A method and device for monitoring illumination based on aircraft

Abstract

This application discloses an illumination monitoring method and apparatus based on an aircraft, relating to the field of illumination monitoring. The method includes: acquiring flight data of the aircraft; determining whether the aircraft is at a predetermined sampling location based on the flight data, and obtaining a determination result; if the determination result is yes, acquiring information data at the predetermined sampling location; the information data includes: remote sensing images and illumination data; the illumination data is acquired based on an illumination sensor array; the illumination sensor array is an array of multiple illumination sensors in a hemispherical structure; determining the axis deflection angle of each illumination sensor in the illumination sensor array based on the flight data; calculating the illumination value when the illumination sensor is in a vertically upward state based on the axis deflection angle and the illumination data, obtaining the calculation result, thereby achieving illumination monitoring. This application aims to improve the accuracy of illumination monitoring.

Description

Technical Field

[0001] This application relates to the field of illumination monitoring, and in particular to an illumination monitoring method and device based on an aircraft. Background Technology

[0002] In current agricultural remote sensing operations, agricultural multi-rotor remote sensing drones typically carry a single illuminance sensor for illuminance measurement. This sensor is fixed to the top of the drone using a specific bracket. However, due to significant attitude changes caused by strong external airflow interference during actual farmland operations, the illuminance sensor's measurement orientation also changes, making it impossible to measure ambient illuminance data in the vertically upward direction. Yet, to ensure the quality of remote sensing images, the remote sensing equipment on the drone is generally equipped with a three-axis self-stabilizing gimbal to keep the optical axis of the image acquisition device as vertically downward as possible. In summary, the measurement direction of the illuminance sensor in this traditional method deviates significantly from the direction of the optical axis of the remote sensing image acquisition device, making it impossible to accurately describe the amount of light entering the remote sensing image acquisition device. Summary of the Invention

[0003] The purpose of this application is to provide an illumination monitoring method and device based on an aircraft, which can improve the accuracy of illumination monitoring.

[0004] To achieve the above objectives, this application provides the following solution:

[0005] Firstly, this application provides an illumination monitoring method based on an aircraft, including:

[0006] Acquire flight data of the aircraft; the flight data includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle and heading angle;

[0007] Based on the flight data, it is determined whether the aircraft is at the set intended data collection location, and a judgment result is obtained;

[0008] If the judgment result is yes, then information data at the set intended collection location is acquired; the information data includes: remote sensing images and illuminance data; the illuminance data is acquired based on an illuminance sensor array; the illuminance sensor array is an array of hemispherical structures composed of multiple illuminance sensors;

[0009] The axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on the flight data; the axis deflection angle is the angle formed by the line connecting the position of the illuminance sensor in the illuminance sensor array and the origin of the illuminance sensor array, and the vertical axis pointing vertically upward along the direction of gravity.

[0010] The illuminance value when the illuminance sensor is in a vertically upward state is calculated based on the axial deflection angle and the illuminance data, and the calculation result is obtained to realize illuminance monitoring.

[0011] Optionally, determining the axis deflection angle of each illuminance sensor in the illuminance sensor array based on the flight data specifically includes:

[0012] Based on the pitch angle and the roll angle, calculate the elevation angle and azimuth angle of the vertically upward axis along the direction of gravity in the aircraft's body coordinate system;

[0013] The axis deflection angle is calculated based on the elevation angle and the azimuth angle.

[0014] Optionally, the formula for calculating the elevation angle is:

[0015] ;

[0016] The formula for calculating azimuth is:

[0017] ;

[0018] in, Angle of elevation; This refers to the roll angle; The pitch angle; This is the azimuth angle.

[0019] Optionally, the formula for calculating the axis deflection angle is:

[0020] ;

[0021] in, It is the axis deflection angle; For the first The elevation angle of the illuminance sensor; Angle of elevation; It is the azimuth angle; For the first The azimuth angle of each illuminance sensor.

[0022] Optionally, the illuminance value when the illuminance sensor is vertically upward is calculated based on the axial deflection angle and the illuminance data, and the calculation result is obtained, specifically including:

[0023] Based on the cosine values ​​of all the aforementioned axis deflection angles, a set number of illuminance sensors are selected according to their numerical values;

[0024] Based on the illuminance data corresponding to the selected illuminance sensor, and the latitude, longitude, UTC time, and altitude in the flight data, the solar altitude angle and solar azimuth angle are determined using a standard solar position algorithm.

[0025] The unit vector of the sun's direction is determined based on the sun's altitude angle and sun's azimuth angle;

[0026] The normal vector of the illuminance sensor plane is determined based on the pitch angle, roll angle, and heading angle.

[0027] Based on the unit vector of the sun's direction and the normal vector of the sensor plane, determine the cosine value of the angle between the normal vector of the sensor plane and the sun's direction.

[0028] Based on the illuminance data and the cosine value corresponding to the angle between the normal vector of the sensor plane and the direction of the sun, the illuminance value when the illuminance sensor is in a vertically upward state is calculated, and the mean value is processed to obtain the calculation result.

[0029] Optionally, the expression for the unit vector in the direction of the sun is:

[0030] ;

[0031] The expression for the normal vector of the illuminance sensor plane is:

[0032] ;

[0033] in, The unit vector in the direction of the sun; The solar altitude angle; This is the solar azimuth angle; This is the normal vector of the illuminance sensor plane; For heading angle; This refers to the roll angle; The pitch angle.

[0034] Optionally, the expression for the illuminance value is:

[0035] ;

[0036] ;

[0037] in, Illuminance value; Illuminance data; The angle between the normal vector of the sensor plane and the direction of the sun; The solar altitude angle; This is the normal vector of the illuminance sensor plane; It is the unit vector in the direction of the sun.

[0038] Optionally, the aircraft-based illumination monitoring method also includes:

[0039] Based on the remote sensing image and the calculation results, the exposure parameters corresponding to the acquired remote sensing image are adjusted to achieve radiometric calibration of the remote sensing image.

[0040] Secondly, this application provides an aircraft-based illuminance monitoring device, which is implemented using an aircraft-based illuminance monitoring method; the aircraft-based illuminance monitoring device includes: an illuminance monitoring system, remote sensing equipment, and a flight control system;

[0041] The illumination monitoring system is equipped with a main control computer; the illumination monitoring system includes an illumination sensor array with a hemispherical structure composed of multiple illumination sensors; the flight control system is equipped with a GNSS module.

[0042] The flight control system is used for:

[0043] Control the flight of the aircraft and acquire its flight data, which includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle, and heading angle.

[0044] Based on the latitude and longitude coordinates collected by the GNSS module in the flight data, it is determined whether the aircraft is at the set location to be collected, and the determination result is obtained.

[0045] If the determination result is yes, a trigger signal is issued; the trigger signal includes: an illuminance acquisition trigger signal, an image acquisition trigger signal, and an information acquisition trigger signal;

[0046] The remote sensing device is used to acquire remote sensing images at a set intended acquisition location according to the image acquisition trigger signal;

[0047] The illuminance sensor array is used to acquire illuminance data at a set intended acquisition location based on the illuminance acquisition trigger signal;

[0048] The main control computer is used for:

[0049] The flight data is obtained by acquiring a trigger signal based on the information provided.

[0050] The axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on the flight data;

[0051] The illuminance value when the illuminance sensor is in a vertically upward state is calculated based on the axial deflection angle and the illuminance data, and the calculation result is obtained to realize illuminance monitoring.

[0052] Optionally, the illuminance monitoring system includes: an outer cover, an inner liner, and an illuminance sensor array in a hemispherical structure composed of multiple illuminance sensors;

[0053] Both the outer cover and the inner lining are hemispherical; the outer cover is disposed outside the inner lining, and there is a gap between the outer cover and the inner lining; the gap is also hemispherical.

[0054] The illuminance sensor array is disposed within the gap; the illuminance sensor array includes, from top to bottom, a top layer illuminance sensor, a second layer illuminance sensor, a third layer illuminance sensor, a fourth layer illuminance sensor, and a fifth layer illuminance sensor;

[0055] The top-level illuminance sensor includes an illuminance sensor and is located at the apex of the gap;

[0056] The second, third, fourth, and fifth illuminance sensor layers each include six illuminance sensors, and each illuminance sensor in each layer is uniformly distributed based on a distribution range; the distribution range includes an elevation angle range of 0°-90° and an azimuth angle range of 0°-360°.

[0057] According to the specific embodiments provided in this application, this application has the following technical effects:

[0058] This application provides an illumination monitoring method and apparatus based on an aircraft. It determines whether the aircraft is at a predetermined sampling location based on acquired flight data, obtaining a judgment result. If the judgment result is yes, it acquires information data at the predetermined sampling location. The information data includes remote sensing images and illumination data. The illumination data is acquired based on an illumination sensor array. The illumination sensor array is a hemispherical array composed of multiple illumination sensors. The axial deflection angle of each illumination sensor in the array is determined based on the flight data. The illumination value when the illumination sensor is in a vertically upward position is calculated based on the axial deflection angle and the illumination data, obtaining the calculation result to achieve illumination monitoring. This application uses an illumination sensor array, combined with flight data, to determine the illumination environment of the aircraft, i.e., to determine the axial deflection angle of each illumination sensor. Then, using the illumination data acquired by the illumination sensor array, combined with the axial deflection angle, the illumination value in the vertically upward direction is determined. This effectively reduces the influence of noise and measurement errors of individual illumination sensors on environmental illumination measurement, thereby improving the accuracy of illumination monitoring. Attached Figure Description

[0059] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 This is a flowchart of an aircraft-based illumination monitoring method;

[0061] Figure 2Top view of the hemispherical liner of the sensor array;

[0062] Figure 3 This is a front view of the hemispherical liner of the sensor array. Detailed Implementation

[0063] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0064] This application constructs a multi-angle illumination sensor array and incorporates flight attitude data from the flight control system to calculate the current ambient illumination. By using illumination sensor data from multiple perspectives to calculate the ambient illumination data measured in the vertical direction, the impact of noise and measurement errors from individual sensors on ambient illumination measurement is effectively reduced. Furthermore, it avoids the need for a separate self-stabilizing gimbal for the illumination sensors, effectively reducing the aircraft's weight and further enhancing the endurance of the agricultural multi-rotor UAV.

[0065] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0066] In one exemplary embodiment, such as Figure 1 As shown, an illumination monitoring method based on an aircraft is provided, including:

[0067] Step 100: Acquire the aircraft's flight data. Flight data includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle, and heading angle.

[0068] Step 200: Determine whether the aircraft is at the set data collection location based on the flight data, and obtain the judgment result.

[0069] Step 300: If the judgment result is yes, then acquire the information data at the set location to be collected. The information data includes: remote sensing images and illuminance data; the illuminance data is acquired based on an illuminance sensor array; the illuminance sensor array is an array of hemispherical structures composed of multiple illuminance sensors.

[0070] Step 400: Determine the axis deflection angle of each illuminance sensor in the illuminance sensor array based on the flight data. The axis deflection angle is the angle formed by the line connecting the position of the illuminance sensor in the illuminance sensor array and the origin of the illuminance sensor array, and the vertical axis pointing upwards along the direction of gravity.

[0071] Specifically, determining the axis deflection angle of each illuminance sensor in the illuminance sensor array based on flight data includes:

[0072] Based on the pitch angle and the roll angle, calculate the elevation angle and azimuth angle of the vertically upward axis along the direction of gravity in the aircraft's body coordinate system.

[0073] The formula for calculating the angle of elevation is:

[0074] .

[0075] The formula for calculating azimuth is:

[0076] .

[0077] in, Angle of elevation; This refers to the roll angle; The pitch angle; This is the azimuth angle.

[0078] The axis deflection angle is calculated based on the elevation angle and the azimuth angle.

[0079] The formula for calculating the axis deflection angle is:

[0080] .

[0081] in, It is the axis deflection angle; For the first The elevation angle of the illuminance sensor; Angle of elevation; It is the azimuth angle; For the first The azimuth angle of each illuminance sensor.

[0082] Step 500: Calculate the illuminance value when the illuminance sensor is in a vertically upward state based on the axis deflection angle and illuminance data, and obtain the calculation result to realize illuminance monitoring.

[0083] Specifically, the illuminance value when the illuminance sensor is vertically upward is calculated based on the axis deflection angle and illuminance data, and the calculation results are as follows:

[0084] Based on the cosine values ​​of all axis deflection angles, a set number of illuminance sensors are selected according to their numerical values.

[0085] Based on the illuminance data corresponding to the selected illuminance sensor, as well as the latitude, longitude, UTC time, and altitude in the flight data, the solar altitude angle and solar azimuth angle are determined using a standard solar position algorithm.

[0086] The unit vector of the sun's direction is determined based on the sun's altitude angle and sun's azimuth angle.

[0087] The normal vector of the illuminance sensor plane is determined based on the pitch angle, roll angle, and heading angle.

[0088] The expression for the unit vector in the direction of the sun is:

[0089] .

[0090] The expression for the normal vector of the illuminance sensor plane is:

[0091] .

[0092] in, The unit vector in the direction of the sun; The solar altitude angle; This is the solar azimuth angle; This is the normal vector of the illuminance sensor plane; For heading angle; This refers to the roll angle; It is the pitch angle.

[0093] Based on the unit vector of the sun's direction and the normal vector of the sensor plane, determine the cosine value of the angle between the normal vector of the sensor plane and the sun's direction.

[0094] Based on the illuminance data and the cosine value corresponding to the angle between the normal vector of the sensor plane and the direction of the sun, the illuminance value when the illuminance sensor is in a vertically upward state is calculated, and the mean value is processed to obtain the calculation result.

[0095] The expression for illuminance value is:

[0096] .

[0097] .

[0098] in, Illuminance value; Illuminance data; The angle between the normal vector of the sensor plane and the direction of the sun; The solar altitude angle; This is the normal vector of the illuminance sensor plane; It is the unit vector in the direction of the sun.

[0099] As an optional implementation method, the aircraft-based illumination monitoring method further includes:

[0100] Based on the remote sensing image and the calculation results, the exposure parameters corresponding to the acquired remote sensing image are adjusted to achieve radiometric calibration of the remote sensing image.

[0101] The method described in this application can be used in a real-time illumination monitoring system mounted on an agricultural multi-rotor remote sensing UAV. It consists of a hemispherical support liner, a hemispherical transparent outer casing, a main control computer, a storage device, and multiple illumination sensor modules arranged in specific positions within the liner. After the UAV flight control system sends a remote sensing image acquisition signal (image acquisition trigger signal), the remote sensing equipment acquires remote sensing images at the set acquisition location based on the image acquisition trigger signal. The main control computer, based on the information from the flight control system, obtains the trigger signal and requests flight data from the flight control system, specifically requesting the acquisition of the aircraft's current latitude and longitude, flight altitude (altitude), pitch angle, roll angle, heading angle, and UTC time.

[0102] The main control computer also calculates the light intensity (illuminance value) directly above the current location based on the illuminance data obtained from the illuminance sensor array at the set sampling position, and on the attitude information (the axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on flight data), thereby providing illuminance data support for adjusting the exposure parameters of the remote sensing system.

[0103] The specific operational steps of the aircraft-based illumination monitoring method are as follows:

[0104] Step 1: In the initial state, the real-time illuminance monitoring system (illuminance monitoring system) is mounted directly above the UAV (aircraft). After the illuminance monitoring system is started, it performs initial data acquisition and system self-test on all illuminance sensors in the illuminance sensor array. That is, after the main control computer collects a round of data, if the data is within the range, it is considered normal. If an abnormal value is found, it is determined that there is a problem with the sensor.

[0105] If all illuminance sensors in the sensor array measure positive illuminance values ​​during the initial data acquisition, the self-test is complete. After the self-test is complete, it enters standby mode and listens for external trigger signals.

[0106] Step 2: When the UAV (aircraft) is acquiring remote sensing images, it needs to reach the intended acquisition location (set the intended acquisition location). At this time, the flight control system simultaneously sends trigger signals to the agricultural low-altitude remote sensing imaging equipment (remote sensing equipment) and the real-time illumination monitoring system (illuminance monitoring system). The agricultural low-altitude remote sensing imaging equipment uses a multispectral camera.

[0107] Step 3: Each illuminance sensor in the illuminance sensor array connects to the main control computer via the IIC bus protocol. Each illuminance sensor in a different location has a specific device address. The location numbering method for the illuminance sensors is denoted as (…). , The horizontal axis represents the elevation angle (0°~90°) of the illuminance sensor, and the vertical axis represents the azimuth angle (0°~360°) of the illuminance sensor. This is the serial number of the illumination sensor. After receiving the trigger signal, the main control computer requests the aircraft's current latitude and longitude, UTC time, altitude, pitch angle, roll angle, and heading angle data from the flight control system. The flight control system is equipped with its own GNSS module, inertial navigation unit, and electronic compass sensor, which can provide the aircraft's pitch angle, roll angle, and heading angle data via the main control unit within the flight control system.

[0108] Three illuminance sensors were selected and their illuminance values ​​were collected. Simultaneously, remote sensing images were acquired using a remote sensing device. The location coordinates of the collected data are recorded as ( ). , ); ( , ); ( , The selection method steps are as follows:

[0109] (1) Based on the obtained pitch angle With roll angle Data, calculate the elevation angle of the vertical axis along the direction of gravity in the aircraft's body coordinate system. and azimuth The calculation formula is shown below.

[0110] .

[0111] .

[0112] (2) Based on the elevation angle of the vertically upward axis along the direction of gravity in the aircraft's coordinate system. and azimuth Traverse all illuminance sensor locations ( , The cosine of the angle between the line connecting the origin and the point and the vertical axis along the direction of gravity is taken as the three sensor positions with the largest cosine values. , ); ( , ); ( , The formula for calculating the included angle is as follows:

[0113] .

[0114] Step 4: Based on the axis deflection angle of each illuminance sensor vertically upward along the direction of gravity and the illuminance data, calculate the value assuming the illuminance sensor measures vertically upward. First, based on the standard solar position algorithm, calculate the solar altitude angle according to the spacecraft's latitude, longitude, UTC time, and altitude. and solar azimuth The unit vector in the direction of the sun can be further calculated. .

[0115] .

[0116] The direction of the illuminance sensor is determined by the pitch angle. Roll angle and heading angle Decision. The normal vector of the illuminance sensor plane can be calculated. for:

[0117] .

[0118] The illuminance values ​​measured by the illuminance sensor mainly come from direct solar radiation. To convert the measured values ​​into illuminance values ​​when the illuminance sensor is vertically upward, it is necessary to calculate the cosine of the angle between the sensor's normal vector and the direction of the sun. In the formula This is a vector dot product operation.

[0119] .

[0120] Illuminance data measured by illuminance sensor The illuminance value mainly comes from direct solar radiation, assuming the illuminance sensor is vertically upward. It can be represented as:

[0121] .

[0122] The average of all calculated illuminance values ​​is recorded as the current output illuminance data. This data is then transmitted to the remote sensing equipment via a communication protocol for real-time adjustment of exposure parameters. The original measured illuminance data, aircraft attitude angle data, and inferred vertical illuminance measurement data are recorded in a storage device, corresponding one-to-one with the remote sensing images, for later use in remote sensing image irradiation calibration.

[0123] In one exemplary embodiment, an aircraft-based illuminance monitoring device is provided, which is implemented using an aircraft-based illuminance monitoring method; the aircraft-based illuminance monitoring device includes: an illuminance monitoring system, a remote sensing device, and a flight control system.

[0124] The illumination monitoring system is equipped with a main control computer; the illumination monitoring system includes an illumination sensor array with a hemispherical structure composed of multiple illumination sensors; the flight control system is equipped with a GNSS module.

[0125] The flight control system is used to control the flight of the aircraft and acquire the flight data of the aircraft; the flight data includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle and heading angle.

[0126] The flight control system is used to determine whether the aircraft is at the set location for data collection based on the latitude and longitude collected by the GNSS module in the flight data, and obtain the judgment result.

[0127] The flight control system is also used to issue trigger signals when the judgment result is yes; the trigger signals include: illumination acquisition trigger signal, image acquisition trigger signal, and information acquisition trigger signal.

[0128] The remote sensing equipment is used to acquire remote sensing images at a set location based on an image acquisition trigger signal; the illuminance sensor array is used to acquire illuminance data at a set location based on an illuminance acquisition trigger signal.

[0129] The main control computer is used to acquire flight data based on the information acquisition trigger signal; determine the axis deflection angle of each illuminance sensor in the illuminance sensor array based on the flight data; calculate the illuminance value when the illuminance sensor is in the vertically upward state based on the axis deflection angle and illuminance data, and obtain the calculation result to realize illuminance monitoring.

[0130] In one embodiment, the illuminance monitoring system includes: an outer cover, an inner liner, and an illuminance sensor array in a hemispherical structure consisting of multiple illuminance sensors.

[0131] Both the outer cover and the inner lining are hemispherical; the outer cover is placed outside the inner lining, and there is a gap between the outer cover and the inner lining; the gap is also hemispherical.

[0132] An illuminance sensor array is set within the gap; the illuminance sensor array includes, from top to bottom, a top layer illuminance sensor, a second layer illuminance sensor, a third layer illuminance sensor, a fourth layer illuminance sensor, and a fifth layer illuminance sensor.

[0133] The top-level illuminance sensor includes an illuminance sensor, which is located at the apex of the gap.

[0134] The second, third, fourth, and fifth illuminance sensor layers each include six illuminance sensors, and each illuminance sensor in each layer is uniformly distributed based on a distribution range, which includes an elevation range of 0°-90° and an azimuth range of 0°-360°.

[0135] Specifically, both the outer casing and the inner liner are hemispherical, with the outer casing covering the inner liner, leaving a gap between them for the placement of an illuminance sensor. The illuminance sensor is positioned on the surface of the inner liner, with its circuit board plane tangent to the hemisphere and facing outwards. Holes at the mounting locations allow wiring to pass through the inner liner and connect to the main control computer fixed inside the liner. The storage device is also fixed inside the liner and connected to the main control computer. The illuminance sensor connects to the main control computer based on the IIC bus protocol, and sensors in different locations have specific device addresses. The sensor location numbering method is denoted as (…). , The horizontal axis represents the elevation angle (0°~90°) of the illuminance sensor, and the vertical axis represents the azimuth angle (0°~360°). The illuminance sensor array is arranged as follows: Figure 2 and Figure 3 As shown.

[0136] This application constructs a multi-angle illuminance sensor array and incorporates flight attitude data (flight data) from the flight control system to calculate the current illuminance environment (axis deflection angle of each illuminance sensor). By using illuminance sensor data from multiple perspectives to calculate the illuminance value in the vertically upward direction, the impact of noise and measurement errors from individual sensors on environmental illuminance measurement is effectively reduced. Furthermore, it avoids the need for a separate self-stabilizing gimbal for the illuminance sensors, effectively reducing the aircraft's weight and further enhancing the endurance of the agricultural multi-rotor UAV (see steps 3 and 4).

[0137] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0138] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for monitoring illumination based on an aircraft, characterized in that, include: Acquire flight data of the aircraft; the flight data includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle and heading angle; Based on the flight data, it is determined whether the aircraft is at the set intended data collection location, and a judgment result is obtained; If the judgment result is yes, then information data at the set intended collection location is acquired; the information data includes: remote sensing images and illuminance data; the illuminance data is acquired based on an illuminance sensor array; the illuminance sensor array is an array of hemispherical structures composed of multiple illuminance sensors; The axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on the flight data; the axis deflection angle is the angle formed by the line connecting the position of the illuminance sensor in the illuminance sensor array and the origin of the illuminance sensor array, and the vertical axis pointing vertically upward along the direction of gravity. The illuminance value when the illuminance sensor is in a vertically upward state is calculated based on the axial deflection angle and the illuminance data to obtain the calculation result, so as to realize illuminance monitoring. Aircraft-based illumination monitoring methods also include: Based on the remote sensing image and the calculation results, the exposure parameters corresponding to the acquired remote sensing image are adjusted to achieve radiometric calibration of the remote sensing image; An illuminance monitoring system is composed of an illuminance sensor array, an outer cover, and an inner liner. The outer cover and the inner liner in the illuminance monitoring system are both hemispherical. The outer cover is located outside the inner liner, and there is a gap between the outer cover and the inner liner. The gap is also hemispherical. The illuminance sensor array is located inside the gap. The illuminance sensor array includes, from top to bottom, a top layer illuminance sensor, a second layer illuminance sensor, a third layer illuminance sensor, a fourth layer illuminance sensor, and a fifth layer illuminance sensor; The top-level illuminance sensor includes an illuminance sensor, which is located at the apex of the gap. The second, third, fourth, and fifth illuminance sensor layers each include six illuminance sensors, and each illuminance sensor in each layer is uniformly distributed based on a distribution range, which includes an elevation range of 0°-90° and an azimuth range of 0°-360°.

2. The illumination monitoring method based on an aircraft according to claim 1, characterized in that, The axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on the flight data, specifically including: Based on the pitch angle and the roll angle, calculate the elevation angle and azimuth angle of the vertically upward axis along the direction of gravity in the aircraft's body coordinate system; The axis deflection angle is calculated based on the elevation angle and the azimuth angle.

3. The aircraft-based illumination monitoring method according to claim 2, characterized in that, The formula for calculating the angle of elevation is: ； The formula for calculating azimuth is: ； in, Angle of elevation; This refers to the roll angle; The pitch angle; This is the azimuth angle.

4. The illumination monitoring method based on an aircraft according to claim 2, characterized in that, The formula for calculating the axis deflection angle is: ； in, It is the axis deflection angle; For the first The elevation angle of the illuminance sensor; Angle of elevation; It is the azimuth angle; For the first The azimuth angle of each illuminance sensor.

5. The aircraft-based illumination monitoring method according to claim 1, characterized in that, The illuminance value when the illuminance sensor is vertically upward is calculated based on the axial deflection angle and the illuminance data, and the calculation result is obtained, specifically including: Based on the cosine values ​​of all the aforementioned axis deflection angles, a set number of illuminance sensors are selected according to their numerical values; Based on the illuminance data corresponding to the selected illuminance sensor, and the latitude, longitude, UTC time, and altitude in the flight data, the solar altitude angle and solar azimuth angle are determined using a standard solar position algorithm. The unit vector of the sun's direction is determined based on the sun's altitude angle and sun's azimuth angle; The normal vector of the illuminance sensor plane is determined based on the pitch angle, roll angle, and heading angle. Based on the unit vector of the sun's direction and the normal vector of the sensor plane, determine the cosine value of the angle between the normal vector of the sensor plane and the sun's direction. Based on the illuminance data and the cosine value corresponding to the angle between the normal vector of the sensor plane and the direction of the sun, the illuminance value when the illuminance sensor is in a vertically upward state is calculated, and the mean value is processed to obtain the calculation result.

6. The aircraft-based illumination monitoring method according to claim 5, characterized in that, The expression for the unit vector in the direction of the sun is: ； The expression for the normal vector of the illuminance sensor plane is: ； in, The unit vector in the direction of the sun; The solar altitude angle; This is the solar azimuth angle; This is the normal vector of the illuminance sensor plane; For heading angle; This refers to the roll angle; The pitch angle.

7. The aircraft-based illumination monitoring method according to claim 5, characterized in that, The expression for the illuminance value is: ； ； in, Illuminance value; Illuminance data; The angle between the normal vector of the sensor plane and the direction of the sun; The solar altitude angle; This is the normal vector of the illuminance sensor plane; It is the unit vector in the direction of the sun.

8. An illumination monitoring device based on an aircraft, characterized in that, The aircraft-based illuminance monitoring device is implemented using the aircraft-based illuminance monitoring method according to any one of claims 1-7; the aircraft-based illuminance monitoring device includes: an illuminance monitoring system, a remote sensing device, and a flight control system; The illumination monitoring system is equipped with a main control computer; the illumination monitoring system includes an illumination sensor array with a hemispherical structure composed of multiple illumination sensors; the flight control system is equipped with a GNSS module. The flight control system is used for: Control the flight of the aircraft and acquire its flight data, which includes: latitude and longitude, UTC time, altitude, pitch angle, roll angle, and heading angle. Based on the latitude and longitude coordinates collected by the GNSS module in the flight data, it is determined whether the aircraft is at the set location to be collected, and the determination result is obtained. If the determination result is yes, a trigger signal is issued; the trigger signal includes: an illuminance acquisition trigger signal, an image acquisition trigger signal, and an information acquisition trigger signal; The remote sensing device is used to acquire remote sensing images at a set intended acquisition location according to the image acquisition trigger signal; The illuminance sensor array is used to acquire illuminance data at a set intended acquisition location based on the illuminance acquisition trigger signal; The main control computer is used for: The flight data is obtained by acquiring a trigger signal based on the information provided. The axis deflection angle of each illuminance sensor in the illuminance sensor array is determined based on the flight data; The illuminance value when the illuminance sensor is in a vertically upward state is calculated based on the axial deflection angle and the illuminance data, and the calculation result is obtained to realize illuminance monitoring.

9. The aircraft-based illumination monitoring device according to claim 8, characterized in that, The illuminance monitoring system includes: an outer cover, an inner liner, and an illuminance sensor array with a hemispherical structure composed of multiple illuminance sensors; Both the outer cover and the inner lining are hemispherical; the outer cover is disposed outside the inner lining, and there is a gap between the outer cover and the inner lining; the gap is also hemispherical. The illuminance sensor array is disposed within the gap; the illuminance sensor array includes, from top to bottom, a top layer illuminance sensor, a second layer illuminance sensor, a third layer illuminance sensor, a fourth layer illuminance sensor, and a fifth layer illuminance sensor; The top-level illuminance sensor includes an illuminance sensor and is located at the apex of the gap; The second, third, fourth, and fifth illuminance sensor layers each include six illuminance sensors, and each illuminance sensor in each layer is uniformly distributed based on a distribution range; the distribution range includes an elevation angle range of 0°-90° and an azimuth angle range of 0°-360°.

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