An unmanned aerial vehicle aerial surveying and mapping method, device and software program product

Abstract

The application provides a UAV aerial survey photographing method, device and software program product, relates to the field of UAV aerial survey, and solves the problem that aerial survey photographing in the existing UAV aerial survey system is only simple "storage of pictures" but not oriented to the aerial survey mapping target. The method comprises the following steps: establishing an aerial survey remapping relationship corresponding to a current aerial survey task and a task-level mask; determining a photographing time according to a task state machine of the current aerial survey task, an external photographing command and a current attitude change amount of the UAV; and outputting a photographing result as a mapping data unit which can directly serve a back-end mapping software.

Description

Technical Field

[0001] This invention relates to the field of UAV aerial surveying, and in particular to a UAV aerial surveying mapping method, apparatus, and software program product. Background Technology

[0002] Existing UAV aerial surveying systems typically write continuously acquired images from cameras directly into the task directory, and then backend mapping software performs feature extraction, pose estimation, dense reconstruction, and orthorectification. While this approach is simple to implement, it suffers from the following problems in practical engineering: Because the raw images acquired by aerial surveys contain areas unrelated to the current aerial survey mission and lack other relevant data files for the backend mapping software, directly using the raw images to build maps in the backend mapping software is inefficient and prone to errors. Summary of the Invention

[0003] Based on the above analysis, the embodiments of the present invention aim to solve the problems of low efficiency and easy error in existing UAV aerial survey systems that directly use raw images in the backend mapping software to build maps.

[0004] In a first aspect, embodiments of the present invention provide a method for aerial surveying and mapping using unmanned aerial vehicles (UAVs), comprising the following steps: Step S100: Establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission; Step S200: Determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the UAV's current attitude changes; and Step S300: Output the map acquisition results as map data units that can be directly used by the backend map building software.

[0005] Based on a further improvement of the above method, step S100 includes: Step S101: In response to receiving the aerial survey mission instruction, determine the aerial survey remapping relationship corresponding to the current aerial survey mission; Step S102: Correct the acquired presampled image according to the aerial survey remapping relationship to obtain a presampled corrected image; Step S103: Generate a mission-level mask for the current aerial survey mission based on the presampled and corrected image.

[0006] Based on further improvements to the above method, the mapping data unit includes the formally acquired image, the mask of the formally acquired image under the mission-level mask, UAV pose information, and camera parameter information.

[0007] Based on a further improvement of the above method, step S103 includes: Obtain the presampled and corrected images of the first N frames, where N is a positive integer greater than 1; The presampled and corrected image of each frame is converted into an initial task-level mask for each frame using a mask generation model, wherein the mask generation model is a segmentation model based on an artificial neural network. The N initial mission-level masks are fused using a relaxed OR strategy to obtain the mission-level mask for the current aerial survey mission.

[0008] A further improvement to the above method involves fusing the N initial task-level masks using a relaxed OR strategy, including: The mission-level mask for the current aerial survey mission is obtained by fusion in the following manner. :

[0009] in, For the i-th initial task-level mask, The pixel coordinates of the presampled and corrected image.

[0010] Based on a further improvement of the above method, step S200 includes: The following method is used to determine whether to perform formal map acquisition:

[0011] in, Let t be the state of the task state machine at time t. This indicates that the aerial survey mission has been initiated and is in a map-acquisition-ready state. This indicates that the aerial survey mission has not been initiated or is not in a map-capturing state. Whether an external image acquisition command was received at time t. This indicates that an external image acquisition command has been received. This indicates that no external image acquisition command was received. This represents the change in elevation angle between two consecutive image acquisition and determination times. This represents the change in yaw angle between two consecutive image acquisition and determination times. Indicates the threshold for pitch angle change. Indicates the threshold for yaw angle variation. This indicates that formal image acquisition will be performed at time t. This indicates that formal image acquisition is not performed at time t.

[0012] Based on a further improvement to the above method, step S200 further includes: Step 210: In response to the formal image acquisition, verify whether the pose information of the UAV at the current moment is valid. If it is valid, proceed to step S300; otherwise, proceed to step 220. Step 220: Recheck the current pose information of the UAV at a later time to see if it has been restored. If it has been restored within the preset maximum number of retries, proceed to step S300; otherwise, end the process.

[0013] Based on a further improvement to the above method, the data in the mapping data unit is written to disk in the following order: Generate a temporary file of the officially acquired image; Write the metadata of the formally acquired image and the corresponding UAV pose information into the temporary file; The temporary file is renamed to obtain the formal acquired image and stored in the mission image directory corresponding to the current aerial survey mission; The mask under the mission-level mask is copied from the actual captured image; The camera parameter information can be directly read by the mapping backend from the task image directory.

[0014] Based on further improvements to the above method, the aerial survey remapping relationship is determined by camera intrinsic parameters, distortion parameters of the original image, target output size of the current aerial survey mission, and rotation compensation parameters.

[0015] Based on a further improvement of the above method, the presampled correction image and the formally acquired image are sampled from the corresponding presampled original image and formally acquired original image using the same aerial survey remapping relationship.

[0016] Secondly, embodiments of the present invention provide an unmanned aerial vehicle (UAV) aerial surveying and mapping device, characterized in that it includes: The module is configured to establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission. The determination module is configured to determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the current attitude changes of the UAV. The output module is configured to output the map acquisition results as map data units that can be directly used by the backend mapping software; Thirdly, embodiments of the present invention provide a software program product including program code instructions, wherein when the program product is executed by a computing device, the program code instructions cause the computing device to perform the method described in any of the first aspects of the present invention.

[0017] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. The present invention no longer regards aerial surveying and mapping as "saving an image after receiving a command". Instead, after the mission starts, it first establishes the aerial surveying and mapping relationship and the mission-level mask, and then determines when to collect images based on the mission status, attitude changes and flight status effectiveness. Each image collection result is output as a software data unit that can directly serve the mapping.

[0018] 2. In the present invention, since the aerial survey remapping relationship is generated after the mission begins and the presampled image and the formally acquired image share the same remapping relationship, it can be ensured that the mission-level mask and the formally acquired image are located in the same aerial survey correction coordinate system, thereby improving the geometric consistency of the front-end image acquisition results.

[0019] 3. In the present invention, since a fixed template mask is not used directly, but an initial mask is generated and fused from the presampled and corrected images of multiple frames after the task starts, only the effective area that appears stably in multiple views can be retained, thereby reducing the interference of distortion edges, instantaneous occlusion and pose perturbation on the mapping input.

[0020] 4. In the present invention, since the formal image acquisition is jointly controlled by the mission state machine, external image acquisition commands and attitude change variables, rather than relying solely on a single command or fixed frequency, the image acquisition time can be made closer to the real and effective aerial survey state, thereby improving the accuracy of image acquisition timing and mission relevance.

[0021] 5. In the present invention, since the retry is delayed when the positioning is invalid, instead of immediately discarding the current image acquisition opportunity, the image gaps caused by short-term RTK failure, state cache delay or instantaneous query failure can be reduced, thereby improving the continuity of the task image sequence.

[0022] 6. In the present invention, since the formal map acquisition results are organized into mapping data units containing images, task-level masks, pose geographic information and shared parameter files, and are written to disk in an atomized order with images first and masks last, it can avoid the backend monitoring thread reading the semi-finished files, and at the same time reduce the risk of mismatch between images, masks and parameter files, thereby improving the integrity and consumability of the mapping input data.

[0023] 7. In the present invention, since the proposed solution is a "front-end method for aerial surveying and mapping" rather than a back-end reconstruction algorithm, the solution can independently improve the quality of front-end mapping results without changing the main algorithm of the back-end mapping software, and has strong engineering application value and system compatibility.

[0024] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0025] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts. Figure 1 A flowchart illustrating an unmanned aerial survey mapping method according to an embodiment of the present invention is shown. Detailed Implementation

[0026] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0027] This invention provides a method for aerial surveying and mapping using unmanned aerial vehicles (UAVs). Figure 1 A flowchart illustrating an unmanned aerial vehicle (UAV) aerial surveying and mapping method according to an embodiment of the present invention is shown. Figure 1 As shown, the UAV aerial surveying and mapping method includes: Step S100: Establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission.

[0028] In this embodiment, after the task begins, aerial survey remapping relationships and a task-level mask can be established first. The aerial survey remapping relationship represents the mapping relationship between the original image and the corrected image, and can be stored in the form of a table. According to the aerial survey remapping table, the sampling coordinates of the original image can be mapped to the coordinates of the output pixels. In this embodiment, the task-level mask is not a fixed mask, but is established based on the aerial survey remapping relationship.

[0029] In some embodiments, step S100 includes: Step S101: In response to receiving the aerial survey mission instruction, determine the aerial survey remapping relationship corresponding to the current aerial survey mission.

[0030] Step S102: Correct the acquired presampled image according to the aerial survey remapping relationship to obtain a presampled corrected image.

[0031] Step S103: Generate a mission-level mask for the current aerial survey mission based on the presampled and corrected image.

[0032] In step S101, if an aerial survey mission instruction is received, a directory for the current aerial survey mission can be created to store the data for the current aerial survey mission. Then, the aerial survey remapping relationship corresponding to the current aerial survey mission is generated or loaded.

[0033] In step S102, several presampled images are acquired before the formal image acquisition, and color space conversion and aerial survey remapping correction are performed on these presampled images to obtain presampled corrected images. In the presampled stage, the original image refers to the presampled image; correcting the presampled image yields the presampled corrected image. In the formal image acquisition stage, the original image (and in this text, the "formal sampled original image") is the image obtained after pressing the camera shutter, while the formally acquired image is obtained by sampling the "original image".

[0034] In this embodiment, the presampled image and the presampled correction image satisfy the following pixel-level relationship:

[0035] in, The presampled image at time t, The presampled and corrected image at time t. To presample and correct pixel coordinates in the image, For the remapping relationship between the output pixels and the aerial survey data The corresponding pixel coordinates in the presampled image.

[0036] In some embodiments, the aerial survey remapping relationship is determined by camera intrinsic parameters, distortion parameters of the original image, target output size of the current aerial survey mission, and rotation compensation parameters. It should be noted that, typically, the original image is a fisheye image, so the distortion parameters here refer to the distortion parameters of the fisheye image. The rotation compensation parameters here refer to the rotation angle when pointing towards the region of interest in the original image.

[0037] In some embodiments, the aerial survey remapping relationship is dynamically generated and cached in memory at the start of the aerial survey mission, and the original image to be formally sampled and the original image to be presampled use the same aerial survey remapping relationship, thereby ensuring that the mission-level mask and the formally acquired image are in the same image coordinate system.

[0038] In existing technologies, the raw images acquired by the front end often contain fisheye distortion, invalid edge regions, aircraft occlusion areas, or background regions unrelated to the current task. Directly entering these images into the mapping process reduces feature matching stability and increases the burden on backend filtering. In this embodiment, an aerial survey remapping relationship is generated after the task begins, and the pre-sampled raw images and the final sampled raw images share the same remapping relationship. Therefore, it can be ensured that the task-level mask and the final acquired images are located in the same aerial survey calibration coordinate system, thereby improving the geometric consistency of the front-end mapping results.

[0039] In step S103, each presampled and corrected image can be input into the mask generation model to obtain multiple initial task-level masks, and the multiple initial task-level masks can be fused to obtain the task-level mask for the current aerial survey mission.

[0040] In some embodiments, the step of generating a mission-level mask for the current aerial survey mission includes: Step 301: Obtain the presampled and corrected images of the first N frames, where N is a positive integer greater than 1.

[0041] Step 302: Use a mask generation model to convert the presampled and corrected image of each frame into an initial task-level mask for each frame, wherein the mask generation model is a segmentation model based on an artificial neural network.

[0042] Step 303: Use a relaxed OR strategy to fuse the N initial mission-level masks to obtain the mission-level mask for the current aerial survey mission.

[0043] Specifically, initial task-level masks are generated for the first N frames of presampled and corrected images after the task begins. The generation relationship can be expressed as follows:

[0044] in, This represents the mask generation model. This indicates that the presampled and corrected image of the i-th frame is at the pixel level. The initial mask value at that location.

[0045] Then, the N initial mission-level masks can be fused in the following manner to obtain the mission-level mask for the current aerial survey mission. :

[0046] in, For the i-th initial task-level mask, Let be the pixel coordinates of the presampled and corrected image. This formula means that when a pixel is determined to be a valid region in any initial mask of the presampled and corrected image, that pixel is retained in the task-level mask. This determination strategy is the loose OR strategy of this application embodiment. Wherein, the formula... This means fusing N initial task-level masks.

[0047] Step S200: Determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the current attitude change of the UAV.

[0048] At the beginning of an aerial survey mission, the aircraft's attitude is not yet stable, and the target area has not yet fully entered the effective field of view. If image acquisition begins directly, a large number of invalid images may be mixed into the same mission. In addition, the actual image acquisition trigger is often affected by factors such as mission status, manual commands, attitude changes, positioning effectiveness, and buffer latency. Existing systems usually only store images according to fixed commands or fixed frequencies, making it difficult to ensure that the image acquisition time is consistent with the effective flight status.

[0049] This embodiment can comprehensively judge the correct timing for image acquisition based on the current aerial survey mission's mission state machine, external image acquisition commands, and the current attitude changes of the UAV. Specifically, a mission state machine for the current aerial survey mission can be established, and the mission state machine can be used to determine whether the current aerial survey mission is in an image acquisition-ready state. When the current aerial survey mission is in an image acquisition-ready state, the external image acquisition commands and attitude changes can be used to determine whether to execute formal image acquisition at the current moment.

[0050] In some embodiments, the following method is used to determine whether to perform formal image acquisition:

[0051] in, Let t be the state of the task state machine at time t. This indicates that the aerial survey mission has been initiated and is in a map-acquisition-ready state. This indicates that the aerial survey mission has not been initiated or is not in a map-capturing state. Whether an external image acquisition command was received at time t. This indicates that an external image acquisition command has been received. This indicates that no external image acquisition command was received. This represents the change in elevation angle between two consecutive image acquisition and determination times. This represents the change in yaw angle between two consecutive image acquisition and determination times. Indicates the threshold for pitch angle change. Indicates the threshold for yaw angle variation. This indicates that formal image acquisition will be performed at time t. This indicates that formal image acquisition will not be performed at time t. This method does not rely solely on manual commands to trigger formal image acquisition; it also allows for automatic triggering of formal image acquisition based on attitude changes when the task is ready for image acquisition.

[0052] In some embodiments, step S200 further includes: Step 210: In response to the formal image acquisition, verify whether the pose information of the UAV at the current moment is valid. If it is valid, proceed to step S300; otherwise, proceed to step 220. Step 220: Recheck the current pose information of the UAV at a later time to see if it has been restored. If it has been restored within the preset maximum number of retries, proceed to step S300; otherwise, end the process.

[0053] In this embodiment, after determining to execute formal image acquisition, it is also necessary to verify whether the current flight status is valid. Let:

[0054] like but If the current image acquisition opportunity is not immediately discarded, a retry flag is recorded, and the system continues to check whether the valid state has been restored in subsequent image frames; if the preset retry limit is reached... If the recovery is successful, proceed with the formal map acquisition; otherwise, abandon this map acquisition.

[0055] It should be noted that invalid current position, attitude, and positioning status refers to the absence of the current position, attitude, and positioning status at the current moment. There are many reasons for this absence, typically including short-term GPS / RTK failure, buffer delay, or momentary failure of status query. This embodiment can avoid gaps in the entire mission image caused by short-term GPS / RTK failure, buffer delay, or momentary failure of status query.

[0056] Step S300: Output the map acquisition results as map data units that can be directly used by the backend map building software.

[0057] In response to the execution of formal image acquisition, a mapping data unit for the current moment is constructed, wherein the mapping data unit includes the formally acquired image, the mask of the formally acquired image under the task-level mask, UAV pose information, and camera parameter information.

[0058] In this embodiment, the mapping data unit corresponding to the kth formal mapping can be defined as:

[0059] in, For the k-th formally acquired image, for The mask under the task-level mask associated with the k-th formal image acquisition. for The mapping uses metadata and the corresponding UAV pose information. This refers to camera parameter information. The object protected in this embodiment is not a single image, but rather a collection of image acquisition results organized for the mapping end.

[0060] In some embodiments, the data in the mapping data unit is written to disk in the following order: Generate a temporary file of the officially acquired image; Write the metadata of the formally acquired image and the corresponding UAV pose information into the temporary file; The temporary file is renamed to obtain the formal acquired image and stored in the mission image directory corresponding to the current aerial survey mission; The mask under the mission-level mask is copied from the actual captured image; The camera parameter information can be directly read by the mapping backend from the task image directory.

[0061] In this embodiment, the metadata of the officially acquired image refers to data recording the shooting time, geographical location, flight pose, and mission-related information. The metadata of the officially acquired image can be written into the EXIF ​​and / or XMP data areas of the image file. The EXIF ​​data area is used to record the shooting time, camera parameters, and basic geographic information, while the XMP data area is used to record extended pose parameters, mission identifiers, and mapping-related information.

[0062] In existing technologies, the front-end image acquisition results are usually just ordinary image files, lacking mask files, camera model overlay files, geopose metadata, and stable disk loading order constraints that are directly compatible with mapping. This can easily lead to the back-end reading unfinished data or incorrect data organization structures.

[0063] The order in this embodiment is to prevent the backend monitoring thread from prematurely reading the semi-finished state where there is only a mask and no formal image yet.

[0064] The following are example ranges of relevant parameters in this invention: 1. Presampled frame number N: 3 to 10 frames.

[0065] 2. Threshold for pitch angle change 5 to 20 degrees Celsius.

[0066] 3. Retry limit : 1 to 5 times.

[0067] Secondly, embodiments of the present invention provide an unmanned aerial vehicle (UAV) aerial surveying and mapping device, comprising: The module is configured to establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission. The determination module is configured to determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the current attitude changes of the UAV. The output module is configured to output the map acquisition results as map data units that can be directly used by the backend mapping software.

[0068] Thirdly, embodiments of the present invention provide a software program product including program code instructions, wherein when the program product is executed by a computing device, the program code instructions cause the computing device to perform the method described in any of the first aspects of the present invention.

[0069] Compared with the prior art, the embodiments of the present invention can achieve at least one of the following beneficial effects: 1. The present invention no longer regards aerial surveying and mapping as "saving an image after receiving a command". Instead, after the mission starts, it first establishes the aerial surveying and mapping relationship and the mission-level mask, and then determines when to collect images based on the mission status, attitude changes and flight status effectiveness. Each image collection result is output as a software data unit that can directly serve the mapping.

[0070] 2. In the present invention, since the aerial survey remapping relationship is generated after the mission begins and the presampled image and the formally acquired image share the same remapping relationship, it can be ensured that the mission-level mask and the formally acquired image are located in the same aerial survey correction coordinate system, thereby improving the geometric consistency of the front-end image acquisition results.

[0071] 3. In the present invention, since a fixed template mask is not used directly, but an initial mask is generated and fused from the presampled and corrected images of multiple frames after the task starts, only the effective area that appears stably in multiple views can be retained, thereby reducing the interference of distortion edges, instantaneous occlusion and pose perturbation on the mapping input.

[0072] 4. In the present invention, since the formal image acquisition is jointly controlled by the mission state machine, external image acquisition commands and attitude change variables, rather than relying solely on a single command or fixed frequency, the image acquisition time can be made closer to the real and effective aerial survey state, thereby improving the accuracy of image acquisition timing and mission relevance.

[0073] 5. In the present invention, since the retry is delayed when the positioning is invalid, instead of immediately discarding the current image acquisition opportunity, the image gaps caused by short-term RTK failure, state cache delay or instantaneous query failure can be reduced, thereby improving the continuity of the task image sequence.

[0074] 6. In the present invention, since the formal map acquisition results are organized into mapping data units containing images, task-level masks, pose geographic information and shared parameter files, and are written to disk in an atomized order with images first and masks last, it can avoid the backend monitoring thread reading the semi-finished files, and at the same time reduce the risk of mismatch between images, masks and parameter files, thereby improving the integrity and consumability of the mapping input data.

[0075] 7. In the present invention, since the proposed solution is a "front-end method for aerial surveying and mapping" rather than a back-end reconstruction algorithm, the solution can independently improve the quality of front-end mapping results without changing the main algorithm of the back-end mapping software, and has strong engineering application value and system compatibility.

[0076] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for aerial surveying and mapping using unmanned aerial vehicles (UAVs), characterized in that, Includes the following steps: Step S100: Establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission; Step S200: Determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the UAV's current attitude change. as well as Step S300: Output the map acquisition results as map data units that can be directly used by the backend map building software.

2. The method according to claim 1, characterized in that, Step S100 includes: Step S101: In response to receiving the aerial survey mission instruction, determine the aerial survey remapping relationship corresponding to the current aerial survey mission; Step S102: Correct the acquired presampled image according to the aerial survey remapping relationship to obtain a presampled corrected image; Step S103: Generate a mission-level mask for the current aerial survey mission based on the presampled and corrected image.

3. The method according to claim 1, characterized in that, The mapping data unit includes the formally acquired image, the mask of the formally acquired image under the mission-level mask, UAV pose information, and camera parameter information.

4. The method according to claim 1, characterized in that, Step S103 includes: Obtain the presampled and corrected images of the first N frames, where N is a positive integer greater than 1; The presampled and corrected image of each frame is converted into an initial task-level mask for each frame using a mask generation model, wherein the mask generation model is a segmentation model based on an artificial neural network. The N initial mission-level masks are fused using a relaxed OR strategy to obtain the mission-level mask for the current aerial survey mission.

5. The method according to claim 4, characterized in that, The fusion of the N initial task-level masks using a relaxed OR strategy includes: The mission-level mask for the current aerial survey mission is obtained by fusion in the following manner. : in, For the i-th initial task-level mask, The pixel coordinates of the presampled and corrected image.

6. The method according to claim 5, characterized in that, The data in the mapping data unit is written to disk in the following order: Generate a temporary file of the officially acquired image; Write the metadata of the formally acquired image and the corresponding UAV pose information into the temporary file; The temporary file is renamed to obtain the formal acquired image and stored in the mission image directory corresponding to the current aerial survey mission; The mask under the mission-level mask is copied from the actual captured image; The camera parameter information can be directly read by the mapping backend from the task image directory.

7. The method according to claim 5, characterized in that, The aerial survey remapping relationship is determined by camera intrinsic parameters, distortion parameters of the original image, target output size of the current aerial survey mission, and rotation compensation parameters.

8. The method according to claim 7, characterized in that, The presampled and corrected images and the final sampled images are sampled from the corresponding presampled and final sampled original images using the same aerial survey remapping relationship.

9. The method according to any one of claims 1 to 8, characterized in that, Step S200 includes: The following method is used to determine whether to perform formal map acquisition: in, Let t be the state of the task state machine at time t. This indicates that the aerial survey mission has been initiated and is in a map-acquisition-ready state. This indicates that the aerial survey mission has not been initiated or is not in a map-capturing state. Whether an external image acquisition command was received at time t. This indicates that an external image acquisition command has been received. This indicates that no external image acquisition command was received. This represents the change in elevation angle between two consecutive image acquisition and determination times. This represents the change in yaw angle between two consecutive image acquisition and determination times. Indicates the threshold for pitch angle change. Indicates the threshold for yaw angle variation. This indicates that formal image acquisition will be performed at time t. This indicates that formal image acquisition is not performed at time t.

10. The method according to claim 9, characterized in that, Step S200 further includes: Step 210: In response to the formal image acquisition, verify whether the pose information of the UAV at the current moment is valid. If it is valid, proceed to step S300; otherwise, proceed to step 220. Step 220: Recheck the current pose information of the UAV at a later time to see if it has been restored. If it has been restored within the preset maximum number of retries, proceed to step S300; otherwise, end the process.

11. A drone aerial surveying and mapping device, characterized in that, include: The module is configured to establish the aerial survey remapping relationship and mission-level mask corresponding to the current aerial survey mission. The determination module is configured to determine the image acquisition time based on the current aerial survey mission's state machine, external image acquisition commands, and the current attitude changes of the UAV. The output module is configured to output the map acquisition results as map data units that can be directly used by the backend mapping software.

12. A software program product comprising program code instructions that, when executed by a computing device, cause the computing device to perform the method of any one of claims 1 to 10.

Images