A method for collecting geological disaster deformation data for Beidou inspection drones

Abstract

The present invention relates to the field of geological disaster deformation data collection technology, specifically, to a geological disaster deformation data collection method for Beidou patrol and inspection drones. It includes formulating monitoring routes and interwoven monitoring routes in the monitoring area, performing trend integration based on the terrain subsidence trends of adjacent unit areas, and obtaining the terrain subsidence trends of different positions in the monitoring area. The present invention simulates the subsidence trends of the corresponding monitoring areas by simulating the subsidence trends of the mutually integrated unit areas, and simulates the subsidence trends of the corresponding monitoring areas separately for the unintegrated unit areas, thereby realizing unit regionalized subsidence area simulation, which can subdivide the current geological disaster data collection work, and divide the subsidence trends of different positions in the overall monitoring area through the simulation results and integration work of each unit area, and using the simulation results of the adjacent unit areas, and finely feedback the subsidence trends of the overall monitoring area, thereby improving the accuracy of geological disaster deformation data.

Description

Technical Field

[0001] The present invention relates to the technical field of geological disaster deformation data collection, and in particular to a geological disaster deformation data collection method for a Beidou patrol and inspection drone. Background Art

[0002] Land subsidence is a geological phenomenon in which the regional ground elevation is lowered due to the compression of loose, unconsolidated soil on the surface under the influence of natural and human factors. It is an irreparable permanent loss of environment and resources.

[0003] Therefore, monitoring of ground subsidence is essential. The current mainstream monitoring method mainly uses LiDAR systems for monitoring, that is, using drones equipped with GPS and laser ranging systems to monitor the distance, obtain the settlement height of the current monitoring area, and locate the area where the terrain has subsided. However, during the specific monitoring process, due to differences in the causes of subsidence, the types of subsidence areas that are ultimately caused are diverse, that is, the subsidence trends in different locations in the subsidence area are different, and the laws of these subsidence trends are often related to the causes of formation. Traditional monitoring methods are mainly used to locate ground subsidence, and the monitoring effect of specific trend changes is not obvious, that is, it is difficult to predict the cause of subsidence based on the subsidence trend.

[0004] In order to address the above problems, there is an urgent need for a geological disaster deformation data collection method for Beidou patrol and inspection drones that can obtain settlement trends. Summary of the Invention

[0005] The purpose of the present invention is to provide a method for collecting geological disaster deformation data for Beidou patrol and inspection drones to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, a method for collecting geological disaster deformation data for Beidou patrol and inspection drones is provided, comprising the following steps:

[0007] S1, use the GPS on the drone to locate the drone's hovering position in real time, and use the attitude measurement unit to collect the flight attitude during hovering monitoring;

[0008] S2. Use laser scanning to measure the distance from the aircraft to obtain the height of the conventional area and establish a conventional distance from the aircraft height dataset , calculate the final average height from the aircraft ,in are the heights from the aircraft monitored at different locations in the conventional area, and z is the total number of location points;

[0009] S3, scan the original image of the monitoring area, locate the monitoring initial point of the monitoring area, and locate the coordinate point of the monitoring initial point of the drone according to GPS;

[0010] S4. Estimate the monitoring area of ​​the monitoring area based on the original image and formulate the unit length , according to the unit length Divide unit area , using unit area Divide the overall monitoring area , where m is the unit area quantity divided in the overall monitoring area;

[0011] S5. Develop a monitoring route within the monitoring area, adjust the drone's movement position according to the monitoring route, and capture the height of the drone and the corresponding coordinates of the corresponding monitoring points in the monitoring area in real time;

[0012] S6. Based on the corresponding coordinate points of the monitoring route, an interwoven monitoring route is formulated, and a route settlement relationship diagram is formulated based on the height of each corresponding coordinate point from the aircraft. The route settlement relationship diagram is added to the unit area of ​​the corresponding position to perform terrain settlement simulation, and trend integration is performed based on the settlement trends of adjacent unit areas to obtain the terrain settlement trends at different locations in the monitoring area.

[0013] As a further improvement of the present technical solution, the method for obtaining the height of the conventional area from the aircraft by using laser scanning ranging in S2 includes the following steps:

[0014] S2.1. Use laser to generate and emit light energy vertically to the monitoring area, and the light energy will be reflected after contacting the monitoring area;

[0015] S2.2. Record the time before and after the reflection, and use the distance formula ,in The height of the monitoring point from the aircraft, is the speed of light in the atmosphere, and t is the time consumed before and after reflection.

[0016] As a further improvement of this technical solution, the unit length is formulated in S4 The method comprises the following steps:

[0017] S4.1. Collect historical monitoring data and establish the scope of each monitoring area, marked as as well as ,in For different monitoring area ranges, is the initial monitoring area, is the area value in different ranges, and w is the total number of ranges divided;

[0018] S4.2. Define the unit quantity of the initial monitoring area , formulate the superposition constant per unit length ;

[0019] S4.3. Obtain the monitoring area of ​​the current monitoring area and combine it with the unit quantity of the initial monitoring area. , calculate the final unit length ,in is the subscript coefficient of the monitoring area.

[0020] As a further improvement of this technical solution, the method of dividing the overall monitoring area in S4 includes the following steps:

[0021] S4.4, pass Establish multiple unit areas in the monitoring area, and the corresponding unit area is ;

[0022] S4.5. Divide the monitoring area by adjacent unit areas, the number of divisions is represented by m, and perform image simulation on the divided monitoring area, and mark each unit area in sequence.

[0023] As a further improvement of the present technical solution, the method for formulating a monitoring route in the monitoring area in S5 includes the following steps:

[0024] S5.1. Locate the initial monitoring point in the overall monitoring area as the starting point of the monitoring route;

[0025] S5.2. Establish monitoring routes within the unit area and specify the directions of the monitoring routes;

[0026] S5.3. Locate the monitoring points on the monitoring route as the drone's hovering monitoring points on the monitoring route. Combined with the coordinates of the current monitoring initial point, obtain the coordinates of the monitoring points on each monitoring route. Use the coordinates of the monitoring points on the monitoring route as the drone's movement direction.

[0027] S5.4. The UAV hovers in the vertical direction of the monitoring point and uses laser scanning ranging to obtain the height of the monitoring points on the monitoring route from the aircraft and mark them respectively.

[0028] As a further improvement of the present technical solution, the monitoring initial point in S5.1 is selected in the central area of ​​the entire monitoring area, and the monitoring initial point is located at the vertex position of the unit area.

[0029] As a further improvement of the present technical solution, the coordinate origin for dividing the overall monitoring area in S4 is randomly selected from the coordinate points corresponding to the regular areas during the monitoring process.

[0030] As a further improvement of the present technical solution, the method for formulating the interweaving monitoring route in S6 includes the following steps:

[0031] S6.1. Obtain monitoring points on each monitoring route;

[0032] S6.2. Connect adjacent monitoring points on each monitoring route to form an interwoven monitoring route, ensuring that the interwoven monitoring route intersects with each monitoring route.

[0033] As a further improvement of the present technical solution, the method for trend integration according to the settlement trends of adjacent unit areas in S6 includes the following steps:

[0034] S6.3. Obtain the unit area closest to the initial monitoring point, and obtain its settlement trend based on the corresponding interwoven monitoring route settlement relationship diagram and the monitoring route settlement relationship diagram;

[0035] S6.4. Obtain adjacent unit areas and determine the change pattern of the subsidence trend of the adjacent unit areas;

[0036] If the settlement trends of two adjacent unit areas are symmetrical, symmetrical integration is performed. The conditions are: the adjacent sides are taken as symmetrical sides, and the height variation trends of the monitoring points in the horizontal and vertical directions along the monitoring route are symmetrical.

[0037] If the settlement trends of two adjacent unit areas are consistent, then the continuation integration is performed. The conditions are: with the adjacent sides as symmetric sides, the height of the monitoring points in the horizontal and vertical directions have the same changing trend along the monitoring route, and the height of the monitoring point closest to the initial monitoring point in a unit area is greater than the height of the monitoring point farthest from the initial monitoring point in the adjacent unit area.

[0038] If the subsidence trends of two adjacent unit areas are neither consistent nor different, then the subsidence trends of the two unit areas are unrelated to each other and represent the subsidence trends of different concave surfaces. The two adjacent unit areas are not integrated.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] In the geological disaster deformation data collection method used for Beidou patrol and inspection drones, the settlement trend of the corresponding monitoring area is simulated by the mutually integrated unit areas, and the settlement trend of the corresponding monitoring area is simulated separately for the unintegrated unit areas, thereby realizing unit regionalized settlement area simulation. This method can subdivide the current geological disaster data collection work, divide the settlement trends of different positions in the overall monitoring area through the simulation results and integration work of each unit area, and use the simulation results of adjacent unit areas to refine the feedback of the settlement trend of the overall monitoring area, thereby improving the accuracy of geological disaster deformation data. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of the overall system of the present invention;

[0042] Figure 2 This is a simulation diagram of the data collected by the drone of the present invention;

[0043] Figure 3 This is a simulation diagram of the monitoring area of ​​the present invention;

[0044] Figure 4 This is a schematic diagram of the monitoring route simulation of the present invention;

[0045] Figure 5 It is the route settlement relationship diagram of the present invention. DETAILED DESCRIPTION

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0047] See also Figure 1 As shown, a method for collecting geological disaster deformation data for Beidou patrol and inspection drones is provided, including the following steps:

[0048] S1, use the GPS on the drone to locate the drone's hovering position in real time, and use the attitude measurement unit to collect the flight attitude during hovering monitoring;

[0049] S2. Use laser scanning to measure the distance from the aircraft to obtain the height of the conventional area and establish a conventional distance from the aircraft height dataset , calculate the final average height from the aircraft ,in are the heights from the aircraft monitored at different locations in the conventional area, and z is the total number of location points;

[0050] S3, scan the original image of the monitoring area, locate the monitoring initial point of the monitoring area, and locate the coordinate point of the monitoring initial point of the drone according to GPS;

[0051] S4. Estimate the monitoring area of ​​the monitoring area based on the original image and formulate the unit length , according to the unit length Divide unit area , using unit area Divide the overall monitoring area ,in It is the unit area quantity divided in the overall monitoring area;

[0052] S5. Develop a monitoring route within the monitoring area, adjust the drone's movement position according to the monitoring route, and capture the height of the drone and the corresponding coordinates of the corresponding monitoring points in the monitoring area in real time;

[0053] S6. Based on the corresponding coordinate points of the monitoring route, an interwoven monitoring route is formulated, and a route settlement relationship diagram is formulated based on the height of each corresponding coordinate point from the aircraft. The route settlement relationship diagram is added to the unit area of ​​the corresponding position to perform terrain settlement simulation, and trend integration is performed based on the settlement trends of adjacent unit areas to obtain the terrain settlement trends at different locations in the monitoring area.

[0054] The specific contents are as follows:

[0055] To ensure accurate positioning during the monitoring process, this solution uses GPS installed on the drone to locate the drone's hovering position in real time, and uses an attitude measurement unit to collect the flight attitude during hovering monitoring, that is, the angle of deviation between the drone and the ground during the current monitoring process, so that the hovering angle of each monitoring is consistent, avoiding the influence of irrelevant variables on the monitoring results.

[0056] Furthermore, for distance measurement, this solution uses laser scanning ranging to obtain the distance between the monitoring area and the drone, marked as the height from the drone. In order to use it as data comparison for the settlement area later, the laser scanning ranging is used to obtain the height from the drone of the conventional area (i.e., the normal area around the settlement area where no settlement has occurred). That is, the laser is used to generate and emit light energy vertically to the monitoring area. After the light energy contacts the monitoring area, it is reflected. The time consumed before and after the reflection is recorded. According to the distance formula ,in The height of the monitoring point from the aircraft, The speed of light in the atmosphere, t is the time consumed before and after reflection, such as Figure 2 As shown, is the coordinate of the current drone hovering horizontally at the monitoring position, corresponding to The monitoring coordinates are randomly selected in the current conventional area. Of course, the monitoring coordinates here are obtained after completing the laser scanning distance measurement, and the corresponding height from the aircraft can also be used To further improve the accuracy of the height from the aircraft in the conventional area, a conventional height from the aircraft dataset was established by selecting multiple location points for monitoring. , calculate the final average height from the aircraft , the average height from the aircraft It serves as the height from the aircraft in the current conventional area for later comparison.

[0057] In order to predict the subsidence trend, this scheme uses the segmentation method to conduct unit regional monitoring. In order to be able to perform adaptive segmentation processing, it is necessary to scan the original image of the monitoring area in advance, that is, to scan and shoot the monitoring area through the camera monitoring equipment in conjunction with the drone flight, obtain the original image of the current monitoring area, estimate the area of ​​the current monitoring area through the original image, and formulate the unit length according to the estimated area. n, the specific formulation method is as follows:

[0058] First, collect historical monitoring data and establish the scope of each monitoring area, which are marked as 、 、 ,in For different monitoring area ranges, is the initial monitoring area, is the area value in different ranges, w is the total number of ranges divided. It is worth noting that each monitoring area range can be divided according to the specific geographical environment. After completing the division of the monitoring area range, the unit quantity of the initial monitoring area range is defined. , that is, when the estimated monitoring area of ​​the monitoring area belongs to the initial monitoring area range, the unit length , formulate the superposition constant per unit length , obtain the monitoring area range of the current monitoring area, combined with the unit quantity of the initial monitoring area range Calculate the final unit length ,in is the subscript coefficient of the monitoring area range. When the monitoring area of ​​the estimated monitoring area belongs to ,at this time , the final unit length .

[0059] Complete the unit length of the monitoring area After the calculation work, Figure 3 As shown, through Establish multiple unit areas in the monitoring area, and the corresponding unit area is , the monitoring area is divided by adjacent unit areas, and the number of divisions is determined by It is represented and the divided monitoring area is simulated by image, and each unit area is marked in sequence, such as Figure 2 As shown in the figure, the horizontal scale (0, 1, 2, 3, 4, 5, 6) and the vertical scale (0, 1, 2, 3, 4, 5, 6) are used to represent the position of the monitoring area. For example, the unit area located in the lower left corner is represented by the coordinates of the four vertices, namely (0, 0), (0, 1), (1, 0) and (1, 1).

[0060] Since the settlement status of each settlement area is different, which is specifically reflected in the settlement trend of each small area, it is necessary to monitor the settlement of each unit area during the specific monitoring process. Although the divided unit area is smaller than the overall monitoring area, it is also impossible to complete the monitoring of all the monitoring points contained therein. Therefore, in order to improve the monitoring effect, it is necessary to plan the monitoring route for each unit area. The specific method is as follows:

[0061] Since the monitoring points distributed in each unit area are relatively dense, it is necessary to first locate the monitoring initial point in advance as the starting point of the monitoring route. It is worth noting that in order to ensure the orderliness of the monitoring route, this scheme locates the monitoring initial point to the central area of ​​the overall monitoring area. The central area here is determined manually, and the monitoring initial point is at the vertex position of the unit area. In order to improve the image division efficiency of the monitoring area, the monitoring coordinates randomly selected from the conventional area during the monitoring process are used as the coordinate origin of the overall monitoring area, that is, there is no need to use the drone to perform secondary monitoring again to divide the monitoring area. The coordinate origin of the monitoring area. After the preliminary work is completed, the monitoring initial point is used as the starting point, and the coordinate origin is used to locate the coordinates of the current monitoring initial point. A monitoring route is formulated in the unit area, and the direction of the monitoring route is specified. Figure 3-4 As shown, where O is the monitoring initial point, the corresponding is the first monitoring route, and its two end points are and 1 / 4 of the edge of the unit area, where as well as The drone will move along the monitoring route. During the monitoring process, the drone will hover in the vertical direction of the monitoring point, use laser scanning ranging to obtain the height of the monitoring point from the drone, and mark them respectively. Then, the second monitoring route will be carried out in the same way as above. , the third monitoring route And the fourth monitoring route The monitoring work is to obtain the height of each monitoring point from the aircraft. It is worth noting that the number and position of monitoring points in each monitoring route are determined manually and are proportional to the size of the unit area. The larger the unit area, the more corresponding monitoring points.

[0062] Furthermore, since the monitoring results of the monitoring route can only reflect the subsidence trend in a single direction of the unit area, such as Figure 4 As shown in the figure, each corresponding monitoring route reflects the longitudinal subsidence trend of the unit area. Therefore, in order to fully reflect the subsidence trend of the unit area, it is necessary to establish multiple interwoven monitoring routes. The specific method is as follows:

[0063] First, obtain the monitoring points on each monitoring route, connect the adjacent monitoring points of each monitoring route to form an interwoven monitoring route, and ensure that the interwoven monitoring route intersects with each monitoring route, such as Figure 4 As shown, there are two interwoven monitoring routes, namely as well as , according to the previously measured height from the aircraft, the settlement trend on each interwoven monitoring route is obtained, and this settlement area represents the horizontal settlement trend of the current unit area. Finally, according to the height from the aircraft of the monitoring points on each route, the corresponding route settlement relationship diagram is generated, such as Figure 5 As shown, the route settlement relationship diagram includes the monitoring route settlement relationship diagram and the interwoven monitoring route settlement relationship diagram. It is worth noting that the monitoring route settlement relationship diagram is a combination of each monitoring route. Figure 4 As shown, the final monitoring route settlement relationship diagram is And the height of the corresponding monitoring point from the aircraft, and the horizontal coordinate of the settlement relationship diagram of the monitoring route is each check point, and the order is the distance from the initial monitoring point in the longitudinal direction. The distance of this scheme is for the sake of clarity, so the corresponding 、 、 as well as On the same horizontal line and parallel to one side of the unit area, that is, at this time 、 、 as well as Distance monitoring initial point in the longitudinal direction In the actual monitoring process, the interwoven monitoring route formed by the monitoring points can also be in an inclined state, forming an angle with one side of the unit area. At this time, the distance between each monitoring point on the corresponding monitoring route and the monitoring initial point in the longitudinal direction is The distances are different. At this time, the height of the corresponding monitoring points from the aircraft is obtained in sequence according to the length of the distance. For the interwoven monitoring route, the corresponding monitoring points on the route are obtained according to the distance from the initial monitoring point in the horizontal direction. The distances are arranged, and the heights of the corresponding monitoring points from the aircraft are obtained in sequence according to the length of the distances, and a settlement relationship diagram of the interwoven monitoring routes is generated. The settlement relationship diagram of the interwoven monitoring routes and the settlement relationship diagram of the monitoring routes reflect the settlement trend of the current unit area. Figure 5 As shown, the settlement trend of the unit area on the right is: in the horizontal direction, the height from the aircraft gradually increases from near to far, and in the vertical direction, the height from the aircraft gradually increases from near to far, that is, the current unit area is in a concave state.

[0064] Furthermore, since the current monitoring area is composed of multiple unit areas, the subsidence trends of multiple adjacent unit areas are the same, or they together constitute the same subsidence area. Figure 5As shown, the monitoring initial point Among the four nearest unit areas, the subsidence trend of the upper right unit area is symmetrical with that of the upper left unit area. That is, the two unit areas belong to the same subsidence area. The above principle is used to integrate the trends. The specific steps are as follows:

[0065] First, the unit area closest to the initial monitoring point is obtained, and its settlement trend is obtained according to the corresponding interwoven monitoring route settlement relationship diagram and the monitoring route settlement relationship diagram. The adjacent unit areas are obtained, and the settlement trend change law of the adjacent unit areas is determined;

[0066] If the settlement trends of two adjacent unit areas are symmetrical, symmetrical integration is performed. The conditions are: the adjacent sides are the symmetrical sides, and the height of the monitoring points in the horizontal and vertical directions are symmetrical along the monitoring route. Figure 5 As shown, the settlement trend of the upper right unit area is that the corresponding height from the aircraft in the horizontal direction gradually increases from near to far, and the corresponding height from the aircraft in the longitudinal direction gradually increases from near to far. The settlement trend of the upper left unit area is symmetrical to that of the upper right unit area, so the two adjacent unit areas are symmetrically integrated.

[0067] If the settlement trends of two adjacent unit areas are consistent, the integration is continued. The conditions are: with the adjacent sides as symmetrical sides, the height of the monitoring points in the horizontal and vertical directions are consistent along the monitoring route, and the height of the monitoring point closest to the initial monitoring point in a unit area is greater than the height of the monitoring point farthest from the initial monitoring point in the adjacent unit area. That is, the settlement trends of the two unit areas are the same. Figure 2 As shown, is the coordinate of the current drone hovering horizontally at the monitoring position, corresponding to is the monitoring coordinate of the initial monitoring point in the current monitoring area. If the two unit areas are both on the slope on the right during the division process, it means that the change trends of the two adjacent unit areas are consistent at this time. The closer to the slope, the higher the corresponding height from the aircraft, and vice versa.

[0068] For monitoring areas with complex subsidence trends, they may be composed of multiple concave surfaces. If two adjacent unit areas are located in two concave surfaces respectively, that is, if the subsidence trends of the two adjacent unit areas are neither consistent nor different, then the subsidence trends of the two unit areas are unrelated to each other and represent the subsidence trends of different concave surfaces respectively. At this time, the two adjacent unit areas are not integrated. Of course, if one of the unit areas has been integrated with the other adjacent unit areas before, the integration state of the current unit area will be maintained, and it will reflect the subsidence trend of the corresponding concave surface together with the corresponding unit area.

[0069] After completing the integration of all unit areas, the settlement trend of the corresponding monitoring area is simulated through the mutually integrated unit areas, and the settlement trend of the corresponding monitoring area is simulated separately for the unintegrated unit areas, thereby realizing unit regionalized settlement area simulation. This can subdivide the current geological disaster data collection work, and through the simulation results and integration work of each unit area, and using the simulation results of adjacent unit areas to divide the settlement trends of different positions in the overall monitoring area, the settlement trend of the overall monitoring area is refinedly fed back, thereby improving the accuracy of geological disaster deformation data.

[0070] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for collecting geological disaster deformation data for Beidou patrol and inspection drones, characterized by: The steps include: S1, use the GPS on the drone to locate the drone's hovering position in real time, and use the attitude measurement unit to collect the flight attitude during hovering monitoring; S2. Use laser scanning to measure the distance from the aircraft to obtain the height of the conventional area and establish a conventional distance from the aircraft height dataset , calculate the final average height from the aircraft ,in - are the heights from the aircraft monitored at different locations in the conventional area, and z is the total number of location points; S3, scan the original image of the monitoring area, locate the monitoring initial point of the monitoring area, and locate the coordinate point of the monitoring initial point of the drone according to GPS; S4. Estimate the monitoring area of ​​the monitoring area based on the original image and formulate the unit length , according to the unit length Divide unit area , using unit area Divide the overall monitoring area , where m is the unit area quantity divided in the overall monitoring area; S5. Develop a monitoring route within the monitoring area, adjust the drone's movement position according to the monitoring route, and capture the height of the drone and the corresponding coordinates of the corresponding monitoring points in the monitoring area in real time; S6. Based on the corresponding coordinate points of the monitoring route, an interwoven monitoring route is developed, and a route settlement relationship diagram is developed based on the height of each corresponding coordinate point from the aircraft. The route settlement relationship diagram is added to the unit area at the corresponding position to perform a terrain settlement simulation. The trend is integrated based on the settlement trends of adjacent unit areas to obtain the terrain settlement trends at different locations in the monitoring area; The method for formulating the interweaving monitoring route in S6 comprises the following steps: S6.

1. Obtain monitoring points on each monitoring route; S6.

2. Connect adjacent monitoring points on each monitoring route to form an interwoven monitoring route, ensuring that the interwoven monitoring route intersects with each monitoring route; The method for trend integration according to the subsidence trends of adjacent unit areas in S6 comprises the following steps: S6.

3. Obtain the unit area closest to the initial monitoring point, and obtain its settlement trend based on the corresponding interwoven monitoring route settlement relationship diagram and the monitoring route settlement relationship diagram; S6.

4. Obtain adjacent unit areas and determine the change pattern of the subsidence trend of the adjacent unit areas; If the settlement trends of two adjacent unit areas are symmetrical, symmetrical integration is performed. The conditions are: the adjacent sides are taken as symmetrical sides, and the height variation trends of the monitoring points in the horizontal and vertical directions along the monitoring route are symmetrical. If the settlement trends of two adjacent unit areas are consistent, then the continuation integration is performed. The conditions are: with the adjacent sides as symmetric sides, the height of the monitoring points in the horizontal and vertical directions have the same changing trend along the monitoring route, and the height of the monitoring point closest to the initial monitoring point in a unit area is greater than the height of the monitoring point farthest from the initial monitoring point in the adjacent unit area. If the subsidence trends of two adjacent unit areas are neither consistent nor different, then the subsidence trends of the two unit areas are unrelated to each other and represent the subsidence trends of different concave surfaces. The two adjacent unit areas are not integrated.

2. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 1 is characterized in that: The method for obtaining the height of the conventional area from the aircraft by using laser scanning distance measurement in S2 comprises the following steps: S2.

1. Use laser to generate and emit light energy vertically to the monitoring area, and the light energy will be reflected after contacting the monitoring area; S2.

2. Record the time before and after the reflection, and use the distance formula ,in The height of the monitoring point from the aircraft, is the speed of light in the atmosphere, and t is the time consumed before and after reflection.

3. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 1 is characterized in that: The unit length is formulated in S4 The method comprises the following steps: S4.

1. Collect historical monitoring data and establish the scope of each monitoring area, marked as 、 、 ,as well as ,in For different monitoring area ranges, is the initial monitoring area, is the area value in different ranges, and w is the total number of ranges divided; S4.

2. Define the unit quantity of the initial monitoring area , formulate the superposition constant per unit length ; S4.

3. Obtain the monitoring area of ​​the current monitoring area and combine it with the unit quantity of the initial monitoring area. , calculate the final unit length ,in is the subscript coefficient of the monitoring area.

4. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 3 is characterized by: The method for dividing the overall monitoring area in S4 comprises the following steps: S4.

4. Establish multiple unit areas in the monitoring area through n, and the corresponding unit area is ; S4.

5. Divide the monitoring area by adjacent unit areas, the number of divisions is represented by m, and perform image simulation on the divided monitoring area, and mark each unit area in sequence.

5. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 1, characterized in that: The method for formulating a monitoring route in the monitoring area in S5 comprises the following steps: S5.

1. Locate the initial monitoring point in the overall monitoring area as the starting point of the monitoring route; S5.

2. Establish monitoring routes within the unit area and specify the directions of the monitoring routes; S5.

3. Locate the monitoring points on the monitoring route as the drone's hovering monitoring points on the monitoring route. Combined with the coordinates of the current monitoring initial point, obtain the coordinates of the monitoring points on each monitoring route. Use the coordinates of the monitoring points on the monitoring route as the drone's movement direction. S5.

4. The UAV hovers in the vertical direction of the monitoring point and uses laser scanning ranging to obtain the height of the monitoring points on the monitoring route from the aircraft and mark them respectively.

6. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 5, characterized in that: In the above S5.1, the monitoring initial point is selected in the central area of ​​the entire monitoring area, and the monitoring initial point is located at the vertex position of the unit area.

7. The method for collecting geological disaster deformation data for Beidou inspection drones according to claim 4, characterized in that: The coordinate origin of the division of the entire monitoring area in S4 is randomly selected from the coordinate points corresponding to the regular areas during the monitoring process.

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