Emergency aerial remote sensing methods, devices, equipment and storage media

Abstract

This invention discloses an emergency aerial remote sensing method, apparatus, equipment, and storage medium, belonging to the field of aerial remote sensing technology. The method includes searching for an emergency target and determining its latitude and longitude coordinates; calculating the distance between the aircraft's vertical point on the ground and the emergency target based on the aircraft's relative altitude and the angle information of the aircraft's remote sensing equipment; calculating the latitude and longitude changes of the two endpoints of the flight path relative to the emergency target based on the distance between the aircraft's vertical point on the ground and the emergency target, and the latitude and longitude coordinates of the emergency target, and generating a flight path; flying along the generated flight path and acquiring multi-source remote sensing data of the emergency target using different remote sensing equipment. This invention solves the problems of blind flight and poor data quality in traditional emergency remote sensing through intelligent flight path planning, significantly improving target search efficiency and remote sensing data accuracy, and is suitable for emergency scenarios such as natural disaster monitoring and accident search and rescue.

Description

Technical Field

[0001] This invention belongs to the field of airborne remote sensing technology, specifically relating to emergency airborne remote sensing methods, devices, equipment, and storage media. Background Technology

[0002] Airborne remote sensing technology, as a crucial component of modern emergency response systems, plays a key role in natural disaster monitoring, accident search and rescue, and environmental assessment. This technology utilizes aerial platforms (such as fixed-wing aircraft, drones, and airships) equipped with multispectral, infrared, and lidar remote sensing devices to rapidly acquire large-scale, high-time-rate on-site data, providing a scientific basis for emergency decision-making. In recent years, with advancements in sensor technology and data processing capabilities, the application scope of airborne remote sensing in emergency scenarios has further expanded, including areas such as earthquake disaster assessment, forest fire monitoring, and marine oil spill tracking.

[0003] However, existing emergency aerial remote sensing technologies still have significant limitations in practical applications. Traditional methods typically rely on manual flight path planning, employing wide-area searches or experience-based flight routes when the target location is unclear, resulting in low data acquisition efficiency. For example, in maritime search and rescue missions, operators often need to determine the approximate location of the target visually or through simple radar scans, followed by multiple rounds of large-scale "blind" flights to cover the potential area. This approach is not only time-consuming and labor-intensive, but may also lead to the omission of critical targets or the acquisition of low-quality, incomplete remote sensing data due to unreasonable flight altitude, angle, or coverage.

[0004] Furthermore, existing technologies lack systematic optimization for the collaborative use of different remote sensing devices. Due to significant differences in field of view, side-view angle, and resolution among various sensors (such as optical cameras, infrared imagers, and synthetic aperture radar), device parameter matching is often neglected in emergency scenarios due to time constraints, leading to difficulties in effective data fusion or insufficient accuracy. For example, an electro-optical pod may fail to fully cover the target area when the side-view angle is off, while the field of view limitations of multispectral cameras may cause data overlap or omissions. These problems further reduce the reliability and usability of emergency remote sensing data.

[0005] To address the aforementioned shortcomings, some studies have attempted to introduce automated flight path planning algorithms or combine satellite data with positioning assistance, but these still suffer from drawbacks such as poor real-time performance and weak adaptability. Especially in complex terrain or dynamic disaster scenarios (such as flooding or fire spread), existing technologies struggle to quickly generate flight plans that balance efficiency and accuracy. Therefore, there is an urgent need for an emergency aerial remote sensing technology capable of intelligently calculating flight paths and optimizing multi-device collaboration to improve the targeting and quality of data collection and provide more efficient technical support for emergency rescue. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides an emergency aerial remote sensing method, apparatus, equipment, and storage medium. Based on different remote sensing devices mounted on an aerial platform, the location information of emergency targets is searched. Then, a flight path is calculated based on information such as flight altitude and angle. The aircraft flies along the predetermined flight path, and the onboard remote sensing devices acquire multi-source remote sensing data for the emergency targets, avoiding blind flight.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0008] An emergency aerial remote sensing method, the method comprising:

[0009] Step 1: Search for emergency targets and determine their latitude and longitude coordinates;

[0010] Step 2: Calculate the distance between the aircraft's vertical point on the ground and the emergency target based on the aircraft's relative altitude and the angle information from the aircraft's remote sensing equipment; wherein the angle information includes the field of view and the side view.

[0011] Step 3: Based on the distance between the aircraft's vertical point on the ground and the emergency target, as well as the latitude and longitude coordinates of the emergency target, calculate the changes in latitude and longitude of the two ends of the flight path relative to the emergency target, and generate the flight path.

[0012] Step 4: Fly along the generated flight path and use different remote sensing equipment to acquire multi-source remote sensing data of the emergency target.

[0013] On the other hand, the present invention provides an emergency aerial remote sensing device, comprising:

[0014] The coordinate generation module is used to search for emergency targets and determine their latitude and longitude coordinates;

[0015] The distance calculation module is used to calculate the distance between the aircraft's vertical point on the ground and the emergency target based on the aircraft's relative flight altitude and the angle information of the remote sensing equipment on the aircraft; wherein the angle information includes the field of view and the side view.

[0016] The route generation module is used to calculate the changes in latitude and longitude of the two ends of the route relative to the emergency target based on the distance between the aircraft's vertical point on the ground and the emergency target, as well as the latitude and longitude coordinates of the emergency target, and then generate the route.

[0017] The data acquisition module is used to fly along the generated flight path and acquire multi-source remote sensing data of emergency targets using different remote sensing equipment.

[0018] Thirdly, the present invention provides an electronic device comprising: one or more processors; and a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned emergency aerial remote sensing method.

[0019] Fourthly, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enable the processor to implement the aforementioned emergency aerial remote sensing method.

[0020] The beneficial effects of this invention are as follows:

[0021] To improve the accuracy and efficiency of data collection, the system automatically calculates flight paths and combines target coordinates, relative altitude, and remote sensing equipment parameters to precisely plan flight routes. This ensures that the remote sensing equipment can fully cover the target area, avoids invalid flights, and significantly improves the efficiency and accuracy of data collection.

[0022] Optimize the collaborative acquisition of multi-source remote sensing data. By uniformly calculating the angle parameters of different devices, ensure the spatial and temporal consistency of multi-source remote sensing data, which facilitates subsequent data fusion and analysis and improves the decision support capability for emergency response.

[0023] The system enhances the automation and intelligence of emergency response missions by employing onboard computers to calculate flight routes in real time, reducing manual intervention and operational complexity. Especially in complex disaster environments with tight deadlines, the system can quickly generate optimal flight plans, improving the response speed of emergency missions and buying valuable time for rescue operations.

[0024] To improve the integrity and usability of remote sensing data, this application ensures that remote sensing equipment can acquire comprehensive, high-resolution data of the target by accurately calculating flight path length, azimuth angle, and target coverage. This avoids the problem of sacrificing data quality for "emergency" purposes in traditional methods, and provides more reliable data support for subsequent work such as disaster assessment and rescue command. Attached Figure Description

[0025] Figure 1 This is a flowchart of the emergency aerial remote sensing method of the present invention;

[0026] Figure 2 This is a schematic diagram illustrating the relationship between the angle information of the remote sensing equipment of the present invention, the relative flight altitude of the aircraft, and the target.

[0027] Figure 3 This is a schematic diagram illustrating the relationship between the objective of this invention and the flight path;

[0028] Figure 4 This is one of the methods for acquiring multi-source remote sensing data of emergency targets using different remote sensing equipment;

[0029] Figure 5 Part Two: Acquiring Multi-Source Remote Sensing Data of Emergency Targets Using Different Remote Sensing Equipment;

[0030] Figure 6 This is a schematic diagram of the flight path obtained based on the method of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] like Figure 1 The diagram shown is a flowchart of the emergency aerial remote sensing method of the present invention, which specifically includes:

[0033] Step 1: Search for emergency targets and determine their latitude and longitude coordinates;

[0034] Step 2: Calculate the distance between the aircraft's vertical point on the ground and the emergency target based on the aircraft's relative altitude and the angle information from the aircraft's remote sensing equipment; wherein the angle information includes the field of view and the side view.

[0035] Step 3: Based on the distance between the aircraft's vertical point on the ground and the emergency target, as well as the latitude and longitude coordinates of the emergency target, calculate the changes in latitude and longitude of the two ends of the flight path relative to the emergency target, and generate the flight path.

[0036] Step 4: Fly along the generated flight path and use different remote sensing equipment to acquire multi-source remote sensing data of the emergency target.

[0037] Preferably, step 1 specifically includes:

[0038] Searching for emergency targets over a wide area using aircraft;

[0039] Use AIS systems or optoelectronic pods and other equipment to obtain the latitude and longitude coordinates of emergency targets;

[0040] The latitude and longitude coordinates of the emergency target are stored in the airborne computer.

[0041] Preferably, step 2 specifically includes:

[0042] Determine the aircraft's relative altitude H based on the emergency situation;

[0043] like Figure 2 As shown, the angle information is standardized according to the performance indicators of remote sensing equipment. This angle information includes the field of view. and side view Field of view This refers to the angular range from which images can be received in a remote sensing imaging scenario; side view. This refers to the angle between the principal optical axis of the remote sensing equipment and the vertical line. Different remote sensing equipment may have different field-of-view angles and side angles during operation. To ensure that different remote sensing equipment can acquire remote sensing information of the same emergency target, it is necessary to adjust the field-of-view angles and side angles of different remote sensing equipment so that the same emergency target is within the field of view of all remote sensing equipment. Therefore, it is necessary to calculate the distance between the vertical point of the aircraft on the ground and the emergency target using the minimum field-of-view angle and side angle of the remote sensing equipment.

[0044] like Figure 2 As shown, assume that 'a' is the emergency target, 'a' is the midpoint of BD, and 'A' is one of the remote sensing devices (such as an aircraft) installed on the aircraft. It is the field of view of A. 'b' is the side view of A, and 'a' is the vertical point of the aircraft (equivalent to A) on the ground.

[0045] Calculate the distance L between the aircraft's vertical point on the ground and the emergency target:

[0046] (1)

[0047] Preferably, step 3 specifically includes:

[0048] like Figure 3 As shown, the length of the flight path is determined based on the emergency situation. Let the emergency target point be *a*, the perpendicular point of the aircraft on the ground be *b*, and the two endpoints of the flight path, *cd*, be perpendicular to the line *ab*. The lengths of *cb* and *bd* are determined based on the emergency situation. *ab* is the distance *L* between the perpendicular point of the aircraft on the ground and the emergency target. It is the azimuth angle of line ab. It is the azimuth angle of line AC. It is the azimuth angle of line ad.

[0049] The azimuth angle of line ab is determined according to the emergency situation: the azimuth angle of line ab refers to the angle between line ab and the x-axis, with the emergency target point a as the origin of the plane rectangular coordinate system.

[0050] Calculate the azimuth angles of line ac and line ad: The azimuth angle of line ac refers to the angle between line ac and the x-axis with the emergency target point a as the origin of the plane rectangular coordinate system; the azimuth angle of line ad refers to the angle between line ad and the x-axis with the target point a as the origin of the plane rectangular coordinate system.

[0051] (2)

[0052] (3)

[0053] in, It is the azimuth angle ab. It is the azimuth angle AC. It is the azimuth angle (ad).

[0054] Retrieve the latitude and longitude coordinates of the emergency target from the airborne computer, and calculate the changes in latitude and longitude of the two endpoints c and d of the flight path relative to the emergency target point a; where the change in latitude and longitude of endpoint c relative to the emergency target point a is:

[0055] (4)

[0056] (5)

[0057] The change in latitude and longitude of endpoint d relative to emergency target point a is:

[0058] (6)

[0059] (7)

[0060] in, 111.32 is the latitude of emergency target point a; 111.32 is the average distance corresponding to 1° latitude on the Earth's surface, in kilometers.

[0061] Calculate the latitude and longitude of the two endpoints c and d of the flight route;

[0062] (8)

[0063] (9)

[0064] (10)

[0065] (11)

[0066] in, It is the latitude of emergency target point a. It is the longitude of emergency target point a.

[0067] The straight line (CD) is the generated flight path. Different flight paths can be generated based on different azimuth angles. The aircraft flies along these flight paths, and multi-source remote sensing data of emergency targets can be obtained using different remote sensing equipment.

[0068] Preferably, step 4 requires determining the preferred combination of remote sensing equipment based on the actual weather conditions, and then executing the emergency remote sensing task. The specific process includes:

[0069] like Figure 4As shown, in the first scenario: when an airborne remote sensing aircraft performs an emergency remote sensing mission during clear daytime conditions or under daytime clouds, it simultaneously uses remote sensing equipment such as multidimensional synthetic aperture radar (SSAR), electro-optical pods, multispectral cameras, hyperspectral cameras, infrared cameras, and lidar to collect remote sensing data. Specifically, the angle of the electro-optical pod's sensor head is adjusted so that the field of view of all remote sensing equipment (e.g., SSAR, multispectral cameras, hyperspectral cameras, infrared cameras, lidar) can cover the emergency target during data acquisition. The device with the smallest field of view is selected from these remote sensing devices, and its field of view and side angle are used to calculate the coordinates of the two endpoints of the flight path according to steps 2 and 3, generating the flight path. The aircraft flies along this path, and all remote sensing equipment (e.g., SSAR, electro-optical pods, multispectral cameras, hyperspectral cameras, infrared cameras, lidar) are simultaneously activated to collect remote sensing data.

[0070] The second scenario: When an aerial remote sensing aircraft performs an emergency remote sensing mission at night in clear weather or under clouds, it simultaneously uses multi-dimensional synthetic aperture radar (SAP), electro-optical pods, infrared cameras, and lidar to collect remote sensing data. Specifically, the angle of the SAP sensor head is adjusted to ensure that the field of view of all remote sensing devices (including the SAP, infrared camera, and lidar) covers the emergency target during data acquisition. The device with the smallest field of view is selected from these devices, and its field of view and side angle are used to calculate the coordinates of the two endpoints of the flight path according to steps 2 and 3, generating the flight path. The aircraft flies along this path, and all remote sensing devices (including SAP, SAP, infrared camera, and lidar) are simultaneously activated to collect remote sensing data.

[0071] The third scenario: When an aerial remote sensing aircraft performs an emergency remote sensing mission at night in clear weather or under clouds, it simultaneously uses remote sensing equipment such as multi-dimensional synthetic aperture radar (MSAR), electro-optical pods, infrared cameras, and lidar to collect remote sensing data. Specifically, the angle of the electro-optical pod's sensor head is adjusted so that the field of view of the electro-optical pod, MSAR, and other remote sensing equipment can cover the emergency target during data acquisition. The device with the smallest field of view is selected from these remote sensing devices, and its field of view and side angle are used to calculate the coordinates of the two ends of the flight path according to steps 2 and 3 to generate the flight path. The aircraft flies along this flight path, and the MSAR, electro-optical pods, infrared cameras, lidar, and other remote sensing equipment are simultaneously activated to collect remote sensing data.

[0072] The fourth scenario: When an aerial remote sensing aircraft performs an emergency remote sensing mission in the clouds, it can only use multi-dimensional synthetic aperture radar (MSAR) to collect remote sensing data. In this scenario, the MSAR's field of view covers the emergency target during data collection. Using the MSAR's field of view and side angle, the coordinates of the two endpoints of the flight path are calculated according to steps 2 and 3 to generate the flight path. The aircraft flies along this path, and the MSAR is activated to collect remote sensing data.

[0073] like Figure 5 As shown, in the fifth scenario: When an aerial remote sensing aircraft performs an emergency remote sensing mission in clear weather or under clouds, if only two types of remote sensing equipment are available—multidimensional synthetic aperture radar (MSAR) and an electro-optical pod—then both MSAR and the electro-optical pod will be used to collect remote sensing data. Specifically, the angle of the electro-optical pod's sensor head will be adjusted so that the field of view of both the electro-optical pod and the MSAR can cover the emergency target during data collection. The device with the smallest field of view among these remote sensing devices will be selected, and its field of view and side angle will be used to calculate the coordinates of the two endpoints of the flight path according to steps 2 and 3 to generate the flight path. The aircraft will fly along this path, and the MSAR and the electro-optical pod will simultaneously be activated to collect remote sensing data.

[0074] Based on the above plan, an aerial remote sensing flight experiment was conducted assuming the vessel was an emergency target, using the fifth scenario described above for remote sensing operations. First, the vessel's specific location was determined using the aircraft's AIS system; such as... Figure 6 As shown, then using the center of the ship's area as the center point for side-view photography, a flight path was designed, ensuring a path length of 10km, with each path 1550 meters from the ship. The eight flight paths were two each to the due south and due north, two each to the due east and due west, and four each at a 45° angle, ensuring the ship was on the left side of the flight path. According to... Figure 6 By flying along the designated route, multi-source remote sensing data of the ship can be obtained.

[0075] This invention also provides an emergency aerial remote sensing device, whose various modules are capable of implementing the various steps of the aforementioned method, specifically including:

[0076] The coordinate generation module is used to search for emergency targets and determine their latitude and longitude coordinates;

[0077] The distance calculation module is used to calculate the distance between the aircraft's vertical point on the ground and the emergency target based on the aircraft's relative flight altitude and the angle information of the remote sensing equipment on the aircraft; wherein the angle information includes the field of view and the side view.

[0078] The route generation module is used to calculate the changes in latitude and longitude of the two ends of the route relative to the emergency target based on the distance between the aircraft's vertical point on the ground and the emergency target, as well as the latitude and longitude coordinates of the emergency target, and then generate the route.

[0079] The data acquisition module is used to fly along the generated flight path and acquire multi-source remote sensing data of emergency targets using different remote sensing equipment.

[0080] Specifically, the equipment components may include airborne remote sensing aircraft, AIS systems, remote sensing equipment, GNSS antennas, active power dividers, etc. Remote sensing equipment includes, but is not limited to, multi-dimensional synthetic aperture radar, optoelectronic pods, multispectral cameras, hyperspectral cameras, infrared cameras, and lidar. Both the AIS system and remote sensing equipment are installed on the airborne remote sensing aircraft. The AIS system can receive AIS signals from ships in distress at sea, quickly and accurately obtaining the distressed ship's position and altitude information to determine whether the target is within visual range. For example, if the altitude display shows 0 meters, it may mean the target is on the sea surface or on a lifeboat; if the altitude display shows a positive number (such as 5 meters), it may indicate that the target is located on reefs, shoals, or the deck of a ship. This significantly improves positioning efficiency in complex sea conditions, shortens search and rescue time, and increases the success rate of search and rescue, especially at night or in low visibility conditions.

[0081] Multidimensional synthetic aperture radar (MSAR) is a side-looking radar, typically encompassing X, C, L, P, Ku, and Ka bands. Its antenna is mounted on the side of the aircraft, emitting microwave pulse signals downwards and to the side at a certain angle (usually 10°-60°). When these microwave pulse signals encounter ground features, they generate backscattered echoes. The radar antenna receives these backscattered echoes and, through range pulse compression and azimuth synthetic aperture processing, combined with amplitude and phase information analysis, achieves high-resolution imaging and ground feature inversion. The microwave pulse signals emitted by MSAR can penetrate clouds, rain, and vegetation, thus remaining unaffected by weather and lighting conditions, enabling all-weather, all-day remote sensing. It can simultaneously acquire remote sensing data in six or more microwave bands, including X, C, L, P, Ku, and Ka.

[0082] Among them, multispectral cameras and hyperspectral cameras are both downward-looking cameras, that is, they collect remote sensing data vertically downward. They have a large field of view and can simultaneously acquire high spatial resolution and high spectral resolution surface data on both sides of the aircraft's flight direction. However, they can only carry out remote sensing operations on sunny days or under clouds when the lighting conditions are good.

[0083] Among them, infrared cameras and lidar are downward-looking remote sensing devices, which collect remote sensing data vertically downwards. They have a large field of view and can simultaneously acquire ground data on both sides of the aircraft's flight path, enabling remote sensing operations to be carried out during the day, at night, in clear weather, or under clouds.

[0084] The electro-optical pod is equipped with built-in visible light and infrared cameras, enabling simultaneous capture of both visible light and infrared video data. Visible light video data can only be used for remote sensing operations in well-lit conditions, such as clear days or under clouds, while infrared video data can be used both day and night in clear days or under clouds. Furthermore, the pod's sensor head is rotatable, with a 360° azimuth rotation and a +90° to -120° pitch rotation. This allows the sensor head to be adjusted to match the field of view of side-looking or downward-looking remote sensing equipment, thus simultaneously acquiring multi-source remote sensing data of emergency targets within its field of view. This wide range of sensor head rotation allows for both side-looking and downward-looking data acquisition. Combined with other different types of remote sensing equipment, it can acquire multi-source remote sensing data in various environments, producing unexpected results in emergency aerial remote sensing missions.

[0085] The GNSS antenna is mounted on the top of the aircraft and is connected to the input port of an active power divider inside the aircraft cabin via a coaxial cable. The active power divider has multiple output ports, which are connected to the GNSS receivers of various remote sensing devices, such as the AIS system, multi-dimensional synthetic aperture radar, electro-optical pods, multispectral cameras, hyperspectral cameras, infrared cameras, and lidar, via coaxial cables. The active power divider splits the GNSS antenna signal into multiple paths for use by the GNSS receivers of various remote sensing devices. The GNSS antenna signal is transmitted between the power divider and the GNSS receivers of various remote sensing devices, and they are connected via coaxial cables and TNC interfaces.

[0086] The present invention also provides an electronic device, comprising: one or more processors; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned emergency aerial remote sensing method.

[0087] The present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enable the processor to implement the aforementioned emergency aerial remote sensing method.

[0088] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An emergency aerial remote sensing method, characterized in that, The method comprises: Step 1, searching for an emergency target and determining the latitude and longitude coordinates thereof; Step 2, calculating the distance between the vertical point of the aircraft on the ground and the emergency target according to the relative flight height of the aircraft and the angle information of the remote sensing device on the aircraft; wherein the angle information comprises a field of view angle and a side view angle; Step 3, calculating the latitude and longitude change of the two end points of the flight path relative to the emergency target respectively according to the distance between the vertical point of the aircraft on the ground and the emergency target and the latitude and longitude coordinate values of the emergency target, and generating a flight path; comprising: Let the emergency target point be a, the vertical point of the plane on the ground be b, the two end points of the flight route be c and d, and the straight line ab be vertical to the straight line cd, the azimuth of the straight line ab, the azimuth of the straight line ac, the azimuth of the straight line ad; Retrieve the longitude and latitude coordinate values of the emergency target in the airborne computer, calculate the longitude and latitude change of the two end points c and d relative to the target point a, wherein the longitude and latitude change of the end point c relative to the emergency target point a are respectively , , and the longitude and latitude change of the end point d relative to the emergency target point a are respectively , ; calculating the latitude and longitude of the two end points c and d of the flight path to obtain a straight line cd, which is the generated flight path; （8） （9） （10） （11） wherein, is the latitude of the emergency target point a, is the longitude of the emergency target point a; Step 4, flying according to the generated flight path and using different remote sensing devices to obtain multi-source remote sensing data of the emergency target.

2. The method according to claim 1, wherein, The step 1 comprises: searching for an emergency target in a wide range by an aircraft; obtaining the latitude and longitude coordinates of the emergency target by using an AIS system or an electro-optical pod device; and storing the latitude and longitude coordinate values of the emergency target into an onboard computer.

3. The method of claim 1, wherein, The step 2 comprises: calculating the distance between the vertical point of the aircraft on the ground and the emergency target with the minimum field of view angle and the side view angle in the remote sensing device.

4. The method of claim 3, wherein, The distance L between the vertical point of the aircraft on the ground and the emergency target is: （1） where H denotes the relative altitude of the aircraft, denotes the field of view of the aircraft, denotes the side view angle of the aircraft.

5. The method of claim 1, wherein, The azimuth angle of the straight line ab refers to the included angle between the straight line ab and the x-axis with the emergency target point a as the origin of the plane rectangular coordinate system; The azimuth angle of the straight line ac refers to the included angle between the straight line ac and the x-axis with the emergency target point a as the origin of the plane rectangular coordinate system; and the azimuth angle of the straight line ad refers to the included angle between the straight line ad and the x-axis with the emergency target point a as the origin of the plane rectangular coordinate system; （2） （3）。 6. The method of claim 5, wherein, The latitude and longitude change of the end point c relative to the emergency target point a is: （4） （5） The latitude and longitude change of the end point d relative to the target point a is: （6） （7） wherein, is the latitude of the emergency target point a; 111.32 is the average distance on the earth's surface corresponding to 1° of latitude, in kilometers.

7. An emergency aerial remote sensing device, characterized in that, comprising: a coordinate generation module configured to search for an emergency target and determine the latitude and longitude coordinates thereof; a distance calculation module configured to calculate the distance between the vertical point of the aircraft on the ground and the emergency target according to the relative flight height of the aircraft and the angle information of the remote sensing device on the aircraft; wherein the angle information comprises a field of view angle and a side view angle; a flight path generation module configured to calculate the latitude and longitude change of the two end points of the flight path relative to the emergency target respectively according to the distance between the vertical point of the aircraft on the ground and the emergency target and the latitude and longitude coordinate values of the emergency target, and generate a flight path; comprising: Let the emergency target point be a, the vertical point of the plane on the ground be b, the two end points of the flight route be c and d, and the straight line ab be vertical to the straight line cd, be the azimuth of the straight line ab, be the azimuth of the straight line ac, be the azimuth of the straight line ad; Retrieve the longitude and latitude coordinate values of the emergency target in the airborne computer, calculate the longitude and latitude change of the two end points c and d relative to the target point a, wherein the longitude and latitude change of the end point c relative to the emergency target point a are respectively , , and the longitude and latitude change of the end point d relative to the emergency target point a are respectively , ; calculating the latitude and longitude of the two end points c and d of the flight path to obtain a straight line cd, which is the generated flight path; （8） （9） （10） （11） wherein, is the latitude of the emergency target point a, is the longitude of the emergency target point a; a data acquisition module configured to fly according to the generated flight path and use different remote sensing devices to obtain multi-source remote sensing data of the emergency target.

8. An electronic device, comprising: comprising: one or more processors; a memory configured to store one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the emergency aerial remote sensing method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, a computer readable medium having stored thereon executable instructions that, when executed by a processor, enable the processor to implement the emergency aerial remote sensing method of any one of claims 1-6.

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