acquisition module transmits the remote sensing image data corresponding to a number of measurement location points to the surveying and mapping processing module, the reference determination module superimposes and models the remote sensing image data corresponding to the fuzzy location points, and the overlapping comparison module overlaps and compares the multiple remote sensing images, and determines the model with the strongest recognition according to the recognition speed;

[0030] The remote sensing image data of the strongest model is retrieved as the standard data group. The positional relationship coefficient between the remote sensing image data group of the origin measurement position point and the corresponding remote sensing image number of the standard data group is calculated and established through the algorithm. After the positional relationship coefficient is obtained, it is transmitted to the stable recognition module through the central control module.

[0031] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the photography unit of the present invention is equipped with the required remote sensing technology, and flies along a preset flight path within the surveying and mapping area and acquires surveying and mapping data under the execution instructions of the central control module. A reasonable flight area is set according to the preset flight path to verify the validity of the surveying and mapping data measured by the actual flight path; the stable recognition module interacts with the information acquisition module, not only filtering and reducing the noise of the acquired remote sensing image, but also establishing fuzzy position points and their warning data when a specific area cannot be identified, which are used for subsequent multiple specific area identification processes to improve surveying and mapping accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0033] Figure 1 It is a system schematic diagram of the present invention;

[0034] Figure 2 It is a schematic diagram of the information acquisition module of the present invention;

[0035] Figure 3 is a schematic diagram of a stable identification module of the present invention;

[0036] Figure 4 is a schematic diagram of the surveying and mapping processing module of the present invention;

[0037] Figure 5 It is a schematic diagram of the installation of the photographic unit of the present invention;

[0038] Figure 6 is a schematic diagram of the surveying and mapping body unit of the present invention being located outside the reasonable flight area;

[0039] Figure 7 Schematic diagram of the surveying and mapping body unit of the present invention located within the reasonable flight area;

[0040] Figure 8 It is a schematic diagram of the positions of several measurement points of the present invention;

[0041] Figure 9 This is a schematic diagram of the main structure of the surveying and mapping machine unit of the present invention;

[0042] Figure 10 This is a schematic diagram of the structure for angle adjustment according to embodiment 2 of the present invention;

[0043] Figure 11 This invention Figure 10 A magnified schematic diagram of area A;

[0044] In the figure: 1. Central control module; 2. Information acquisition module; 3. Stable identification module; 4. Surveying and mapping processing module; 6. Surveying and mapping body unit; 7. Photography unit; 8. Connection support unit; 10. Angle adjustment unit; 101. Support shaft; 102. Passive part; 103. Active part; 104. Limiting part; 105. Connecting part; 106. Driving part. DETAILED DESCRIPTION

[0045] The following is a non-limiting detailed description of the technical solutions of the present invention in conjunction with preferred embodiments and the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0046] See also Figure 1 The present invention provides a technical solution: an intelligent surveying and mapping system based on remote sensing technology, including a central control module 1, an information acquisition module 2, a stable identification module 3 and a surveying and mapping processing module 4. On the basis of remote sensing technology, an intelligent surveying and mapping project of the land to be surveyed is realized, and accurate identification and judgment are made; wherein remote sensing technology utilizes a sensor-mounted platform to acquire data, processes and analyzes the data at the back end and forms a remote sensing image to obtain surface data and complete surface surveying and mapping of the survey area; specifically, the central control module 1 is used for receiving feedback and storing surveying and mapping results and sending corresponding execution instructions. Usually, the central control module is connected to the back-end processor signal. The back-end processor can be, but is not limited to, a ground control station, a remote control device, etc., and the back-end processor is networked.

[0047] Further, refer to Figure 5 The central control module 1 is signal-connected to a surveying and mapping body unit 6, preferably a drone body; a photographing unit 7 is connected to the bottom of the surveying and mapping body unit 6 through a rod. The photographing unit 7 uses an aerial camera and is equipped with the required remote sensing technology to directly obtain surface data of the surveying and mapping area.

[0048] Furthermore, the central control module 1 is signal-connected to the information acquisition module 2, which is signal-connected to the stability identification module 3. The information acquisition module 2 and the stability identification module 3 can exchange surveying and mapping data. The stability identification module 3 can perform primary identification on the surface data pre-collected in the information acquisition module 2 and feed the primary identified surface data back to the information acquisition module 2. The information acquisition module 2 is used to collect corresponding surveying and mapping parameters according to the pre-set required surveying and mapping data with the assistance of the photography unit 7. The stability identification module 3 is used to identify the stability of the above-collected surveying and mapping parameters.

[0049] Furthermore, the information acquisition module 2 is signal-connected to the surveying and mapping processing module 4, which is used to obtain the surveying and mapping parameters after stability identification and to perform modeling and mapping based on their values, and display them on the back-end processor, wherein the remote sensing image can be converted into a topographic map;

[0050] The surveying and mapping processing module 4 is signal-connected to the central control module 1 and can feed back measurement data to the stability identification module 3 via the central control module 1 for improving the stability identification capability.

[0051] The photographic unit 7 is equipped with the required remote sensing technology and performs flight within the surveying and mapping area and acquires surveying and mapping data under the execution instructions of the central control module 1. The set number of photographic units 7 is related to the usage requirements and will not be discussed here; the information acquisition module 2 transmits the surveying and mapping data after stability identification processing by the stability identification module 3 to the surveying and mapping processing module 4, and then performs comparison and modeling so that the back-end processor can quickly retrieve the required model data and perform real-time adjustment of the stability identification data to ensure the accuracy of the model built for subsequent surveying and mapping.

[0052] Example 1:

[0053] At present, we need to make a further accurate analysis of the actual use of land, not only to reduce the rate of land abandonment, but also to promote the balanced planting of plants and crops; for example, refer to Figure 2-Figure 4 and Figure 6-Figure 8 ;

[0054] The information collection module 2 includes a path planning module, a state setting module, and a photography recording module; the path planning module is used to determine the preset flight path of the surveying and mapping body unit 6 and verify the actual flight path of the surveying and mapping body unit 6, where the preset flight path is represented by L and the actual flight path is represented by FP; the GPS positioning system or the inertial navigation system is used to obtain the flight path of the surveying and mapping body unit 6 in real time, and the numerical mark is specifically recorded as ,refer to Figure 6 , A is the deviation angle, D is the deviation distance, the preset flight path is the measurement origin, and the circular area with the measurement origin as the center and the limit value R as the radius is set as the reasonable flight area. The surveying and mapping data error formed by the surveying and mapping body unit 6 in the reasonable flight area can be ignored;

[0055] The state setting module is used to determine the flight parameters of the surveying and mapping unit 6 and the operating parameters of the photography unit 7. The operating parameters of the photography unit 7 are selected based on the pre-acquired environmental parameters and the appropriate remote sensing technology to ensure the accuracy of the surveying and mapping data. Different remote sensing technologies are used in different environments. For example, multispectral imaging technology is preferred for strong light environments, while SAR radar remote sensing technology is preferred for weak light environments. These details are not repeated here. The flight parameters of the surveying and mapping unit 6 are set to match the preset flight path L and the environment to ensure safe and stable flight.

[0056] The photography input module is used to acquire remote sensing images. It should be noted that the surveying and mapping area is mainly divided into residential areas, agricultural areas, and forest areas. The photography input module controls the photography unit 7 to initially perform oblique photography. The inclination angle is recorded as α, and α0 is the preset optimal photography angle and initial inclination angle, which facilitates surveying and mapping modeling.

[0057] The stable recognition module 3 includes a color recognition module, a shooting point determination module, and an error reduction module. Based on the preliminary acquisition of remote sensing images, the color recognition module and the shooting point determination module are used to collect color features and shape features, respectively, to divide specific areas in the model. The error reduction module is used to filter and reduce noise in the acquired remote sensing images to improve the accuracy of surveying and mapping area division, and to obtain flight path data of the surveying and mapping body unit 6 and the initial tilt angle of the photography unit 7.

[0058] When the stable identification module 3 is unable to identify a specific area in the surveying area, the stable identification module 3 will transmit an area warning signal to the information acquisition module 2. The information acquisition module 2 defines the flight path position corresponding to the incorrect identification of the specific area as a fuzzy position point. The warning data of the fuzzy position point corresponds to the actual flight path data and the initial tilt angle.

[0059] In order not to delay the preset flight route setting, the surveying and mapping body unit 6 maintains the preset flight path when there is no faulty flight state; under the processing of the stable identification module 3, the information acquisition module 2 transmits the filtered and denoised remote sensing image data to the surveying and mapping processing module 4, including at least the surveying and mapping parameters of the clearly divided area and the warning data of the fuzzy position points.

[0060] Among them, if the surveying and mapping body unit 6 is in a faulty flight state, the faulty flight state means that the surveying and mapping body unit 6 continues to fly outside the reasonable flight area within the set time period, causing large errors in the surveying and mapping data. The back-end processor transmits a fly-back instruction to the surveying and mapping body unit 6 with the help of the central control module 1, and the surveying and mapping process will be suspended; the problem will be checked after flying back.

[0061] The surveying and mapping processing module 4 includes a reference determination module and an overlap comparison module; the reference determination module is used to perform three-dimensional modeling based on the surveying and mapping parameters of the specific area that has been clearly divided, and the warning data of the fuzzy position points are also marked in the model.

[0062] The overlapping comparison module can perform overlapping comparison on remote sensing images and can also convert them into topographic maps. The above-mentioned three-dimensional modeling map can also be converted into an initial topographic map, and the warning data is retained in the initial topographic map.

[0063] After the preset flight distance is completed, the information acquisition module 2 will control the photography unit 7 to fly in the reverse direction along the preset flight path to the position corresponding to the blurred position point, and perform remote sensing photography again to perform compensation mapping and identification. That is, the stable identification module 3 will perform multiple specific area identification processes based on the warning data; specifically, the path planning module will correct the actual flight path data in the warning data and refer to the preset flight path. Towards L adjustment, for example, when A=0 and D=0, =L;

[0064] Furthermore, when the fuzzy location point is just outside the reasonable flight area, the path planning module controls the camera unit 7 to fly to the measurement origin of the preset flight path; if the stable recognition module 3 is able to identify the specific area, the fuzzy location point data in the three-dimensional model and the initial terrain map are updated for the specific area, and the camera unit 7 and the stable recognition module 3 proceed to identify the next adjacent fuzzy location point;

[0065] When the fuzzy position point is located inside or on the edge of the reasonable flight area, the photography recording module controls the photography unit 7 to adjust the tilt angle to prevent the cause from missing data collection during the flight. The path planning module controls the photography unit 7 to perform the specific area recognition process of the remote sensing image again at the location of the actual flight path. If the stable recognition module 3 is able to perform specific area recognition, the execution process is similar to the above content.

[0066] The above is determined as the secondary specific area identification process.

[0067] After the second specific area recognition process is completed, if the stable recognition module 3 continues to transmit the area warning signal to the information collection module 2, that is, the stable recognition module 3 cannot perform specific area recognition, refer to Figure 8 , based on the reasonable flight area where the fuzzy position point is located, create an XY coordinate system and a radius line segment R from the origin to the edge FP , radius segment R FP Set along the straight line direction between the origin and the fuzzy position point, select a number of measurement position points on the radius line segment, the number of measurement position points is recorded as n, 3≤n≤5, and at least include the origin and edge intersection on the radius line segment;

[0068] The Y line is located in the straight line direction from the origin to the center of the earth, and the X line is located in the reasonable flight area, intersecting the origin and perpendicular to the Y line direction; when the radius line segment R FP When overlapping with the X-ray, the tilt angles corresponding to the photographic unit 7 at the n measurement positions are consistent with the initial tilt angle at the origin. FP When not overlapping with the X-line, the tilt angles corresponding to the imaging unit 7 at the n measurement positions are respectively related to the distance H between the corresponding measurement position and the X-line; when the measurement position is above the X-line, H is a positive number; when the measurement position is below the X-line, H is a negative number; when the measurement position overlaps with the X-line, H is zero;

[0069] Therefore, during the three specific area recognition processes, under the action of the information acquisition module 2, the path planning module controls the photographic unit 7 to sequentially start from the measurement position point where the origin is located, and obtain remote sensing images at each measurement position point until the measurement at the measurement position point where the edge intersection is located is completed; if the radius line segment R where the measurement position point is located is FP When overlapping with the X-ray, the tilt angles corresponding to the imaging unit 7 at all measurement positions are consistent with the initial tilt angle at the origin; if the radius line segment R where the measurement position is located is FP When not overlapping with the X-ray, in addition to the initial tilt angle at the origin remaining unchanged, the tilt angle α corresponding to the imaging unit 7 at the measurement position is related to the distance H. When H is a positive number, the larger H is, the more the tilt angle of the measurement position increases. When H is a negative number, the smaller H is, the more the tilt angle of the measurement position decreases. A tilt angle calculation formula can be established in combination with the origin height, which will not be described in detail here.

[0070] Considering the measurement accuracy, after the stable recognition module 3 recognizes a specific area in the surveying and mapping area, the information acquisition module 2 transmits the remote sensing image data corresponding to several measurement position points to the surveying and mapping processing module 4. The reference determination module performs superposition modeling on the remote sensing image data corresponding to the fuzzy position points, and the overlapping comparison module overlaps and compares multiple remote sensing images to determine the model with the strongest recognition according to the recognition speed;

[0071] Retrieve the remote sensing image data of the strongest model as the standard data group. Through algorithm calculation, establish the position relationship coefficient between the remote sensing image data of the origin measurement position point and the corresponding remote sensing image data of the standard data group. After obtaining this position relationship coefficient, transmit it to the stable recognition module 3 through the central control module 1, so as to determine that when a fuzzy position point appears, the position setting in the secondary specific area recognition process will be determined by referring to the origin position and the position relationship coefficient, saving the test time while improving the test accuracy;

[0072] Of course, several groups of data can be operated to verify and correct the data. When surveying different areas in the same area, the recognition efficiency of this process can be effectively improved.

[0073] After obtaining the accurate three-dimensional modeling diagram and topographic map, the backend processor can clearly identify the geographical data corresponding to the surveying and mapping areas such as residential areas, farming areas, forest areas, etc. After obtaining the data, it can further perform system analysis, confirm data such as land use rate, abandonment rate, planting rate, vegetation rate, etc., and accurately conduct land surface analysis to achieve the purpose of planting balance.

[0074] Embodiment 2:

[0075] Based on Embodiment 1, to achieve the adjustment of the tilt angle of the measurement position point, including but not limited to the following settings to achieve the angle adjustment of the photography unit 7: An external connection support unit 8 is provided for the photography unit 7. The connection support unit 8 is set as a U-shaped structure, and the opening direction is the same as the photography direction. The connection support unit 8 and the bottom of the surveying and mapping body unit 6 are fixedly connected with a support rod for connection. Angle adjustment units 10 are provided between both sides of the photography unit 7 and the connection support unit 8 for adjusting the tilt angle of the photography unit 7;

[0076] The angle adjustment unit 10 includes a support shaft 101, a passive member 102, an active member 103, a limit member 104, a connecting member 105, and a driving member 106; one end of the support shaft 101 is fixed to the side wall of the photographic unit 7, and one end of the support shaft 101 passes through and is connected to the connecting support unit 8 with a bearing. The passive member 102 and the active member 103 adopt a gear rack structure. The passive member 102 is fixedly connected to the surface circumference of the support shaft 101, and the active member 103 is meshed and connected to the bottom of the passive member 102. The bottom of the active member 103 is fixedly connected to the output end of the driving member 106 through the connecting member 105. The driving member 106 is preferably a micro-telescopic member. The active member 103 is internally slidably connected to the limit member 104, and the limit member 104 and the driving member 106 are fixed to the connecting support unit 8;

[0077] The driving member 106 drives the active member 103 to move so as to realize the multi-angle adjustment of the photographing unit 7. Figure 9 The figure shows only the initial installation state of the photographic unit 7. For example, the optimal tilt angle of the origin is preferably 45°. When the tilt angle increases, the angle increases to 45°. Figure 11 For example, the active member 103 drives the passive member 102 to rotate counterclockwise by a certain angle, and vice versa, so as to achieve accuracy in adjusting the tilt angle of the camera unit 7.

[0078] Example 3:

[0079] For the intelligent surveying and mapping system based on remote sensing technology involved in Example 1, its surveying and mapping method is as follows:

[0080] S1: Determine the preset flight path of the surveying and mapping body unit 6, start the flight and verify the actual flight path of the surveying and mapping body unit 6 during the flight to confirm that the flight is within a reasonable flight area;

[0081] S2: The photography unit 7 is equipped with the required remote sensing technology and adjusted to the initial tilt angle, and collects the corresponding mapping parameters according to the pre-set required mapping data;

[0082] S3: Perform a primary identification of the stability of pre-collected surface data to accurately divide the survey area in the model, and re-feed back the surface data after the primary identification;

[0083] S4: Obtain the mapping parameters after stability identification and conduct modeling and mapping according to their values. The remote sensing image can be converted into a topographic map.

[0084] The flight path position corresponding to the incorrect identification of a specific area is defined as a fuzzy position point. The warning data of the fuzzy position point corresponds to the actual flight path data and the initial tilt angle. The warning data of the fuzzy position point is also marked in the three-dimensional model. Subsequently, remote sensing photography is performed again, and compensation surveying and identification are performed. Multiple specific area identification processes will be performed based on the warning data; the origin position and position relationship coefficient are obtained to improve the testing and identification efficiency in subsequent compensation surveying and identification.

[0085] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only used to facilitate the description of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0086] Finally, it should be noted that the above embodiments are intended only to illustrate the technical solutions of the present invention and are not intended to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will appreciate that modifications may be made to the technical solutions described in the aforementioned embodiments, or that some of the technical features may be replaced with equivalents. Such modifications or replacements do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent surveying and mapping system based on remote sensing technology, characterized by: include: A central control module is used to receive feedback on surveying and mapping results, store them, and send corresponding execution instructions. The central control module is signal-connected to a surveying and mapping machine unit, and a photography unit is connected below the surveying and mapping machine unit via a rod. The photography unit is equipped with remote sensing technology. An information acquisition module is used to acquire corresponding surveying and mapping parameters according to pre-set required surveying and mapping data with the assistance of a photography unit; A stability identification module is used to identify the stability of the surveying and mapping parameters collected above; as well as The surveying and mapping processing module is used to obtain the surveying and mapping parameters after stability identification and to perform modeling and mapping based on their values, and to display them on the back-end processor; The central control module is connected to the information acquisition module by signal, and the information acquisition module is connected to the stability identification module by signal. The information acquisition module and the stability identification module exchange surveying and mapping data. The surveying and mapping processing module is connected to the central control module by signal, and the measurement data can be fed back to the stability identification module via the central control module. The information acquisition module includes a path planning module, a state setting module, and a photography recording module: the path planning module is used to determine the preset flight path of the surveying and mapping body unit and verify the actual flight path of the surveying and mapping body unit; the state setting module is used to determine the flight parameters of the surveying and mapping body unit and the operating parameters of the photography unit; the photography recording module is used to acquire remote sensing images, and the photography recording module controls the photography unit to initially perform oblique photography; The flight path is preset as the measurement origin, and a circular area with the measurement origin as the center and a limit value R as the radius is set as the reasonable flight area. When the stable identification module is unable to identify a specific area in the surveying area, the stable identification module will transmit a regional warning signal to the information collection module. The information collection module defines the flight path position corresponding to the incorrect specific area identification as an ambiguous position point. The warning data of the ambiguous position point corresponds to the actual flight path data and the initial tilt angle. The information acquisition module controls the photography unit to fly in the reverse direction along the preset flight path to the position corresponding to the blurred position point, and performs remote sensing photography again to perform compensation mapping and identification; If the fuzzy location point is just outside the reasonable flight area, the path planning module controls the camera unit to fly to the measurement origin of the preset flight path. If the stable recognition module is able to identify the specific area, the fuzzy location point data in the 3D model and the initial terrain map are updated for the specific area, and the camera unit and the stable recognition module proceed to identify the next adjacent fuzzy location point. When the fuzzy position point is located inside or on the edge of the reasonable flight area, the photography recording module controls the photography unit to adjust the tilt angle, and the path planning module controls the photography unit to perform the specific area recognition process of the remote sensing image again at the location of the actual flight path; if the stable recognition module is able to perform specific area recognition, the process is executed as above; If the stable recognition module continues to transmit the regional warning signal to the information acquisition module, an XY coordinate system and a radius line segment R from the origin to the edge are created based on the reasonable flight area where the fuzzy position point is located. FP , radius segment R FP Set along the straight line direction between the origin and the fuzzy position point, select a number of measurement position points on the radius line segment, the number of measurement position points is recorded as n, and at least include the origin and the edge intersection on the radius line segment; Under the action of the information acquisition module, the path planning module controls the photographic unit to start from the measurement position point where the origin is located, and obtain the remote sensing image at each measurement position point until the measurement at the measurement position point where the edge intersection is located is completed; if the radius line segment R where the measurement position point is located is FP When overlapping with the X-ray, the tilt angles corresponding to the photographic units at all measurement positions are consistent with the initial tilt angle at the origin; if the radius line segment R where the measurement position is located is FP When not overlapping with the X-ray, in addition to the initial tilt angle at the origin remaining unchanged, the tilt angle α corresponding to the photographic unit at the measurement position is related to the distance H; a tilt angle calculation formula can be established in combination with the origin height.

2. The intelligent surveying and mapping system based on remote sensing technology according to claim 1, characterized in that: The preset flight path is represented by L, the actual flight path is represented by FP, and the numerical value of the actual flight path is marked as , A is the deviation angle, and D is the deviation distance.

3. The intelligent surveying and mapping system based on remote sensing technology according to claim 2, characterized in that: The initial tilt angle of the photographing unit for tilted photography is recorded as α, and α0 is set as a preset initial tilt angle.

4. The intelligent surveying and mapping system based on remote sensing technology according to claim 3, characterized in that: The stable identification module includes: The color recognition module and the shooting point determination module are used to collect color features and shape features respectively, and divide specific areas in the model; and The error reduction module is used to filter and reduce noise on the acquired remote sensing images to improve the accuracy of specific area division, and to obtain the flight path data of the surveying and mapping unit and the initial tilt angle of the photography unit.

5. The intelligent surveying and mapping system based on remote sensing technology according to claim 4, characterized in that: The surveying and mapping processing module includes: A reference determination module is used to perform a three-dimensional modeling diagram at the back-end processor according to the surveying and mapping parameters of the specific area that has been clearly divided, and the warning data of the fuzzy position point is also marked in the model; The overlapping comparison module can perform overlapping comparison on the remote sensing images and can also convert them into topographic maps. The three-dimensional modeling map can also be converted into an initial topographic map, and the warning data is retained in the initial topographic map.

6. The surveying and mapping method of the intelligent surveying and mapping system based on remote sensing technology according to claim 1, characterized in that: Here are the steps: S1: Determine the preset flight path of the surveying and mapping airframe unit, start the flight and verify the actual flight path of the surveying and mapping airframe unit during the flight to confirm the flight is within the reasonable flight area; S2: The photography unit is equipped with the required remote sensing technology and adjusted to the initial tilt angle, and collects the corresponding mapping parameters according to the pre-set required mapping data; S3: Perform a primary identification of the stability of pre-collected surface data to accurately divide the survey area in the model, and re-feed back the surface data after the primary identification; S4: After obtaining the mapping parameters after stability identification, modeling and mapping are carried out according to their values, and the remote sensing image can be converted into a topographic map.

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