CN108416263A - A kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing - Google Patents
A kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing Download PDFInfo
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Abstract
A kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing, includes the following steps：(1) relation curve being fitted between image ground resolution g and image taking height H；(2) image is acquired；(3) relational expression of the image pixel and distance D is calculated；(4) unmanned plane camera position O is calculatedaTo the position O of each rectangle blank mark center1、O2、O3…OnActual range L1、L2、L3…Ln, i.e., the actual range of current unmanned plane and each rectangle blank marker；(5) ground location O immediately below unmanned plane camera is obtainedbWith each rectangle blank mark center position O1、O2、O3…OnHorizontal distance D1、D2、D3…Dn；(6) real-time unmanned plane is obtained by weighted average and measures heightThe present invention has many advantages, such as that easy to operate, cost-effective, measurement is accurate.The invention belongs to unmanned aerial vehicle remote sensing technical fields.
Description
Technical field
The invention belongs to agriculture unmanned aerial vehicle remote sensing technical fields, more particularly to a kind of agriculture feelings low-altitude remote sensing that is suitable for monitor
Low cost drone height measurement method.
Background technology
Traditional agriculture feelings detection mainly relies on artificial field investigation, and time-consuming for this mode, heavy workload；Especially
When crop-planting face amount is larger, it is difficult to obtain whole Crop Information.In recent years, unmanned plane low-altitude remote sensing is monitored in agriculture feelings
Application on field is more and more extensive.Agriculture feelings monitoring based on unmanned plane low-altitude remote sensing can quickly and accurately obtain a wide range of
The remote sensing image of area-of-interest, can rapidly be monitored some region and information extraction, and carry out agriculture mutual affection analysis,
Therefore the operating efficiency of agriculture feelings monitoring is greatly improved.However, shooting height Different Effects institute when unmanned aerial vehicle remote sensing operation
The pixel resolution size for obtaining each remote sensing images influences between remote sensing images to be spliced and the characteristic point of reference remote sensing images
Matching relationship, influence the splicing effect of later stage remote sensing images, and then influence information judgement monitor to agriculture feelings, therefore allow nothing
The height in same level is even more important when man-machine remote sensing operation.Although in unmanned aerial vehicle remote sensing, there are many based on airborne
Laser, air pressure, inertia measurement, RTK GPS etc. drone height measurement method, but accurate in drone height measurement
Property or cost in terms of there are still deficiencies：As effective measurement distance of laser optical method is relatively short, is influenced especially to exist by weather
It is unable to measure, is easily limited by the environment on the spot of agriculture feelings monitoring and weather conditions, practicability is not high under overcast sky；As air pressure is surveyed
Error can occur with atmosphere zone variable density in amount method, also error can occur because of the temperature and humidity variation of around measuring environment,
Unmanned plane air pressure resolution ratio wretched insufficiency, stability in low-latitude flying is poor；As inertia measurement uses gyroscope or acceleration
Inductor vertically show that height, but the situation of change because not knowing landform, data are only indicated with original 0 by the way that integration method is accumulative
The relative altitude of position compares, and easily causes error accumulation, and precision is inaccurate；Such as GPS based on RTK utilizes carrier phase observation data
Real time kinematic survey system, provide three-dimensional localization of the survey station point in specified coordinate system in real time as a result, measurement accuracy compared with
Height, but need to connect the limitations such as base station and rover station using radio station data-link when measurement, equipment cost is excessively high.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of unmanned plane height of the low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing
Spend measurement method.
A kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing, includes the following steps：
(1) the identical rectangle blank marker of several specifications is chosen, and one of rectangle blank marker is affixed on flat
On whole metope, with the camera for waiting for remote sensing images with several images of angle shot of vertical rectangle blank marker, choose several
The whole image in image of rectangle blank marker is opened as experimental image, is distinguished with matlab softwares fitting image ground distributor
Relation curve between rate g and image taking height H；
(2) the pre-determined distance range, default of source location, source location is set in the field region monitored
The target point and unmanned plane during flying route of distance range, multiple rectangle blank markers are equidistantly placed in source location
Pre-determined distance within the scope of, operation unmanned plane according to set unmanned plane during flying route flight to pre-determined distance range target
Point starts to acquire image；
(3) image collected in (2) is pre-processed, then after image procossing, extracts rectangle blank marker
Ground shared in the picture pixel resolution, and the relational expression of the image pixel and distance D is calculated；
(4) according to the correspondence of ground pixel resolution g and drone flying height H in (1), and the figure of acquisition
Ground pixel resolution shared by each rectangle blank marker, is calculated unmanned plane camera position O as inaIt is white to each rectangle
The position O of plate mark center1、O2、O3…OnActual range L1、L2、 L3…Ln, i.e., current unmanned plane and each rectangle blank mark
The actual range of will object；
(5) according to calculating unmanned plane camera underface ground location O in same width acquisition image in (4)bWith in image
Each rectangle blank mark center position O1、O2、O3…OnPixel value difference, by the relationship of the image pixel and distance D in (3)
Formula obtains ground location O immediately below unmanned plane camerabWith each rectangle blank mark center position O1、O2、O3…OnLevel
Distance D1、D2、D3…Dn；
(6) pass through the geometrical relationship of right angled triangleAccording to actual range L1、L2、L3…LnAnd level
Distance D1、D2、D3…DnCalculate separately out unmanned plane camera position OaTo the vertical range H on ground1、H2、H3…Hn, then lead to
It crosses weighted average and obtains real-time unmanned plane measurement height
As a preferred embodiment, further including step (7)：Allow unmanned plane continue flight forward, repeat step (3), (4), (5),
(6), multi-group data is measured to obtain accurately result.
As a preferred embodiment,
In step (1), when shooting, from camera far from rectangle blank marker can all being clapped into image to one
Distance starts, and opens image with the angle shot first of vertical rectangle blank marker blank, separate with same distance every time later
Rectangle blank marker blank, often far from after primary with the angle shot picture of vertical rectangle blank marker blank, Zhi Daotu
Until rectangle blank marker rectangle blank is difficult to see clearly as in, stop separate and shooting.
As a preferred embodiment, in step (1), after shooting image, chooses rectangle blank marker rectangle blank and be easy to distinguish
9 images recognized carry out binary conversion treatment as experimental image, and by image, and use expansion algorithm, erosion algorithm removal figure
Total pixel of rectangle blank marker is counted in piece behind fragmentary zonule, and is found out in the ratio of rectangle blank marker blank
The pixel number of the rectangle blank marker blank length of side in image.
As a preferred embodiment, in step (2), preset rectangle blank marker is shown in image when acquiring image
When start real time dynamic measurement unmanned plane height；One-stop operation before being kept if not showing preset rectangle blank marker
The drone flying height of measurement continues to move ahead.
As a preferred embodiment, after to image preprocessing, side is carried out to the region where rectangle blank marker in image
Edge detection, binaryzation and Threshold segmentation processing.
As a preferred embodiment, by the real area of measurement rectangle blank marker with rectangle blank marker in image
The size of middle pixel extrapolates the relational expression of the image pixel and distance D according to the proportionate relationship of the two.
As a preferred embodiment, the specification of rectangle blank marker is 1m × 1m；The distance between rectangle blank marker is
50 centimetres.
Advantages of the present invention：
1, using the original Airborne Camera of unmanned plane (visible light or multispectral camera), any precision need not be increased
Measurement equipment, the relationship and image slices of ground resolution and drone flying height are calculated by image analysis technology
The relationship of element and distance, so by both the above relationship andThe flying height for calculating unmanned plane, because
This measurement method of the present invention is simple, easy to implement, need not increase other equipment, of low cost, and method through the invention
The calculated drone flying height of institute is more accurate, can meet the remote sensing images splicing in later stage, the accurate need of agriculture mutual affection analysis
It asks.
2, it is equidistantly placed polylith rectangle blank marker in source location in the present invention, can be made by unmanned plane during flying
Same image of shooting gained is analyzed when industry, therefore easy to operate, is avoided and is mixed multiple images and calculate that unmanned plane flies
The intricate operation of row height is easy to the shortcomings of error, reduces error；And include multiple rectangle blank markers due to using
Same image analyzed, therefore calculate multiple drone flying heights, then multiple drone flying heights are made even
It is worth to final drone flying height, the drone flying height error obtained significantly improves the accurate of measurement
Property.
3, the present invention places the forms of multiple identical rectangular blank markers by having ready conditions, real time dynamic measurement nobody
The flying height of machine enhances the robustness and accuracy of measurement effect.
Description of the drawings
Fig. 1 is the schematic diagram of selected picture in step of the embodiment of the present invention (1).
The schematic diagram for the piece image that Fig. 2 is acquired by the embodiment of the present invention.
Fig. 3 is the principle schematic of elevation carrection relationship in the present invention.
Specific implementation mode
The present invention is further illustrated below in conjunction with the accompanying drawings.
A kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing, in this method, utilizes
Original unmanned aerial vehicle onboard camera, need not increase other equipment, can implement；For the present invention is better described, in this implementation
It is more careful by being split the step of method in example；For specifically, it includes the following steps：
Step 1：
Rectangle blank is affixed on smooth metope；By the camera of remote sensing images to be collected far from can be rectangle to one
Blank all claps the distance into image, starts to open image with the angle shot of vertical blank first, and every time with same distance
Far from blank, often far from after primary with the angle shot picture of vertical blank, until in image rectangle blank be difficult to see clearly for
Only, stop separate and shooting.
Step 2：
9 images being easily recognized of rectangle blank are chosen in the form of range estimation as experimental image；And image is carried out two
Value is handled, and the total pixel for counting rectangle blank in picture behind fragmentary zonule is removed using expansion algorithm, erosion algorithm,
And the pixel number of the blank length of side in image is found out in the ratio of blank；With matlab softwares fitting image ground resolution and figure
As the relation curve between shooting height, to obtain ground pixel resolution g (unit mm/pixel) and unmanned plane in image
Flying height H (the correspondences of unit m).
Step 3：
Source location is set in the field region monitored, is placed in the preset range of source location multiple
The identical rectangle blank marker of size, and allow between rectangle blank marker and maintain a certain distance.
In the present embodiment, the specification of the rectangle blank marker of selection is 1m × 1m, in order to which unmanned plane is schemed in acquisition
When picture, by the specifications parameter of rectangle blank marker obtain image pixel (unit pixel) and actual range D (unit m's)
Relational expression.It has ready conditions and places multiple rectangle blank markers and at intervals, be on the one hand because of agriculture feelings monitoring time zone
On the other hand the finiteness in domain is that multiple spot monitoring, real time dynamic measurement height are carried out when facilitating unmanned aerial vehicle remote sensing operation.
Step 4：
After the target point that unmanned plane reaches within the scope of the pre-determined distance positioned at source location, above-mentioned target position is acquired
Set image a little.
In the present invention, aiming spot, the pre-determined distance range of source location, pre-determined distance range target point with
And unmanned plane during flying route is that experiment is preceding pre-set；Then unmanned plane carries out autonomous flight according to set course line；It adopts
Start real time dynamic measurement unmanned plane height when showing preset rectangle blank marker when collection in image, if not showing
The drone flying height that one-stop operation measures before preset rectangle blank marker is then kept continues to move ahead.
Step 5：
The above-mentioned image collected is pre-processed, the region where rectangle blank marker in image is carried out
The pixel of shared ground in the picture of edge detection, binaryzation and Threshold segmentation processing, extraction rectangle blank marker is differentiated
The information of rate and the image pixel (unit pixel) and the distance D (relational expressions of unit m) is calculated.
In the present invention, pass through the real area of rectangle blank marker and rectangle blank marker pixel in the picture
Size can obtain the image pixel (unit pixel) and the actual range D (relational expressions of unit m) by proportionate relationship.
Step 6：
It is high according to ground pixel resolution g (unit mm/pixel) and unmanned plane during flying acquired before unmanned plane during flying
Spending H, (ground pixel resolution shared by each rectangle blank marker, calculates in the correspondence of unit m), and the image of acquisition
Obtain unmanned plane camera position OaTo the position O of each rectangle blank mark center1、O2、O3…OnActual range L1、L2、
L3…Ln, i.e., the actual range of current unmanned plane and each rectangle blank marker.
Step 7：
According to calculating unmanned plane camera underface ground location O in same width acquisition image in above-mentioned steps sixbWith figure
Each blank mark center position O as in1、O2、O3…OnPixel value difference, by the image pixel (unit pixel) and distance D
(relational expression of unit m) obtains ground location O immediately below unmanned plane camerabWith each rectangle blank mark center position O1、
O2、O3…OnHorizontal distance D1、D2、D3…Dn。
In the present invention, size of the rectangle blank marker in the image of acquisition ignores its geometric deformation.As shown in Fig. 2,
Assuming that showing 4 rectangle blank markers in the image acquired at this time, wherein three centers are denoted as O respectively in them1、O2
And O3, unmanned plane camera underface is ground location Ob.It is obtained according to the rectangle blank marker of preset 1m × 1m
Image pixel (unit pixel) and the distance D (relational expressions of unit m), by ground location O immediately below unmanned plane camerabWith figure
Each rectangle blank mark center position O as in1、O2And O3Pixel value difference, obtain ground position immediately below unmanned plane camera
Set ObWith each rectangle blank mark center position O1、O2And O3Horizontal distance D1、D2And D3。
Step 8：
As shown in figure 3, the principle schematic of elevation carrection relationship of the present invention, wherein OaFor unmanned plane camera position, Ob
For ground location immediately below unmanned plane camera, OnFor the center of n-th of rectangle blank marker.Pass through right angle trigonometry
The geometrical relationship of shapeAccording to actual range L1、L2、L3…LnWith horizontal distance D1、D2、D3…DnIt calculates separately
Go out unmanned plane camera position OaTo the vertical range H on ground1、H2、H3…Hn, then by weighted average obtain it is real-time nobody
Machine measures height H=(H1+H2+H3+...+Hn)/n。
Step 9：
Unmanned plane continues flight forward, repeats Step 4: Step 5: Step 6: Step 7: step 8, measures multigroup number
According to obtain more accurately result.Complete real time dynamic measurement unmanned plane height value.
Measurement method provided by the present invention, on the basis of original Airborne Camera (visible light or multispectral camera),
The measurement equipment that any precision need not be increased, improves the accuracy for measuring height, while cost is more cheap.
Above-described embodiment is to invent preferable embodiment, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (8)
1. a kind of drone height measurement method of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing, it is characterised in that：Including
Following steps：
(1) the identical rectangle blank marker of several specifications is chosen, and one of rectangle blank marker is affixed on smooth
On metope, with the camera for waiting for remote sensing images with several images of angle shot of vertical rectangle blank marker, several squares are chosen
The whole image in image of shape blank marker is used as experimental image, with matlab softwares be fitted image ground resolution g and
Relation curve between image taking height H；
(2) source location, the pre-determined distance range of source location, pre-determined distance model are set in the field region monitored
The target point and unmanned plane during flying route enclosed, by multiple rectangle blank markers be equidistantly placed source location it is default away from
From in range, operation unmanned plane, to the target point of pre-determined distance range, starts to adopt according to set unmanned plane during flying route flight
Collect image；
(3) image collected in step (2) is pre-processed, then after image procossing, extracts rectangle blank marker
Ground shared in the picture pixel resolution, and the relational expression of the image pixel and distance D is calculated；
(4) according to the correspondence of ground pixel resolution g and drone flying height H in step (1), and the image of acquisition
In ground pixel resolution shared by each rectangle blank marker, unmanned plane camera position O is calculatedaTo each rectangle blank mark
The position O at will object center1、O2、O3…OnActual range L1、L2、L3…Ln, i.e., current unmanned plane and each rectangle blank marker
Actual range；
(5) according to calculating unmanned plane camera underface ground location O in same width acquisition image in step (4)bWith it is each in image
Rectangle blank mark center position O1、O2、O3…OnPixel value difference, by the pass of the image pixel and distance D in step (3)
It is that formula obtains ground location O immediately below unmanned plane camerabWith each rectangle blank mark center position O1、O2、O3…OnWater
Flat distance D1、D2、D3…Dn；
(6) pass through the geometrical relationship of right angled triangleAccording to actual range L1、L2、L3…LnAnd horizontal distance
D1、D2、D3…DnCalculate separately out unmanned plane camera position OaTo the vertical range H on ground1、H2、H3…Hn, then by adding
Weight average obtains real-time unmanned plane and measures height
2. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：Further include step (7)：It allows unmanned plane to continue flight forward, repeats step (3), (4), (5), (6), measure
Multi-group data is to obtain accurately result.
3. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：In step (1), when shooting, from camera far from rectangle blank marker can all being clapped into figure to one
The distance of picture starts, and opens image with the angle shot first of vertical rectangle blank marker, separate with same distance every time later
Rectangle blank marker, often far from after primary with the angle shot picture of vertical rectangle blank marker, until rectangle in image
Until blank marker is difficult to see clearly, stop separate and shooting.
4. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：In step (1), after shooting image, 9 image conducts that rectangle blank marker is easily recognized are chosen
Experimental image, and image is subjected to binary conversion treatment, and removed in picture behind fragmentary zonule using expansion algorithm, erosion algorithm
Total pixel of rectangle blank marker is counted, and rectangle blank marker side in image is found out in the ratio of rectangle blank marker
Long pixel number.
5. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：In step (2), start reality when showing preset rectangle blank marker in image when acquiring image
When dynamic measure unmanned plane height；Nobody of preceding one-stop operation measurement is kept if not showing preset rectangle blank marker
Machine flying height continues to move ahead.
6. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：After to image preprocessing, to where rectangle blank marker in image region carry out edge detection,
Binaryzation and Threshold segmentation processing.
7. the drone height measurement of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1 or 6
Method, it is characterised in that：By measuring real area and the rectangle blank marker of rectangle blank marker pixel in the picture
Size, the relational expression of the image pixel and distance D is extrapolated according to the proportionate relationship of the two.
8. the drone height measurement side of a kind of low cost suitable for the monitoring of agriculture feelings low-altitude remote sensing according to claim 1
Method, it is characterised in that：The specification of rectangle blank marker is 1m × 1m；The distance between rectangle blank marker is 50 centimetres.
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