An aerial vehicle panoramic imaging method, system and computer readable storage medium

Abstract

The present application relates to the field of aerial vehicle aerial photography technology, and more particularly to a kind of aerial vehicle panoramic imaging method, system and computer readable storage medium. By controlling the attitude of the aerial vehicle body to change the optical axis direction of the image acquisition device, the traditional mechanical gimbal is replaced by using the flipping action of the aerial vehicle itself, which significantly reduces the system weight, cost and power consumption, and improves the endurance. Only one fixed lens is needed to realize multi-angle acquisition, maintaining the lightweight advantage of single-lens system. That is, while maintaining the lightweight advantage of single-lens, multi-angle image acquisition is achieved, eliminating the imaging blind area. In addition, since the image acquisition device is fixedly arranged, there is no need for complex mechanical structure, which reduces the system weight and cost and improves the reliability.

Description

Technical Field

[0001] This invention relates to the field of aerial photography technology, and in particular to a panoramic imaging method, system, and computer-readable storage medium for aircraft. Background Technology

[0002] With the popularization of drone aerial photography technology, users' demand for acquiring panoramic images is increasing. Currently, aircraft mainly rely on the following two methods to achieve panoramic imaging.

[0003] One approach is the multi-camera stitching solution. Multiple cameras are fixedly installed at different locations on the aircraft fuselage (such as the top, bottom, and sides), and multiple images are simultaneously acquired and stitched together. While this solution achieves omnidirectional coverage, it suffers from high hardware redundancy, leading to increased costs, heavier takeoff weight, and reduced range.

[0004] Secondly, there's the single-lens gimbal rotation solution. This involves using a mechanical gimbal to drive a single camera to rotate multiple times in the horizontal and vertical directions to capture images, and then using algorithms to synthesize a panoramic image from multiple partial photos. This solution suffers from mechanical wear and high power consumption, and is susceptible to vibrations from the aircraft itself during movement, leading to decreased image stitching accuracy. Furthermore, the complex gimbal structure increases the system's weight.

[0005] Furthermore, for single-lens fixed solutions, a single fisheye lens is typically used to shoot vertically downwards. Although the structure is simple and the load is light, it is limited by the lens orientation, and can only capture the lower hemisphere, unable to capture images of the sky above, resulting in an inherent imaging blind spot.

[0006] Therefore, how to achieve blind-spot-free, high-quality panoramic imaging while maintaining the advantages of lightweight design is a technical problem that urgently needs to be solved. Summary of the Invention

[0007] In view of the above problems, this application provides a panoramic imaging method, system and computer-readable storage medium for aircraft to solve the technical problems involved in the background art.

[0008] To achieve the above objectives, in a first aspect, this application provides a panoramic imaging method for an aircraft, comprising the following steps:

[0009] S1. Control the aircraft to change its attitude, thereby changing the optical axis direction of the image acquisition device fixed on the aircraft.

[0010] S2. When the aircraft is in different body attitudes, at least two sets of image data are acquired by the image acquisition device.

[0011] S3. Combine the at least two sets of image data to generate a panoramic image.

[0012] Unlike existing technologies, the technical solution of this application changes the optical axis direction of the image acquisition device by controlling the attitude of the aircraft itself. It utilizes the aircraft's own flipping motion to replace the traditional mechanical gimbal, significantly reducing system weight, cost, and power consumption, while improving endurance. Only a single fixed lens is needed to achieve multi-angle acquisition, maintaining the lightweight advantage of a single-lens system. That is, while maintaining the lightweight advantage of a single lens, multi-angle image acquisition is achieved, eliminating imaging blind spots. Furthermore, since the image acquisition device is fixed, no complex mechanical structure is required, reducing system weight and cost and improving reliability.

[0013] As one embodiment of the present invention, step S1 specifically includes:

[0014] The aircraft is controlled to rotate along a preset axis so that the optical axis of the image acquisition device points toward multiple directions of the aircraft.

[0015] As described above, multiple orientations, including above and below, can be captured by a simple flipping motion, achieving 360° panoramic coverage of both hemispheres. The flipping control logic along the preset axis is simple and easy to implement in the flight control system.

[0016] In one embodiment of the present invention, when the flipping angle is 180°, two sets of image data are acquired by the image acquisition device.

[0017] As described above, a complete panorama can be obtained with only two acquisitions, resulting in minimal data processing and fast synthesis speed. The image after a 180° flip is symmetrical to the original image, facilitating subsequent coordinate transformation processing.

[0018] In one embodiment of the present invention, when the flipping angle is 90°, three sets of image data are acquired by the image acquisition device.

[0019] As described above, adding a lateral viewpoint provides more information about overlapping areas, making it suitable for high-precision stitching in complex scenarios. The flip angle and number of captures can be flexibly selected according to application needs, adapting to different image quality requirements.

[0020] As one embodiment of the present invention, step S2 specifically includes:

[0021] When the aircraft is in the first body attitude, the first image data is acquired;

[0022] During the process of the aircraft changing its attitude or after changing to the second body attitude, the acquisition of second image data is automatically triggered based on the real-time attitude information of the aircraft.

[0023] As described above, the system automatically identifies the optimal shooting time without human intervention. Based on real-time posture triggering, it ensures data acquisition under the expected posture, avoiding delays and errors associated with manual operation.

[0024] As one embodiment of the present invention, the conditions for automatically triggering the acquisition of the second image data include:

[0025] The real-time attitude angle of the aircraft reaches a preset range, and its rate of change of angular velocity meets the preset stability conditions.

[0026] As described above, triggering occurs when the angular velocity is stable to avoid image blurring caused by aircraft vibration. Ensuring image acquisition within the target angular range guarantees the accuracy of the image's perspective. A stable source image allows for more accurate feature point matching and reduces stitching ghosting.

[0027] As one embodiment of the present invention, the method further includes the following steps before step S3:

[0028] At least one of the at least two sets of image data is subjected to coordinate transformation to align the logical coordinate systems of each set of image data.

[0029] As described above, eliminating image inversion caused by changes in physical orientation allows multiple images to be processed within the same coordinate system. Aligned images can be directly stitched together without considering rotation.

[0030] As one embodiment of the present invention, step S3 specifically includes:

[0031] Projection correction is performed on the at least two sets of image data to obtain corrected image data;

[0032] Identify feature points in overlapping regions between the corrected image data;

[0033] An image seam line is established based on the feature points of the overlapping region;

[0034] Perform brightness balancing and edge feathering on the stitching area corresponding to the image stitching line;

[0035] The image data after brightness balancing and edge feathering are fused to generate a panoramic image.

[0036] As described above, projection correction eliminates fisheye lens distortion, making the image conform to human visual perception. Feature point matching ensures accurate geometric alignment; stitching lines determine the optimal stitching position. Brightness balancing eliminates differences in brightness; edge feathering eliminates stitching marks. Standard formats such as equidistant cylindrical projections are generated for easy viewing and subsequent applications.

[0037] To achieve the above objectives, in a second aspect, this application provides an aircraft panoramic imaging system applied to the aforementioned aircraft panoramic imaging method, comprising:

[0038] The aircraft itself;

[0039] An image acquisition device is fixedly mounted on the aircraft body;

[0040] An attitude control module is used to control the flight attitude of the aircraft body;

[0041] The processing module, connected to the image acquisition device and the attitude control module, is configured as follows:

[0042] The attitude control module changes the attitude of the aircraft body, thereby changing the optical axis direction of the image acquisition device;

[0043] The image acquisition device is controlled to acquire at least two sets of image data when the aircraft body is in different attitudes;

[0044] The at least two sets of image data are combined to generate a panoramic image.

[0045] Unlike existing technologies, the technical solution in this application requires only the aircraft body and a fixed camera, without an additional gimbal, resulting in low cost and light weight. Attitude control and image processing are integrated to form a complete acquisition-compositing closed loop. Each module has a clear division of labor, facilitating maintenance and upgrades.

[0046] To achieve the above objectives, in a third aspect, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described aircraft panoramic imaging method.

[0047] Unlike existing technologies, the technical solution of this application can be deployed on various aircraft, handheld devices, ground stations, etc. Existing equipment can gain panoramic imaging capabilities through software upgrades. It is not limited to specific hardware and can be adapted to aircraft platforms from different manufacturers.

[0048] The above description of the invention is merely an overview of the technical solution of this application. In order to enable those skilled in the art to better understand the technical solution of this application and to implement it based on the description and drawings, and to make the above-mentioned objectives and other objectives, features and advantages of this application easier to understand, the following description is provided in conjunction with the specific embodiments and drawings of this application. Attached Figure Description

[0049] The accompanying drawings are only used to illustrate the principles, implementation methods, applications, features, and effects of specific embodiments of this application and other related content, and should not be considered as limitations on this application.

[0050] In the accompanying drawings of the instruction manual:

[0051] Figure 1 This is a flowchart illustrating the steps of a panoramic imaging method for an aircraft according to an embodiment of this application;

[0052] Figure 2 This is a schematic diagram of a panoramic imaging system for an aircraft according to an embodiment of this application;

[0053] The reference numerals used in the above figures are explained as follows:

[0054] 100. Image acquisition device; 200. Attitude control module; 300. Processing module. Detailed Implementation

[0055] To illustrate the possible application scenarios, technical principles, implementable specific solutions, and achievable objectives and effects of this application in detail, the following description, in conjunction with the listed specific embodiments and accompanying drawings, provides a detailed explanation. The embodiments described herein are merely illustrative of the technical solutions of this application and are therefore intended to limit the scope of protection of this application.

[0056] In this document, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this application, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0057] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit this application.

[0058] In the description of this application, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, X and / or Y means: X exists, Y exists, and X and Y exist simultaneously. Additionally, the character " / " in this document generally indicates that the preceding and following objects have an "or" logical relationship.

[0059] In this application, terms such as “first” and “second” are used only to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy or order relationship between these entities or operations.

[0060] Unless otherwise specified, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this application is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0061] As understood in the Examination Guidelines, in this application, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments in this application, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0062] In the description of the embodiments of this application, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of this application or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0063] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this application, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this application pertains, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0064] Example 1

[0065] Please see Figure 1 This embodiment provides a panoramic imaging method for aircraft, including the following steps:

[0066] S1. Control the aircraft to change its attitude so as to change the optical axis direction of the image acquisition device fixed on the aircraft.

[0067] Specifically, the aircraft can be a drone or other flyable device. The image acquisition device is fixedly mounted on the aircraft, for example, at the center of its bottom. When the aircraft changes its attitude, the image acquisition device moves with it, and its optical axis also changes direction. This method uses the aircraft's own flipping motion to replace the traditional mechanical gimbal, eliminating the need for an additional gimbal structure and reducing system weight and cost.

[0068] S2. When the aircraft is in different body attitudes, at least two sets of image data are acquired by the image acquisition device.

[0069] For example, the first set of image data can be acquired when the aircraft is flying upright, and the second set of image data can be acquired after the aircraft rolls over. To ensure image quality, image acquisition can be automatically triggered when the aircraft's attitude is stable, avoiding image blurring caused by aircraft vibration.

[0070] S3. Combine the at least two sets of image data to generate a panoramic image.

[0071] Multiple sets of image data from different perspectives are stitched together to generate a panoramic image covering a wider field of view. For example, the lower hemisphere image and the upper hemisphere image can be combined to create a 360° panoramic image.

[0072] Example 2

[0073] This embodiment further defines step S1 based on embodiment one.

[0074] Specifically, step S1 includes: controlling the aircraft to rotate along a preset axis so that the optical axis of the image acquisition device points towards the lower and upper directions of the aircraft, respectively. For example, multiple orientations include upper and lower.

[0075] The preset axis can be the roll axis or pitch axis of the aircraft. By controlling the aircraft to rotate along the preset axis, the optical axis of the image acquisition device can be gradually changed from an initial downward orientation to an upward orientation, thereby acquiring images from different directions.

[0076] Example 3

[0077] This embodiment further limits the flip angle and the number of image groups to be acquired, based on Embodiment 2.

[0078] When the rotation angle is 180°, two sets of image data are acquired by the image acquisition device. Specifically, the lower hemisphere image is acquired when the aircraft is flying forward, and the upper hemisphere image is acquired after the aircraft rotates 180°. These two sets of image data cover the hemisphere respectively, and the two can be combined to obtain a complete 360° panoramic image.

[0079] As an alternative, when the rotation angle is 90°, three sets of image data can be acquired using the image acquisition device. Specifically, the aircraft can be controlled to perform a 90° roll to the left and right respectively, acquiring two lateral hemispherical images, which are then combined with the downward image from the forward flight direction to perform multi-image stitching. This method is suitable for application scenarios that require more perspective information to enhance the composite effect.

[0080] Example 4

[0081] This embodiment further defines step S2 based on embodiment one.

[0082] Specifically, step S2 includes:

[0083] S21. When the aircraft is in the first body attitude, the first image data is acquired;

[0084] S22. During the process of the aircraft changing its attitude or after changing to the second body attitude, the acquisition of second image data is automatically triggered based on the real-time attitude information of the aircraft.

[0085] To ensure the quality of the second image data, the conditions for automatically triggering the acquisition of the second image data include: First, the real-time roll angle of the aircraft must be precisely within the target range of 180°±2° (i.e., between 178° and 182°) to ensure accurate alignment of the image viewpoint; Second, the real-time angular velocity ω of the aircraft must be reduced to 5° / s, and its rate of change of angular velocity must approach zero to eliminate the impact of residual vibration of the fuselage on the image clarity; Finally, the above angle and motion stability conditions must remain consistent within a sampling period of more than 50ms to filter out instantaneous high-frequency noise interference from the sensor.

[0086] This system possesses environmental perception and adaptive adjustment capabilities. Under varying wind speeds, if the detected wind force exceeds a preset level, the system will automatically and appropriately relax the angular velocity threshold and increase the sampling time to improve trigger sensitivity. When lighting conditions change drastically, the system will adjust the exposure compensation value of the image acquisition device to ensure consistent brightness between the two sets of images. If the ideal attitude threshold is not reached within the preset flip cycle due to external interference, the system will instruct the aircraft to attempt a secondary flip. Alternatively, when the attitude stabilizes but still has minor deviations, the system will record the current real-time attitude parameters and forcibly trigger acquisition. These parameters will then be used in subsequent steps to perform geometric transformation correction on the image, ensuring that even source data acquired under non-ideal conditions can still meet the quality requirements of high-precision panoramic stitching after algorithm compensation.

[0087] Example 5

[0088] This embodiment adds a preprocessing step before step S3, based on embodiment one.

[0089] Specifically, before step S3, the method further includes: performing coordinate transformation processing on at least one of the at least two sets of image data to align the logical coordinate systems of each set of image data.

[0090] For example, for an image captured after an aircraft has flipped 180°, the image itself is inverted relative to the initial reference frame because the aircraft is in an upside-down state. This embodiment performs pixel-level remapping on this image using a preset coordinate transformation matrix, rotating its logical coordinate system by 180°. During the remapping process, to eliminate the pixel discretization effect caused by the rotation and ensure image quality, a bicubic interpolation algorithm is used to compensate for pixel brightness values. This processing ensures that the pixel array of the image in the inverted orientation is completely aligned with the image captured during forward flight in the logical coordinate system, ensuring consistent feature distribution in the overlapping area between the two sets of images, thus facilitating subsequent high-precision image synthesis.

[0091] Example 6

[0092] This embodiment further defines step S3 based on embodiment one.

[0093] Specifically, step S3 includes:

[0094] S31. Perform projection correction on the at least two sets of image data to obtain corrected image data. Projection correction may include distortion correction and resampling processing. For example, for images acquired by a fisheye lens, due to their inherent barrel distortion, distortion correction needs to be performed using a preset projection model, and the images need to be resampled to a unified coordinate system.

[0095] S32. Feature points are extracted from the two sets of corrected images using the SIFT (Scale Invariant Feature Transform) algorithm. Given the significant rotational shifts and potential differences in illumination intensity in images acquired by the aircraft in both upright and inverted orientations, the SIFT algorithm, with its excellent rotation invariance and brightness variation tolerance, ensures high-precision extraction of corresponding feature points even in complex aerial photography environments. In the feature point matching stage, the system first uses a nearest neighbor ratio strategy for initial screening, and then introduces the RANSAC (Random Sample Consensus) algorithm for iterative optimization of the matching pairs. By constructing a homography matrix and calculating the reprojection error, mismatched points caused by background motion, light flicker, or repetitive textures are effectively eliminated, thus providing reliable geometric constraints for subsequently establishing accurate image stitching lines.

[0096] S33. After completing the feature point matching in the overlapping area, the system uses a dynamic programming algorithm to search for the path with the minimum energy within the overlapping area as the optimal stitching line. This energy function comprehensively considers the color difference between adjacent pixels, gradient direction, and texture consistency. In particular, to eliminate dynamic interference commonly found in aerial photography scenes (such as vehicles on the ground, birds, etc.), the algorithm identifies and assigns extremely high energy weights to areas of moving objects when calculating the energy map. In this way, the stitching line can automatically bypass moving targets, effectively avoiding the 'ghosting' or 'discontinuity' phenomenon caused by the time difference between the two sets of images, ensuring that the generated panoramic image presents a seamless visual transition.

[0097] S34. To address the uneven brightness issue in the upper and lower hemisphere images caused by differences in shooting angle and lighting conditions, the system first calculates the average brightness difference in the overlapping areas of the two sets of images and performs global exposure compensation accordingly. Subsequently, a Laplacian Pyramid multi-scale fusion algorithm is used to process the areas on both sides of the stitching line. This algorithm decomposes the image into levels of different spatial frequencies, performs weighted fusion and edge feathering at each level, resulting in a more natural transition at the stitching point. In this way, not only are obvious physical stitching marks eliminated, but the system also maintains image detail clarity while achieving smooth brightness transitions and color consistency across viewing angles, ultimately generating a visually unified panoramic image.

[0098] S35. The image data after brightness balancing and edge feathering processing are fused to generate a panoramic image. The processed image data are fused to generate the final panoramic image, such as an equidistant cylindrical projection image, which is convenient for user viewing and subsequent processing.

[0099] Example 7

[0100] Please see Figure 2This embodiment provides an aircraft panoramic imaging system, applied to the aircraft panoramic imaging method described in any one of embodiments one to six above, comprising:

[0101] The aircraft itself;

[0102] The image acquisition device 100 is fixedly mounted on the aircraft body;

[0103] Attitude control module 200 is used to control the flight attitude of the aircraft body;

[0104] The processing module 300 is connected to the image acquisition device 100 and the attitude control module 200.

[0105] Processing module 300 is configured as follows:

[0106] The attitude control module 200 changes the attitude of the aircraft body, thereby changing the optical axis direction of the image acquisition device 100.

[0107] The image acquisition device 100 is controlled to acquire at least two sets of image data when the aircraft body is in different attitudes;

[0108] The at least two sets of image data are combined to generate a panoramic image.

[0109] Preferably, the image acquisition device 100 is a single fisheye lens, fixed at the bottom center of the aircraft body. More preferably, the physical optical axis of the single fisheye lens coincides with the center of gravity axis of the aircraft body. To achieve this high-precision alignment, precise modeling and constraints are performed using CAD software during the design phase, and laser alignment detection is used during the assembly phase to ensure that the lateral deviation between the physical optical axis and the center of gravity axis is controlled within ±2mm, and the angular deviation is controlled within ±1°. In addition, adjustable counterweights are configured symmetrically on the frame. Static balance tests ensure that the deviation of the center of gravity position before and after flipping is minimized, ensuring that the displacement deviation of the lens optical center in the spatial coordinate system approaches zero, greatly reducing the registration difficulty of subsequent image synthesis.

[0110] Preferably, the system further includes an attitude sensing module (such as an IMU) for real-time sensing of the attitude information of the aircraft body. The processing module 300 is also configured to control the acquisition of first image data when the aircraft body is in a first attitude, and to automatically trigger the acquisition of second image data based on the real-time attitude information sensed by the attitude sensing module during the process of the aircraft body changing its attitude or after changing to a second attitude.

[0111] Example 8

[0112] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the aircraft panoramic imaging method described in any one of embodiments one to six above.

[0113] The computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. The computer-readable storage medium can be, for example,, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0114] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application 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 or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A panoramic imaging method for aircraft, characterized in that, Includes the following steps: S1. Control the aircraft to change its attitude, thereby changing the optical axis direction of the image acquisition device fixed on the aircraft. S2. When the aircraft is in different body attitudes, at least two sets of image data are acquired by the image acquisition device. S3. Combine the at least two sets of image data to generate a panoramic image.

2. The panoramic imaging method for aircraft according to claim 1, characterized in that, Step S1 specifically includes: The aircraft is controlled to rotate along a preset axis so that the optical axis of the image acquisition device points toward multiple directions of the aircraft.

3. The panoramic imaging method for aircraft according to claim 2, characterized in that, When the flip angle is 180°, two sets of image data are acquired by the image acquisition device.

4. The panoramic imaging method for aircraft according to claim 2, characterized in that, When the flip angle is 90°, three sets of image data are acquired by the image acquisition device.

5. The panoramic imaging method for aircraft according to claim 1, characterized in that, Step S2 specifically includes: When the aircraft is in the first body attitude, the first image data is acquired; During the process of the aircraft changing its attitude or after changing to the second body attitude, the acquisition of second image data is automatically triggered based on the real-time attitude information of the aircraft.

6. The panoramic imaging method for aircraft according to claim 5, characterized in that, The conditions for automatically triggering the acquisition of the second image data include: The real-time attitude angle of the aircraft reaches a preset range, and its rate of change of angular velocity meets the preset stability conditions.

7. The panoramic imaging method for aircraft according to claim 1, characterized in that, Step S3 is preceded by: At least one of the at least two sets of image data is subjected to coordinate transformation to align the logical coordinate systems of each set of image data.

8. The panoramic imaging method for aircraft according to claim 1, characterized in that, Step S3 specifically includes: Projection correction is performed on the at least two sets of image data to obtain corrected image data; Identify feature points in overlapping regions between the corrected image data; An image seam line is established based on the feature points of the overlapping region; Perform brightness balancing and edge feathering on the stitching area corresponding to the image stitching line; The image data after brightness balancing and edge feathering are fused to generate a panoramic image.

9. A panoramic imaging system for aircraft, characterized in that, The panoramic imaging method for an aircraft, applied in any one of claims 1 to 8, includes: The aircraft itself; An image acquisition device is fixedly mounted on the aircraft body; An attitude control module is used to control the flight attitude of the aircraft body; The processing module, connected to the image acquisition device and the attitude control module, is configured as follows: The attitude control module changes the attitude of the aircraft body, thereby changing the optical axis direction of the image acquisition device; The image acquisition device is controlled to acquire at least two sets of image data when the aircraft body is in different attitudes; The at least two sets of image data are combined to generate a panoramic image.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the steps of the aircraft panoramic imaging method as described in any one of claims 1 to 8.

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