Aviation large inclination angle photographing route determination method and device
By automating the design of aerial photography routes at steep angles of inclination, the problem of unreasonable parameters caused by manual estimation was solved, achieving accurate coverage and efficient design, and meeting the timeliness requirements of long-range reconnaissance and emergency search.
Patent Information
- Application Number
- CN202511487910.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-17
- Publication Date
- 2026-01-16
AI Technical Summary
The existing design of high-inclination aerial reconnaissance routes relies on manual estimation, resulting in unreasonable parameters, poor coverage, and low efficiency. It is difficult to meet the timeliness requirements of long-range reconnaissance and emergency search scenarios, and it is also difficult to accurately match constraints such as approach distance and flight altitude.
By converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates, constructing the target's circumscribed rectangle, calculating the initial side-view sweep angle and exposure point position, and combining camera parameters and digital elevation model data, the flight path and exposure point are automatically designed, and the coverage area is verified using collinearity equations.
It has improved the accuracy and efficiency of flight path design, ensured full coverage of the target area, enabled rapid response to long-range reconnaissance and emergency search needs, and improved imaging quality and reconnaissance effectiveness.
Smart Images
Figure CN121346801A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of aerial remote sensing technology, and in particular to a method and apparatus for determining flight paths during aerial photography at large tilt angles. Background Technology
[0002] In the field of aerial remote sensing, traditional flight path design mainly adopts a field-field model, which determines the flight path spacing and exposure point spacing based on image overlap, with the flight path laid parallel directly above the survey area. In this model, the aircraft typically flies above the target area and uses sensors to take images vertically downwards to acquire image data of the survey area. This method is suitable for acquiring large-scale, high-precision geographic information.
[0003] In special application scenarios such as long-range reconnaissance and emergency target search, long-focal-length cameras are typically used for side-looking scanning imaging to acquire images of areas as far as possible. To ensure flight safety, minimum approach distances from the imaging area to the aircraft's position must be specified. Therefore, flight paths must be designed based on these approach distances, and the optimal flight path direction and camera scanning mode must be determined according to the approach distance and flight altitude to achieve effective coverage of the target area.
[0004] Existing aerial reconnaissance route design schemes with large tilt angles still mainly rely on traditional manual sketching. The shooting angle is determined by manually estimating the target distance, and the sweeping angle and flight path angle are estimated based on the width of the target area to complete the route planning.
[0005] However, manual estimation relies on the operator's experience, and subjective judgment biases can lead to unreasonable design of parameters such as flight path direction and sweep angle, making it difficult to guarantee full coverage of the target area. At the same time, manual delineation is inefficient and cannot quickly respond to the timeliness requirements of long-distance reconnaissance and emergency search scenarios. It is also difficult to accurately match constraints such as close approach distance and flight altitude, affecting imaging quality and reconnaissance effectiveness. Summary of the Invention
[0006] This invention provides a method and apparatus for determining flight routes for aerial photography at large tilt angles, which solves the problems of existing large tilt aerial reconnaissance routes relying on manual estimation and design, resulting in unreasonable parameters, poor coverage, low efficiency, and difficulty in matching close-range constraints. It can automatically generate the optimal flight route and sweeping parameters based on multiple parameters, accurately calculate the coverage area of aerial images, and efficiently complete the reconnaissance coverage of the target area.
[0007] This invention provides a method for determining flight paths in aerial photography at large tilt angles, comprising: converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates in a projected coordinate system; constructing a target bounding rectangle that completely encloses the target area based on the converted coordinates; using the long side of the target bounding rectangle as the flight direction; calculating the initial side-scan angle based on a preset minimum approach distance, flight altitude, and parameters of the target bounding rectangle; determining the measurement area coverage width by combining the width of the target bounding rectangle and the lateral extension ratio; and calculating the maximum cutoff side-scan angle based on the measurement area coverage width. The scanning angle, number of scanning cycles, and scanning interval angle are determined. Based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, the Y-coordinate value of the flight path is determined. Combining the camera's forward ground swath width and forward overlap requirements, the X-coordinate value of each exposure point on the flight path is calculated to form a sequence of flight path exposure points. Based on the flight path exposure point sequence number, side-view scanning angle, and flight path direction, the aerial image position and attitude information of the exposure points are calculated. Using camera parameters, aerial image position and attitude information of the exposure points, and digital elevation model data, the ground coordinates and elevations corresponding to the four corners of each aerial image are calculated through collinearity equations to determine the ground coverage area of each aerial image.
[0008] The present invention also provides an aerial high-angle-of-inclination photography flight path determination device, comprising the following modules: a processing module and a verification module; The processing module is used to convert the latitude and longitude coordinates of the imaging target area into Cartesian coordinates in the projected coordinate system; construct a target bounding rectangle that completely surrounds the target area based on the converted coordinates; use the long side of the target bounding rectangle as the flight direction; calculate the initial side-looking sweep angle based on the preset minimum approach distance, flight altitude, and parameters of the target bounding rectangle; determine the measurement area coverage width by combining the width of the target bounding rectangle and the lateral extension ratio; and calculate the sweep angle, sweep cycle number, and other parameters corresponding to the maximum cutoff side-looking sweep angle based on the measurement area coverage width. The scanning interval angle; based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, the Y-coordinate value of the flight path is determined. Combined with the camera's forward swath width and forward overlap requirements, the X-coordinate value of each exposure point on the flight path is calculated to form a sequence of flight path exposure points. The verification module is used to calculate the aerial image position and attitude information of the exposure points based on the flight path exposure point sequence number, side-view scanning angle, and flight path direction. Using camera parameters, the aerial image position and attitude information of the exposure points, and digital elevation model data, the ground coordinates and elevation corresponding to the four corners of each aerial image are calculated through collinearity equations to determine the ground coverage area of each aerial image.
[0009] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the flight path determination method for high-angle aerial photography as described above.
[0010] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for determining flight paths for aerial high-angle photography as described above.
[0011] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the flight path determination method for aerial high-angle photography as described above.
[0012] The method and apparatus for determining flight paths in aerial high-tilt-angle photography provided by this invention converts the latitude and longitude coordinates of the imaging target area into Cartesian coordinates and constructs the target's circumscribed rectangle. Using the long side of this rectangle as the flight direction, the method achieves a scientific and quantitative determination of the flight direction, avoiding the irrational direction caused by subjective experience bias in traditional manual estimation. This lays a precise foundation for subsequent flight path design. Since the initial side-looking sweep angle is calculated based on preset minimum approach distance, flight altitude, and target circumscribed rectangle parameters, and the coverage width of the survey area is determined by combining the width of the circumscribed rectangle with the lateral extension ratio, the sweep angle, sweep cycle number, and interval angle are calculated. All sweep parameters are obtained through quantitative calculation based on objective data, rather than manual estimation based on experience. Therefore, it can accurately match constraints such as approach distance and flight altitude, effectively solving the parameter design problems of traditional methods. To address unreasonable issues and ensure imaging quality and reconnaissance effectiveness, the system determines the Y-coordinate of the flight path based on the target's circumscribed rectangle coordinates and minimum approach distance. It then calculates the X-coordinate of the exposure points by combining this with camera swath width and overlap requirements to form an exposure point sequence. This automated flight path and exposure point design replaces the traditional manual method of sketching flight paths and marking exposure points, significantly improving flight path design efficiency and enabling rapid response to timeliness requirements in long-range reconnaissance and emergency search scenarios. Simultaneously, based on camera parameters, aerial image position and attitude information, and digital elevation model data, the system calculates the ground coverage area of aerial images using collinearity equations. This allows for advance verification of the flight path's coverage of the target area, ensuring no missed shots and full coverage. This further compensates for the shortcomings of traditional manual design in guaranteeing full target area coverage, significantly improving the accuracy, efficiency, and reliability of aerial reconnaissance flight path design. Attached Figure Description
[0013] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0014] Figure 1This is a flowchart illustrating the method for determining flight paths in aerial photography at large tilt angles provided by the present invention. Figure 2 This is a schematic diagram of the flight path determination method for aerial photography at large tilt angles provided by the present invention. Figure 3 This is a schematic diagram of the aerial high-tilt-angle photography route determination device provided by the present invention; Figure 4 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation
[0015] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0016] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.
[0017] It should be noted that, in this document, 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. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.
[0018] To facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish the same or similar items with essentially the same function and effect. Those skilled in the art can understand that the terms "first" and "second" are not intended to limit the quantity or execution order.
[0019] This application describes some exemplary embodiments for illustrative purposes. It should be understood that this application may be implemented in other ways not specifically shown in the accompanying drawings.
[0020] like Figure 1 As shown, this application provides a method for determining flight paths during aerial photography at large tilt angles. This method can be applied to an aerial photography flight path determination device at large tilt angles. The method may include steps S101-S104: S101. Convert the latitude and longitude coordinates of the imaging target area into plane rectangular coordinates in the projected coordinate system, construct a target bounding rectangle that can completely surround the target area based on the converted coordinates, and use the long side direction of the target bounding rectangle as the flight direction.
[0021] In scenarios such as long-range reconnaissance and emergency target search in aerial remote sensing, which require side-view scanning imaging using a long focal length camera, the aerial high-tilt-angle imaging route determination device needs to first determine the flight direction (i.e., the route direction).
[0022] Optionally, constructing a target bounding rectangle that completely encloses the target region based on the transformed coordinates includes: circling a polygon around the target region; determining each edge of the bounding polygon by extracting the coordinates of all its vertices; rotating and transforming all vertex coordinates to the reference coordinate system using each edge of the bounding polygon as the X-axis; calculating the maximum X-coordinate, minimum X-coordinate, maximum Y-coordinate, and minimum Y-coordinate of the corresponding bounding rectangle to obtain multiple sets of candidate bounding rectangles, where one edge of the bounding polygon corresponds to one candidate bounding rectangle; and selecting the bounding rectangle with the smallest difference between its maximum and minimum Y-coordinates from the multiple sets of candidate bounding rectangles as the target bounding rectangle.
[0023] Specifically, the latitude and longitude coordinates of the imaging target area are first converted into Cartesian coordinates in a projected coordinate system, such as the Universal Transverse Mercator (UTM) coordinate system. Then, the target area is enclosed by a polygon, and the coordinates of all vertices of the polygon are extracted to determine each edge of the polygon. Using each edge of the polygon as the reference X-axis, all vertex coordinates are rotated and transformed to this coordinate system. The maximum X-coordinate, minimum X-coordinate, maximum Y-coordinate, and minimum Y-coordinate of the corresponding bounding rectangle are calculated to obtain multiple sets of candidate bounding rectangles. Each edge of the bounding polygon corresponds to one candidate bounding rectangle. Finally, the bounding rectangle with the smallest difference between the maximum and minimum Y-coordinates is selected from the multiple sets of candidate bounding rectangles as the target bounding rectangle. The direction of the longer side of the target bounding rectangle is the flight direction.
[0024] For example, if the target area is a long valley, among the candidate bounding rectangles constructed after coordinate transformation, the rectangle with the smallest difference in the Y direction along the valley direction is used. The long side of this rectangle is used as the flight direction, and the aircraft flies along the valley direction. The camera only needs to make a small sweep to cover the entire valley.
[0025] It should be noted that by using regular circumscribed rectangles to transform irregular target areas into easily calculable reference objects, the determined flight direction can minimize the burden on camera scanning and improve the efficiency and rationality of flight path design.
[0026] S102. Based on the preset minimum approach distance, flight altitude, and parameters of the target's circumscribed rectangle, calculate the initial side-view sweep angle; combine the width of the target's circumscribed rectangle and the lateral extension ratio to determine the measurement area coverage width; and calculate the maximum cutoff side-view sweep angle, sweep cycle count, and sweep interval angle based on the initial side-view sweep angle and the measurement area coverage width.
[0027] When using a telephoto camera for side-view scanning imaging, it is necessary to meet the requirements of "keeping the aircraft at the minimum close distance to the imaging area" and ensuring complete coverage of the target area. Through precise calculation, the camera's scanning parameters can be adapted to the actual shooting needs.
[0028] Optionally, calculating the initial side-scan angle based on preset minimum approach distance, flight altitude, and parameters of the target's circumscribed rectangle includes: according to the formula Calculate the initial side-view sweep angle ;in, Indicates the minimum approach distance. Indicates flight altitude. Indicates the lateral extension ratio. This indicates the width of the image across the ground.
[0029] Specifically, first, based on the preset minimum approach distance... Flight altitude And the target's circumscribed rectangle parameters, the initial side-view sweep angle is calculated using formula (1). : (1) in, This is the lateral extension ratio, calculated by dividing the distance the lateral coverage extends beyond the target area by the lateral width, used to reserve coverage margin. This refers to the lateral ground swath width of the image, i.e., the width of the ground to the side of the aerial photograph. Calculating the initial side-view sweep angle ensures that the camera begins to cover the near point of the target area from a safe distance.
[0030] It should be noted that the sweep angle of the Nth aerial photograph at the exposure point on the flight path is calculated by multiplying the initial side-view sweep angle by the sweep interval angle * N. This allows for the acquisition of multiple aerial photographs at that exposure point through sweeping, achieving continuous coverage in the lateral direction of the flight path. The initial side-view sweep angle... It can be used to calculate the location of each exposure point on the flight path.
[0031] Optionally, determining the measurement area coverage width by combining the width of the target circumscribed rectangle and the lateral extension ratio, and calculating the sweep angle, sweep cycle number, and sweep interval angle corresponding to the maximum cutoff side-view sweep angle based on the measurement area coverage width includes: calculating the measurement area coverage width based on the target circumscribed rectangle width and the lateral extension ratio; calculating the sweep angle corresponding to the maximum cutoff side-view sweep angle based on the measurement area coverage width; and calculating the sweep cycle number and sweep interval angle based on the sweep angle, the camera lateral field of view angle, and the preset lateral overlap.
[0032] Specifically, first consider the width of the target's bounding rectangle. and lateral extension ratio The coverage width of the survey area is calculated using formula (2). : ; (2) By calculating the coverage width of the survey area, the reserved width on both sides can be superimposed to avoid missing the edge.
[0033] Then, the sweep angle corresponding to the maximum cutoff side-view sweep angle is calculated using formula (3). : ; (3) in, The total swing angle range is the angle of the swing.
[0034] Finally, based on the camera's side field of view... Preset lateral overlap The number of sweeping cycles is calculated using formula (4). : ; (4) in, For the floor function, The angle of the sweeping interval.
[0035] It should be noted that since all sweeping parameters are calculated based on actual constraints, they not only meet the safety distance requirements, but also ensure that the target area is covered without omissions by accurately calculating the number of sweeping photos and the intervals, thus avoiding parameter deviations caused by manual estimation.
[0036] S103. Based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, determine the Y-coordinate value of the flight path. Combined with the camera's heading ground width and heading overlap requirements, calculate the X-coordinate value of each exposure point on the flight path to form a sequence of flight path exposure points.
[0037] Optionally, determining the Y-coordinate value of the flight path based on the coordinates of the target circumscribed rectangle and the minimum approach distance, and calculating the X-coordinate value of each exposure point on the flight path in combination with the camera's forward ground swath width and forward overlap requirements to form a flight path exposure point sequence includes: calculating the Y-coordinate value of the flight path in the reference coordinate system based on the coordinates of the target circumscribed rectangle and the minimum approach distance; calculating the X-coordinate value of the exposure point on the flight path in the reference coordinate system in combination with the minimum X-coordinate of the target circumscribed rectangle, the camera's forward ground swath width, and the forward overlap; combining the X-coordinate value with the Y-coordinate value respectively, and transforming it to the projected coordinate system to form a flight path exposure point sequence.
[0038] Specifically, based on the coordinates of the target's circumscribed rectangle and the minimum approach distance D, the Y-coordinate of the flight path in the reference coordinate system is calculated using formula (5). Y-coordinate That is, the Y-coordinate value of the flight path. Since the coordinate system of the flight path design has been rotated to a reference coordinate system with the longer side of the target's circumscribed rectangle as the X-axis direction, the Y-coordinate value of the flight path is a fixed value: ; (5) For example, if the Y-coordinate =1000-500=500 meters, which means that the aircraft flies along a straight line with Y=500 meters throughout the entire journey to ensure a safe distance from the target area.
[0039] Combined with the camera's azimuth and ground swath width overlap with heading The X-coordinates of each exposure point on the flight path in the reference coordinate system are calculated using formula (6). X-axis coordinates That is, the X coordinate value: ; (6) Among them, the camera's swath width on the ground This indicates the length of ground covered by the first image taken by the camera at a close distance along the flight direction. Let X be the minimum X-coordinate of the target's bounding rectangle. The exposure point number is determined by taking values starting from 0 and up to... The maximum X-coordinate of the target's bounding rectangle is greater than the target's circumscribed rectangle. Finally, as Figure 2 As shown, all Y-coordinate Combine and transform the data into a projected coordinate system to form a sequence of flight path exposure points.
[0040] It should be noted that after the coordinates of the flight route exposure point sequence are transformed to the projected coordinate system through coordinate rotation, they can be transformed back to the geographic coordinate system through inverse projection transformation.
[0041] S104. Based on the flight path exposure point number, side-view sweep angle, and flight path direction, calculate the position and attitude information of the exposure point aerial photograph. Using camera parameters, the position and attitude information of the exposure point aerial photograph, and digital elevation model data, calculate the ground coordinates and elevation corresponding to the four corners of each aerial photograph through collinearity equations to determine the ground coverage area of each aerial photograph.
[0042] After the flight route design is completed, it is necessary to confirm in advance whether there are any issues such as missed shots or redundant coverage. Especially in reconnaissance areas with complex terrain, elevation data must be used to ensure coverage accuracy.
[0043] Specifically, the position and attitude information of the aerial images at each exposure point are first calculated based on the flight path exposure point number, side-view sweep angle, and flight path direction. Then, camera parameters, the position and attitude information of each exposure point aerial image, and the digital elevation model (DEM) data of the target area are acquired. Next, for each aerial image, the coordinates of the image points at its four corners (i.e., the pixel coordinates of the four corners of the aerial image) are extracted. The camera parameters, the position and attitude information of the exposure point aerial images are substituted into the collinearity equation, and the ground plane coordinates (X, Y) corresponding to each image point are calculated iteratively. Finally, based on the DEM data, the elevation value Z corresponding to each ground plane coordinate is queried to determine the ground coverage area of each aerial image.
[0044] The specific calculation formula is as follows: ; in, For the design of the exposure point aerial photograph outer bearing elements, and For image point coordinates, For camera focal length, A rotation matrix consisting of the outer azimuth elements of the aerial photograph (which can be calculated from the designed side-sweep angle and flight path direction). The elements in, when For a corner system, the rotation matrix is as follows: .
[0045] For example, an aerial photograph yields the following ground coordinates at its four corners: (2000, 500, 100), (2200, 500, 120), (2200, 700, 110), and (2000, 700, 90). The first two digits represent the planar coordinates, and the third represents the elevation. Therefore, the area covered by this coordinates is a region with an X-axis range of 2000-2200 meters, a Y-axis range of 500-700 meters, and an elevation range of 90-120 meters.
[0046] It should be noted that by calculating the ground coverage of each aerial photograph, the coverage effect of the flight path can be verified in advance through data calculation. If it is found that a certain area is not covered by the aerial photograph, the flight path parameters can be adjusted in time to avoid rework due to coverage issues after the actual flight, thereby reducing reconnaissance costs and risks.
[0047] In this embodiment, by converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates and constructing the target's circumscribed rectangle, and using its long side as the flight direction, the scientific quantitative determination of the flight direction is achieved. This avoids the problem of unreasonable direction caused by subjective experience bias in traditional manual estimation of flight path direction, laying a precise foundation for subsequent flight path design. Since the initial side-looking sweep angle is calculated based on preset minimum approach distance, flight altitude, and target circumscribed rectangle parameters, and the measurement area coverage width is determined by combining the circumscribed rectangle width and the lateral extension ratio, the sweep angle, sweep cycle number, and interval angle are calculated. All sweep parameters are obtained through quantitative calculation based on objective data, rather than manual estimation based on experience. Therefore, it can accurately match constraints such as approach distance and flight altitude, effectively solving the problem of unreasonable parameter design in traditional schemes and ensuring... Imaging quality and reconnaissance effectiveness: By determining the Y-coordinate value of the flight path based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, and calculating the X-coordinate value of the exposure point in conjunction with the camera's swath width and overlap requirements, an exposure point sequence is formed. This achieves automated design of flight paths and exposure points, replacing the traditional method of manually drawing flight paths and marking exposure points, significantly improving flight path design efficiency and enabling rapid response to timeliness requirements in long-range reconnaissance and emergency search scenarios. Simultaneously, based on camera parameters, aerial image position and attitude information, and digital elevation model data, the ground coverage area of the aerial images is calculated through collinearity equations. This allows for early verification of the flight path's coverage effect on the target area, ensuring no missed shots and full coverage. This further compensates for the shortcomings of traditional manual design in guaranteeing full coverage of the target area, significantly improving the accuracy, efficiency, and reliability of aerial reconnaissance flight path design.
[0048] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.
[0049] The method for determining flight paths for high-angle aerial photography provided in this application can be executed by a device for determining flight paths for high-angle aerial photography, or by a control module within that device for determining flight paths for high-angle aerial photography. This application uses the execution of the method by a device for determining flight paths for high-angle aerial photography as an example to illustrate the device provided in this application.
[0050] It should be noted that, according to the above method examples, the aerial high-angle-of-inclination photography flight path determination device can be divided into functional modules. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. Optionally, the module division in this embodiment is illustrative and only represents one logical functional division; other division methods may be used in actual implementation.
[0051] like Figure 3As shown, this application provides an aerial high-tilt-angle photography flight path determination device 300. The aerial high-tilt-angle photography flight path determination device 300 includes a processing module 301 and a verification module 302. The processing module 301 is used to convert the latitude and longitude coordinates of the imaging target area into planar rectangular coordinates in a projected coordinate system; construct a target circumscribed rectangle that completely surrounds the target area based on the converted coordinates; use the long side direction of the target circumscribed rectangle as the flight direction; calculate the initial side-view sweep angle based on a preset minimum approach distance, flight altitude, and parameters of the target circumscribed rectangle; determine the measurement area coverage width by combining the width of the target circumscribed rectangle and the lateral extension ratio; and calculate the maximum cutoff side-view based on the measurement area coverage width. The scanning angle corresponds to the scanning angle, the number of scanning cycles, and the scanning interval angle; based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, the Y-coordinate value of the flight path is determined. Combining the camera's forward ground swath width and forward overlap requirements, the X-coordinate value of each exposure point on the flight path is calculated to form a flight path exposure point sequence; the verification module 302 is used to calculate the aerial image position and attitude information of the exposure points based on the flight path exposure point sequence number, side-view scanning angle, and flight path direction. Using camera parameters, aerial image position and attitude information of the exposure points, and digital elevation model data, the ground coordinates and elevation corresponding to the four corners of each aerial image are calculated through collinearity equations to determine the ground coverage area of each aerial image.
[0052] Optionally, the processing module 301 is configured to circumscribe a polygon in the target region, determine each edge of the circumscribed polygon by extracting the coordinates of all vertices of the circumscribed polygon, rotate and transform all vertex coordinates to the reference coordinate system using each edge of the circumscribed polygon as the X-axis, calculate the maximum X-coordinate, minimum X-coordinate, maximum Y-coordinate, and minimum Y-coordinate of the corresponding circumscribed rectangle, and obtain multiple sets of candidate circumscribed rectangles, with one edge of the circumscribed polygon corresponding to one candidate circumscribed rectangle; and select the circumscribed rectangle with the smallest difference between the maximum Y-coordinate and the minimum Y-coordinate from the multiple sets of candidate circumscribed rectangles as the target circumscribed rectangle.
[0053] Optionally, the processing module 301 is configured to process according to the formula Calculate the initial side-view sweep angle ;in, Indicates the minimum approach distance. Indicates flight altitude. Indicates the lateral extension ratio. This indicates the width of the image across the ground.
[0054] Optionally, the processing module 301 is used to calculate the coverage width of the survey area based on the width of the target circumscribed rectangle and the lateral extension ratio; calculate the sweep angle corresponding to the maximum cutoff side-view sweep angle based on the coverage width of the survey area; and calculate the number of sweep cycles and the sweep interval angle based on the sweep angle, the camera lateral field of view angle, and the preset lateral overlap.
[0055] Optionally, the processing module 301 is used to determine the Y-coordinate value of the flight path based on the coordinates of the target circumscribed rectangle and the minimum approach distance, and calculate the X-coordinate value of each exposure point on the flight path in combination with the camera's forward ground swath width and forward overlap requirements to form a flight path exposure point sequence, including: calculating the Y-coordinate value of the flight path in the reference coordinate system based on the coordinates of the target circumscribed rectangle and the minimum approach distance; calculating the X-coordinate value of the exposure point on the flight path in the reference coordinate system in combination with the minimum X-coordinate of the target circumscribed rectangle, the camera's forward ground swath width, and the forward overlap; combining the X-coordinate value with the Y-coordinate value respectively, and converting it to the projected coordinate system to form a flight path exposure point sequence.
[0056] In this embodiment, by converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates and constructing the target's circumscribed rectangle, and using its long side as the flight direction, the scientific quantitative determination of the flight direction is achieved. This avoids the problem of unreasonable direction caused by subjective experience bias in traditional manual estimation of flight path direction, laying a precise foundation for subsequent flight path design. Since the initial side-looking sweep angle is calculated based on preset minimum approach distance, flight altitude, and target circumscribed rectangle parameters, and the measurement area coverage width is determined by combining the circumscribed rectangle width and the lateral extension ratio, the sweep angle, sweep cycle number, and interval angle are calculated. All sweep parameters are obtained through quantitative calculation based on objective data, rather than manual estimation based on experience. Therefore, it can accurately match constraints such as approach distance and flight altitude, effectively solving the problem of unreasonable parameter design in traditional schemes and ensuring... Imaging quality and reconnaissance effectiveness: By determining the Y-coordinate value of the flight path based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, and calculating the X-coordinate value of the exposure point in conjunction with the camera's swath width and overlap requirements, an exposure point sequence is formed. This achieves automated design of flight paths and exposure points, replacing the traditional method of manually drawing flight paths and marking exposure points, significantly improving flight path design efficiency and enabling rapid response to timeliness requirements in long-range reconnaissance and emergency search scenarios. Simultaneously, based on camera parameters, aerial image position and attitude information, and digital elevation model data, the ground coverage area of the aerial images is calculated through collinearity equations. This allows for early verification of the flight path's coverage effect on the target area, ensuring no missed shots and full coverage. This further compensates for the shortcomings of traditional manual design in guaranteeing full coverage of the target area, significantly improving the accuracy, efficiency, and reliability of aerial reconnaissance flight path design.
[0057] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute a method for determining flight paths for aerial high-angle imaging. This method includes: converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates in a projected coordinate system; constructing a target bounding rectangle that completely encloses the target area based on the converted coordinates; using the long side of the target bounding rectangle as the flight direction; calculating the initial side-scan angle based on a preset minimum approach distance, flight altitude, and parameters of the target bounding rectangle; determining the measurement area coverage width by combining the width of the target bounding rectangle and the lateral extension ratio; and calculating the maximum... The sweep angle, sweep cycle count, and sweep interval angle corresponding to the large cutoff side-view sweep angle are determined. Based on the coordinates of the target's circumscribed rectangle and the minimum approach distance, the Y-coordinate value of the flight path is determined. Combining the camera's forward ground swath width and forward overlap requirements, the X-coordinate value of each exposure point on the flight path is calculated to form a sequence of flight path exposure points. Based on the flight path exposure point sequence number, side-view sweep angle, and flight path direction, the aerial image position and attitude information of the exposure points are calculated. Using camera parameters, aerial image position and attitude information of the exposure points, and digital elevation model data, the ground coordinates and elevation corresponding to the four corners of each aerial image are calculated through collinearity equations to determine the ground coverage area of each aerial image.
[0058] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a 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, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0059] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the aerial high-tilt-angle photography flight path determination method provided by the above methods. This method includes: converting the latitude and longitude coordinates of the imaging target area into plane rectangular coordinates in a projected coordinate system; constructing a target bounding rectangle that completely surrounds the target area based on the converted coordinates; using the long side direction of the target bounding rectangle as the flight direction; calculating the initial side-looking sweep angle based on a preset minimum approach distance, flight altitude, and parameters of the target bounding rectangle; and combining the width of the target bounding rectangle... The coverage width of the survey area is determined by the degree and lateral extension ratio. Based on the coverage width of the survey area, the sweep angle, sweep cycle number, and sweep interval angle corresponding to the maximum cutoff side-view sweep angle are calculated. The Y coordinate value of the flight path is determined based on the coordinates of the target's circumscribed rectangle and the minimum approach distance. Combined with the camera's forward ground swath width and forward overlap requirements, the X coordinate value of each exposure point on the flight path is calculated to form a sequence of flight path exposure points. Based on the flight path exposure point sequence number, side-view sweep angle, and flight path direction, the position and attitude information of the exposure point aerial photographs are calculated. Using camera parameters, the position and attitude information of the exposure point aerial photographs, and digital elevation model data, the ground coordinates and elevations corresponding to the four corners of each aerial photograph are calculated through collinearity equations to determine the ground coverage range of each aerial photograph.
[0060] Furthermore, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, this computer program implements the method for determining flight paths for aerial high-angle oblique photography provided by the methods described above. This method includes: converting the latitude and longitude coordinates of the imaging target area into Cartesian coordinates in a projected coordinate system; constructing a target bounding rectangle that completely encloses the target area based on the converted coordinates; using the long side of the target bounding rectangle as the flight direction; calculating the initial side-looking sweep angle based on a preset minimum approach distance, flight altitude, and parameters of the target bounding rectangle; and determining the survey area coverage by combining the width and lateral extension ratio of the target bounding rectangle. The width is calculated based on the coverage width of the survey area to obtain the sweep angle, sweep cycle number, and sweep interval angle corresponding to the maximum cutoff side-view sweep angle. The Y-coordinate value of the flight path is determined based on the coordinates of the target's circumscribed rectangle and the minimum approach distance. The X-coordinate value of each exposure point on the flight path is calculated, taking into account the camera's swath width and swath overlap requirements, to form a sequence of flight path exposure points. The position and attitude information of the exposure points are calculated based on the flight path exposure point number, side-view sweep angle, and flight path direction. Using camera parameters, the position and attitude information of the exposure points, and digital elevation model data, the ground coordinates and elevation corresponding to the four corners of each image are calculated using collinearity equations to determine the ground coverage area of each image.
[0061] The device embodiments described above are merely illustrative. 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 network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0062] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A method for determining flight paths during aerial photography at large tilt angles, characterized in that, The application relates to a method for planning a flight route for a side-looking aerial survey, and a device for planning a flight route for a side-looking aerial survey. The method comprises the following steps: converting the latitude and longitude coordinates of an imaging target area into plane rectangular coordinates in a projection coordinate system, constructing a target circumscribed rectangle capable of completely surrounding the target area based on the converted coordinates, and taking the long side direction of the target circumscribed rectangle as the flight direction; calculating an initial side-looking swing scan angle based on a preset minimum approach distance, a flight height and parameters of the target circumscribed rectangle; determining a survey area coverage width by combining the width of the target circumscribed rectangle and a lateral extension ratio, and calculating a swing scan opening angle, a swing scan cycle number and a swing scan interval angle corresponding to a maximum cut-off side-looking swing scan angle according to the survey area coverage width; determining a Y coordinate value of a flight route according to the coordinates of the target circumscribed rectangle and the minimum approach distance, calculating X coordinate values of exposure points on the flight route by combining a camera heading ground width and a heading overlap requirement, and forming a flight route exposure point sequence; calculating exposure point aerial photograph positions and attitude information based on the flight route exposure point sequence number, the side-looking swing scan angle and the flight route direction, and determining ground coverage ranges of each aerial photograph by calculating ground coordinates and elevations corresponding to four corners of each aerial photograph through a collinear equation using camera parameters, exposure point aerial photograph positions and attitude information and digital elevation model data. The method for constructing the target circumscribed rectangle based on the converted coordinates comprises the following steps: determining each side of an external polygon of the target area by extracting all vertex coordinates of the external polygon; rotating and transforming all vertex coordinates to a reference coordinate system to calculate maximum and minimum X coordinates and maximum and minimum Y coordinates of a corresponding circumscribed rectangle, so as to obtain multiple groups of candidate circumscribed rectangles, wherein one side of the external polygon corresponds to one candidate circumscribed rectangle; and selecting a circumscribed rectangle with the minimum difference between the maximum and minimum Y coordinates from the multiple groups of candidate circumscribed rectangles as the target circumscribed rectangle. The method for calculating the initial side-looking swing scan angle based on the preset minimum approach distance, the flight height and the parameters of the target circumscribed rectangle comprises the following steps: calculating a survey area coverage width by combining the width of the target circumscribed rectangle and a lateral extension ratio; and calculating a swing scan opening angle, a swing scan cycle number and a swing scan interval angle corresponding to a maximum cut-off side-looking swing scan angle according to the survey area coverage width. The method for calculating the Y coordinate value of the flight route according to the coordinates of the target circumscribed rectangle and the minimum approach distance, and combining the camera heading ground width and the heading overlap requirement to calculate the X coordinate values of the exposure points on the flight route to form the flight route exposure point sequence comprises the following steps: calculating the Y coordinate value of the flight route in a reference coordinate system according to the coordinates of the target circumscribed rectangle and the minimum approach distance; and calculating the X coordinate values of the exposure points on the flight route by combining the camera heading ground width and the heading overlap requirement.
2. The method according to claim 1, wherein, 3.The method of claim 1, wherein, According to the formula The initial side-looking swing scan angle is calculated ; wherein, represents the minimum standoff distance, represents the flight height, represents the lateral extension ratio, represents the lateral image ground width.
4. The method of claim 1, wherein, 5. The method of claim 1, wherein, The minimum X-coordinate of the target circumscribed rectangle, the camera heading ground width, and the heading overlap degree are combined to calculate the X-coordinate value of the exposure point on the flight path in the reference coordinate system. The X-coordinate value and the Y-coordinate value are combined respectively and converted to the projection coordinate system to form a flight path exposure point sequence.
6. A device for determining flight path in aerial photography at large tilt angles, characterized in that, It comprises: a processing module and a verification module; The processing module is configured to convert the latitude and longitude coordinates of the imaging target area into planar rectangular coordinates in the projection coordinate system, construct a target circumscribed rectangle capable of completely enclosing the target area based on the converted coordinates, and take the long side direction of the target circumscribed rectangle as the flight direction; calculate the initial side-looking swing scan angle based on the preset minimum approach distance, flight height, and parameters of the target circumscribed rectangle; determine the survey area coverage width in combination with the width of the target circumscribed rectangle and the lateral extension ratio, and calculate the swing scan angle, swing scan cycle number, and swing scan interval angle corresponding to the maximum cut-off side-looking swing scan angle according to the survey area coverage width; determine the Y-coordinate value of the flight path in combination with the camera heading ground width and the heading overlap degree requirement, and calculate the X-coordinate value of each exposure point on the flight path to form a flight path exposure point sequence; The verification module is configured to calculate the exposure point aerial photograph position and attitude information based on the flight path exposure point sequence number, side-looking swing scan angle, and flight path direction, utilize the camera parameters, exposure point aerial photograph position and attitude information, and digital elevation model data to calculate the ground coordinates and elevations corresponding to the four corners of each aerial photograph through the collinear equation, and determine the ground coverage range of each aerial photograph.
7. The apparatus according to claim 6, wherein The processing module is configured to circumscribe a polygon around the target area, determine each edge of the circumscribed polygon by extracting all vertex coordinates of the circumscribed polygon, rotate and transform all vertex coordinates to the reference coordinate system with each edge of the circumscribed polygon as the X-axis of the reference coordinate system, calculate the maximum X-coordinate, minimum X-coordinate, maximum Y-coordinate, and minimum Y-coordinate of the corresponding circumscribed rectangle, obtain multiple groups of candidate circumscribed rectangles, and one edge of the circumscribed polygon corresponds to one candidate circumscribed rectangle; and select the circumscribed rectangle with the smallest difference between the maximum Y-coordinate and the minimum Y-coordinate from the multiple groups of candidate circumscribed rectangles as the target circumscribed rectangle.
8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the aerial large-inclination-angle photographing flight path determination method according to any one of claims 1 to 5. 9.A non-transitory computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the aerial large-inclination-angle photographing flight path determination method according to any one of claims 1 to 5.
10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the aerial large-inclination-angle photographing flight path determination method according to any one of claims 1 to 5.