Unmanned aerial vehicle route waypoint information calculation method and system for any facade surveying

Abstract

The application provides a UAV route waypoint information calculation method and system for arbitrary facade mapping, the method comprising: controlling the UAV to fly to the front of the photographed object, taking a photograph of the photographed surface by using a camera, and calculating the UTM coordinates of the center point of the photographed surface according to the geographic position information of the UAV; obtaining a virtual mapping area planned by a user in the photographed surface photograph, calculating the coordinate mapping relationship between the virtual mapping area and the real mapping area on the corresponding photographed surface according to the camera parameters and the sensor size; generating a route in the virtual mapping area according to a preset lateral overlap rate, and obtaining virtual waypoint coordinates; taking the center point of the photographed surface as the origin, establishing a real two-dimensional coordinate system, mapping the virtual waypoint coordinates to real waypoint coordinates according to the coordinate mapping relationship; and converting the real waypoint coordinates to the geographic position information of the corresponding waypoint according to the geographic position information of the center point of the photographed surface. The application can improve the mapping operation efficiency and flexibility of the UAV.

Description

Technical Field

[0001] This application relates to the field of UAV aerial surveying technology, specifically to a method and system for calculating UAV flight route and waypoint information for arbitrary elevation mapping. Background Technology

[0002] With the development of drone inspection technology, higher requirements are placed on the refined perception and path planning of target object surfaces. In practical applications, objects such as building facades, towers, and large equipment shells all have vast facade areas. The automated detection, modeling, and inspection of these facades require drones and other equipment to generate appropriate flight paths based on facade features.

[0003] Generally, flight path planning requires calculating waypoint information first. Existing UAV facade mapping solutions typically require acquiring the 3D information of the subject and extracting its 3D contour. However, acquiring 3D information is very costly and often relies on manual on-site surveys and calculations. On the one hand, the calculations are tedious and prone to errors, affecting UAV mapping work. On the other hand, mapping is done on a per-facade basis, lacking flexibility and not supporting users in selecting a specific area within the facade. If flight path planning is only performed on a specific area of ​​the facade, it will still generate a grid for the entire facade and then filter out useless waypoints, which brings additional calculation and flight costs and may even increase safety risks. Summary of the Invention

[0004] To address the technical problems of low operational efficiency and lack of flexibility in existing UAV mapping schemes, this application proposes a method and system for calculating UAV flight path and waypoint information for mapping arbitrary elevations.

[0005] According to the first aspect of this application, a method for calculating UAV flight path and waypoint information for arbitrary elevation mapping is proposed, including: Control the drone to fly in front of the subject, take a picture of the subject's surface using a camera, and calculate the UTM coordinates of the center point of the subject's surface based on the drone's geographical location information, which includes longitude, latitude, and altitude. The system obtains the virtual mapping area planned by the user in the photograph of the subject surface, and calculates the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size of the camera. Based on a preset lateral overlap rate, a flight path is generated in the virtual mapping area, and the virtual waypoint coordinates of the flight path in the photograph of the subject area are obtained. With the center point of the photographed surface as the origin, a real two-dimensional coordinate system is established about the photographed surface. According to the coordinate mapping relationship, the virtual waypoint coordinates are mapped to the real waypoint coordinates in the real two-dimensional coordinate system. Based on the UTM coordinates of the center point of the photographed surface, the real waypoint coordinates are converted into the geographical location information of the corresponding waypoint.

[0006] Preferably, the step of calculating the geographical location information of the center point of the photographed surface based on the geographical location information of the UAV specifically includes: Convert the geographic location information of the UAV into the UTM coordinates of the UAV; Obtain the initial heading angle α of the drone during the shooting process and the straight-line distance from the drone to the subject surface. l ; The UTM coordinates of the center point of the photographed surface are calculated using the following formula: in,( dx , dy , dz ) represents the UTM coordinates of the UAV. px , py , pz ) represents the UTM coordinates of the center point of the photographed surface.

[0007] Preferably, the step of obtaining the virtual mapping area planned by the user in the photograph of the subject surface, and calculating the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size of the camera, specifically includes: Obtain the pixel coordinates of the virtual mapping area in the photograph of the subject surface; Calculate the ground resolution GSD based on the camera's focal length, sensor size, and the pixel count of the photographed surface: Based on the ground resolution GSD, calculate the coordinate mapping relationship between the pixel coordinates of the virtual mapping area in the photograph of the subject surface and the actual coordinates of the real mapping area on the subject surface.

[0008] Preferably, the step of converting the real waypoint coordinates into the corresponding waypoint's geographic location information based on the UTM coordinates of the center point of the photographed surface specifically includes: Calculate the lateral unit vector of the photographed surface based on the initial heading angle α during the drone's shooting. ; Based on the true waypoint coordinates, the lateral unit vector of the photographed surface, and the UTM coordinates of the center point of the photographed surface, the true waypoint coordinates are converted into the corresponding UTM coordinates of the waypoint using the following formula: in,( ux , uy , uz ) represents the UTM coordinates of the corresponding waypoint. x , y () represents the x-coordinate of the actual waypoint coordinates; Convert the UTM coordinates of the corresponding waypoint into the geographical location information of the corresponding waypoint.

[0009] Preferably, the step of controlling the drone to fly in front of the subject and taking a photograph of the subject's surface using a camera specifically includes: Control the drone to fly directly in front of the center point of the subject's surface, and control the camera's pitch angle to 0 degrees; The camera takes a photograph of the subject's frontal view.

[0010] Preferably, the straight-line distance from the drone to the photographed surface... l The methods for obtaining it include: The laser rangefinder lens mounted on the camera measures the straight-line distance from the drone to the photographed surface. l .

[0011] According to the second aspect of this application, a UAV route and waypoint information calculation system for arbitrary elevation mapping is proposed, comprising: The target information calculation module is configured to control the drone to fly in front of the subject, take a photo of the subject's surface using a camera, and calculate the UTM coordinates of the center point of the subject's surface based on the drone's geographical location information, which includes longitude, latitude, and altitude. The mapping module is configured to acquire a virtual mapping area planned by the user in the photograph of the subject surface, and calculate the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size of the camera. A waypoint coordinate generation module is configured to generate a flight path in the virtual mapping area according to a preset lateral overlap rate, and obtain the virtual waypoint coordinates of the flight path in the photograph of the subject area. The waypoint coordinate transformation module is configured to establish a real two-dimensional coordinate system about the subject surface with the center point of the subject surface as the origin, and to map the virtual waypoint coordinates to real waypoint coordinates in the real two-dimensional coordinate system according to the coordinate mapping relationship. The waypoint information calculation module is configured to convert the real waypoint coordinates into the geographical location information of the corresponding waypoint based on the UTM coordinates of the center point of the photographed surface.

[0012] According to a third aspect of this application, an electronic device is proposed, comprising: one or more processors; and a memory for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the method for calculating UAV route and waypoint information for arbitrary elevation mapping as provided in any embodiment of the first aspect above.

[0013] According to a fourth aspect of this application, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements a method for calculating UAV route and waypoint information for arbitrary elevation mapping as provided in any embodiment of the first aspect above.

[0014] This application proposes a method and system for calculating flight path and waypoint information for UAVs used in surveying arbitrary elevations. Using GPS and laser ranging information from the UAV, the true geographical location of the surveyed surface can be directly calculated without relying on complex 3D modeling. Users can freely plan virtual surveying areas and flight paths on photos of the surveyed surface taken by the UAV. The ground resolution (GSD) can be calculated using camera parameters. Then, by calculating the mapping relationship between the pixel coordinates on the surveyed surface photo and the true coordinates of the surveyed surface, the true waypoint coordinates can be obtained, avoiding errors from manual conversion and improving data acquisition efficiency. Finally, the true waypoint coordinates are converted into the longitude, latitude, and altitude information of the waypoints, generating standardized waypoint information which is then uploaded to the flight control system, avoiding manual conversion and significantly saving time in planning surveying flight paths. Attached Figure Description

[0015] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments and, together with the description, serve to explain the principles of the invention. Other embodiments and many anticipated advantages of the embodiments will be readily recognized as they become better understood through reference to the following detailed description. Elements in the drawings are not necessarily to scale. The same reference numerals refer to corresponding similar parts.

[0016] Figure 1 This is a flowchart of a method for calculating UAV route and waypoint information for arbitrary elevation mapping according to a specific embodiment of this application; Figure 2 This is a schematic diagram of a UAV route and waypoint information calculation system for arbitrary elevation mapping according to a specific embodiment of this application; Figure 3 This is a schematic diagram of an electronic device according to a specific embodiment of the present application. Detailed Implementation

[0017] The features and exemplary embodiments of various aspects of the present invention will now be described in detail. To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the invention.

[0018] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0019] This application proposes a method for calculating UAV flight path and waypoint information for arbitrary elevation mapping. Figure 1 A flowchart illustrating a method for calculating UAV flight path and waypoint information for arbitrary elevation mapping according to a specific embodiment of this application is shown, as follows: Figure 1 As shown, the method includes the following steps: Step S101: Control the drone to fly in front of the subject, take a photo of the subject's surface using the camera, and calculate the UTM coordinates of the center point of the subject's surface based on the drone's geographical location information, which includes longitude, latitude, and altitude.

[0020] In one specific embodiment, the drone is controlled to fly directly in front of the center point of the subject's surface, and then the pitch angle of the camera mounted on the drone is controlled to rotate to 0 degrees (i.e., parallel to the ground plane), and then a photo of the subject's surface is taken.

[0021] Furthermore, when the drone is taking photos of the subject area, the drone's geographical location information (i.e., GPS information, including longitude, latitude, and altitude) and initial heading angle α sent by the drone's flight controller are obtained. The drone's latitude and longitude coordinates are converted into UTM coordinates, and the altitude information is added to obtain the drone's UTM coordinates. dx , dy , dz ).

[0022] Then, the straight-line distance from the drone to the center point of the subject is measured using the laser rangefinder lens mounted on the drone's camera. l Based on the initial heading angle α and straight-line distance l The UTM coordinates of the center point of the photographed surface are calculated using the following formula: in,( px , py , pz ) represents the UTM coordinates of the center point of the photographed surface.

[0023] Finally, the UTM coordinates of the center point of the photographed surface ( px , py This is converted into the latitude and longitude information of the center point of the photographed surface, plus the altitude information. pz This will give you the geographical location information of the center point of the photographed surface.

[0024] Step S102: Obtain the virtual mapping area planned by the user in the photographed surface, and calculate the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the photographed surface based on the camera parameters and sensor size.

[0025] In one specific embodiment, based on the canvas provided by the software, the user can draw a virtual surveying area that they wish to survey according to their actual needs in the captured photograph of the subject area. The pixel coordinates of any point in the virtual surveying area can be directly obtained.

[0026] Then, based on the camera's focal length, sensor size, and the pixel count of the photographed surface, the ground resolution (GSD) is calculated using the following formula: in, GSD ( W ), GSD ( H These represent the width and height of the ground resolution GSD, respectively. SW , SH These are the width and height of the sensor, respectively. f For the camera's focal length, PXW , PXH These are the pixel width and height of the photographed area, respectively.

[0027] Therefore, based on the ground resolution GSD, the coordinate mapping relationship between the pixel coordinates of the virtual surveyed area in the photographed surface and the actual coordinates of the real surveyed area on the photographed surface can be calculated: in,( nx , ny() represents the pixel coordinates of any point in the virtual mapping area. rx , ry () represents the true coordinates of the actual surveyed area corresponding to this point.

[0028] Step S103: Generate a flight path in the virtual mapping area according to the preset lateral overlap rate, and obtain the virtual waypoint coordinates of the flight path in the photograph of the subject area.

[0029] In one specific embodiment, an arc-shaped flight path is generated in the virtual mapping area according to a preset lateral overlap rate. The virtual waypoint coordinates (i.e. pixel coordinates) of each waypoint in the photographed surface can be directly obtained.

[0030] Step S104: Establish a real two-dimensional coordinate system about the subject surface with the center point of the subject surface as the origin, and map the virtual waypoint coordinates to the real waypoint coordinates in the real two-dimensional coordinate system according to the coordinate mapping relationship.

[0031] In a specific embodiment, a real two-dimensional coordinate system is established with the center point of the photographed surface as the origin. Since the pixel coordinates of the virtual waypoints relative to the center point of the photographed surface are known in the virtual mapping area of ​​the photographed surface photo, the real waypoint coordinates mapped by the virtual waypoints in the real two-dimensional coordinate system can be calculated according to the above coordinate mapping relationship.

[0032] Step S105: Based on the UTM coordinates of the center point of the photographed surface, convert the real waypoint coordinates into the geographical location information of the corresponding waypoint.

[0033] In a specific embodiment, given the initial heading angle α of the UAV when taking a picture of the subject surface, the unit vector of the UAV's orientation is: Then the horizontal unit vector of the photographed surface is: Based on the true waypoint coordinates, the lateral unit vector of the photographed surface, and the UTM coordinates of the center point of the photographed surface, the true waypoint coordinates can be converted to the corresponding UTM coordinates of the waypoint using the following formula: in,( ux , uy , uz ) represents the UTM coordinates of the corresponding waypoint. x , y () represents the actual waypoint coordinates.

[0034] Finally, the UTM coordinates of the corresponding waypoint ( ux , uyConvert the coordinates to the latitude and longitude of the corresponding waypoint, and add altitude information. uz This will give you the geographical location information of the corresponding waypoint.

[0035] In summary, this application provides a method and system for calculating UAV flight path and waypoint information for arbitrary elevation mapping. Using the UAV's GPS and laser ranging information, the true geographical location of the photographed surface can be directly calculated without relying on complex 3D modeling. Users can freely plan virtual mapping areas and flight paths on photographs of the surface taken by the UAV. The ground resolution (GSD) can be calculated using camera parameters. Then, by calculating the mapping relationship between the pixel coordinates on the photograph and the true coordinates of the surface, the true waypoint coordinates can be obtained, avoiding errors from manual conversion and improving data acquisition efficiency. Finally, the true waypoint coordinates are converted into the longitude, latitude, and altitude information of the waypoints, generating standardized waypoint information which is then uploaded to the flight control system, avoiding manual conversion and significantly saving time in planning mapping flight paths.

[0036] Based on the above-mentioned method for calculating UAV flight path and waypoint information for arbitrary elevation mapping, and based on the same inventive concept, this application also proposes a system for calculating UAV flight path and waypoint information for arbitrary elevation mapping. Figure 2 A schematic diagram of a UAV waypoint information calculation system for arbitrary elevation mapping, according to a specific embodiment of this application, is shown. Figure 2 As shown, the system includes: The target information calculation module 201 is configured to control the UAV to fly in front of the subject, take a photo of the subject's surface using a camera, and calculate the UTM coordinates of the center point of the subject's surface based on the UAV's geographical location information, which includes longitude, latitude, and altitude.

[0037] The mapping module 202 is configured to acquire the virtual mapping area planned by the user in the photograph of the subject surface, and calculate the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size.

[0038] The waypoint coordinate generation module 203 is configured to generate flight routes in a virtual mapping area based on a preset lateral overlap rate, and obtain the virtual waypoint coordinates of the flight routes in the photographic area.

[0039] The waypoint coordinate transformation module 204 is configured to establish a real two-dimensional coordinate system about the subject surface with the center point of the subject surface as the origin, and to map the virtual waypoint coordinates to the real waypoint coordinates in the real two-dimensional coordinate system according to the coordinate mapping relationship.

[0040] The waypoint information calculation module 205 is configured to convert the real waypoint coordinates into the geographical location information of the corresponding waypoint based on the UTM coordinates of the center point of the photographed surface.

[0041] Based on the above-described method for calculating UAV flight path and waypoint information for arbitrary elevation mapping, and based on the same inventive concept, this application also proposes an electronic device. Figure 3 A schematic diagram of an electronic device according to a specific embodiment of this application is shown, such as... Figure 3 As shown, the electronic device includes: The system includes one or more processors 301, a memory 302, a bus 303, and a communication interface 304. The processors 301, memory 302, and communication interface 304 are connected via the bus 303. The memory 302 stores one or more programs, which, when executed by the processors 301, enable the electronic device to implement the UAV route and waypoint information calculation method for arbitrary elevation mapping provided in any of the above embodiments.

[0042] Based on the above-described method for calculating UAV route and waypoint information for arbitrary elevation mapping, and based on the same inventive concept, this application also proposes a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it implements the method for calculating UAV route and waypoint information for arbitrary elevation mapping provided in any of the above embodiments.

[0043] In the embodiments of this application, it should be understood that the disclosed technical content can be implemented in other ways. The device / system / method embodiments described above are merely illustrative. For example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0044] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0045] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0046] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0047] It is evident that those skilled in the art can make various modifications and alterations to the embodiments of the present invention without departing from the spirit and scope of the invention. In this way, the invention is also intended to cover such modifications and alterations if they fall within the scope of the claims and their equivalents. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are described in mutually different dependent claims does not indicate that a combination of these measures cannot be used for profit. Any reference numerals in the claims should not be considered as limiting the scope.

Claims

1. A method for calculating UAV flight path and waypoint information for arbitrary elevation mapping, characterized in that, include: Control the drone to fly in front of the subject, take a picture of the subject's surface using a camera, and calculate the UTM coordinates of the center point of the subject's surface based on the drone's geographical location information, which includes longitude, latitude, and altitude. The system obtains the virtual mapping area planned by the user in the photograph of the subject surface, and calculates the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size of the camera. Based on a preset lateral overlap rate, a flight path is generated in the virtual mapping area, and the virtual waypoint coordinates of the flight path in the photograph of the subject area are obtained. With the center point of the photographed surface as the origin, a real two-dimensional coordinate system is established about the photographed surface. According to the coordinate mapping relationship, the virtual waypoint coordinates are mapped to the real waypoint coordinates in the real two-dimensional coordinate system. Based on the UTM coordinates of the center point of the photographed surface, the real waypoint coordinates are converted into the geographical location information of the corresponding waypoints; The calculation of the UTM coordinates of the center point of the photographed surface based on the geographical location information of the UAV specifically includes: Convert the geographic location information of the UAV into the UTM coordinates of the UAV; Obtain the initial heading angle α of the drone during the shooting process and the straight-line distance from the drone to the subject surface. l ; The UTM coordinates of the center point of the photographed surface are calculated using the following formula: in,( dx , dy , dz ) represents the UTM coordinates of the UAV. px , py , pz ) represents the UTM coordinates of the center point of the photographed surface; The step of converting the real waypoint coordinates into the geographical location information of the corresponding waypoint based on the UTM coordinates of the center point of the photographed surface specifically includes: Calculate the lateral unit vector of the photographed surface based on the initial heading angle α during the drone's shooting. ; Based on the true waypoint coordinates, the lateral unit vector of the photographed surface, and the UTM coordinates of the center point of the photographed surface, the true waypoint coordinates are converted into the corresponding UTM coordinates of the waypoint using the following formula: in,( ux , uy , uz ) represents the UTM coordinates of the corresponding waypoint. x , y () represents the actual waypoint coordinates; Convert the UTM coordinates of the corresponding waypoint into the geographical location information of the corresponding waypoint.

2. The method according to claim 1, characterized in that, The step of acquiring the virtual mapping area planned by the user in the photographed surface, and calculating the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the photographed surface based on the camera parameters and sensor size, specifically includes: Obtain the pixel coordinates of the virtual mapping area in the photograph of the subject surface; Calculate the ground resolution GSD based on the camera's focal length, sensor size, and the pixel count of the photographed surface: Based on the ground resolution GSD, calculate the coordinate mapping relationship between the pixel coordinates of the virtual mapping area in the photograph of the subject surface and the actual coordinates of the real mapping area on the subject surface.

3. The method according to claim 1, characterized in that, The process of controlling the drone to fly in front of the subject and taking a photograph of the subject's surface using a camera specifically includes: Control the drone to fly directly in front of the center point of the subject's surface, and control the camera's pitch angle to 0 degrees; The camera takes a photograph of the subject's frontal view.

4. The method according to claim 1, characterized in that, The straight-line distance from the drone to the photographed surface l The methods for obtaining it include: The laser rangefinder lens mounted on the camera measures the straight-line distance from the drone to the photographed surface. l .

5. A UAV waypoint information calculation system for surveying arbitrary elevations, characterized in that, include: The target information calculation module is configured to control the drone to fly in front of the subject, take a photograph of the subject's surface using a camera, and calculate the UTM coordinates of the center point of the subject surface based on the drone's geographic location information, including longitude, latitude, and altitude. Specifically, it includes: Convert the geographic location information of the UAV into the UTM coordinates of the UAV; Obtain the initial heading angle α of the drone during the shooting process and the straight-line distance from the drone to the subject surface. l ; The UTM coordinates of the center point of the photographed surface are calculated using the following formula: in,( dx , dy , dz ) represents the UTM coordinates of the UAV. px , py , pz ) represents the UTM coordinates of the center point of the photographed surface; The mapping module is configured to acquire a virtual mapping area planned by the user in the photograph of the subject surface, and calculate the coordinate mapping relationship between the virtual mapping area and the corresponding real mapping area on the subject surface based on the camera parameters and sensor size of the camera. A waypoint coordinate generation module is configured to generate a flight path in the virtual mapping area according to a preset lateral overlap rate, and obtain the virtual waypoint coordinates of the flight path in the photograph of the subject area. The waypoint coordinate transformation module is configured to establish a real two-dimensional coordinate system about the subject surface with the center point of the subject surface as the origin, and to map the virtual waypoint coordinates to real waypoint coordinates in the real two-dimensional coordinate system according to the coordinate mapping relationship. The waypoint information calculation module is configured to convert the real waypoint coordinates into the geographical location information of the corresponding waypoint based on the UTM coordinates of the center point of the photographed surface, specifically including: Calculate the lateral unit vector of the photographed surface based on the initial heading angle α during the drone's shooting. ; Based on the true waypoint coordinates, the lateral unit vector of the photographed surface, and the UTM coordinates of the center point of the photographed surface, the true waypoint coordinates are converted into the corresponding UTM coordinates of the waypoint using the following formula: in,( ux , uy , uz ) represents the UTM coordinates of the corresponding waypoint. x , y () represents the actual waypoint coordinates; Convert the UTM coordinates of the corresponding waypoint into the geographical location information of the corresponding waypoint.

6. An electronic device, characterized in that, include: One or more processors; A memory for storing one or more programs that, when executed by one or more processors, cause the electronic device to perform the method as described in any one of claims 1 to 4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1 to 4.

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