CN114413852A - Unmanned aerial vehicle auxiliary surveying and mapping method and system - Google Patents
Unmanned aerial vehicle auxiliary surveying and mapping method and system Download PDFInfo
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- CN114413852A CN114413852A CN202210038348.4A CN202210038348A CN114413852A CN 114413852 A CN114413852 A CN 114413852A CN 202210038348 A CN202210038348 A CN 202210038348A CN 114413852 A CN114413852 A CN 114413852A
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Abstract
An unmanned aerial vehicle assisted mapping method and system comprises the following steps: acquiring an original topographic map and a corrected picture obtained by an unmanned aerial vehicle; selecting a plurality of standard lines with directions in an original topographic map; acquiring the sequence according to the direction of the standard line, and then adding the additional information in the corrected picture to the original topographic map; the correction picture contains coordinate information and elevation information. This application is through setting up the standard line on original topographic map to carry out the stack of the correction picture that unmanned aerial vehicle acquireed as the guide with the standard line, improvement survey and drawing efficiency and survey and drawing accuracy by a wide margin, thereby play to original topographic map at a maximum, also can more effectually utilize the correction picture that unmanned aerial vehicle acquireed, thereby the two is mutual obtains final survey and drawing data after optimizing.
Description
Technical Field
The application relates to an unmanned aerial vehicle auxiliary surveying and mapping method and system.
Background
In the topographic survey and drawing process, in order to guarantee the accuracy of survey and drawing, survey and drawing is carried out to commonly used electronic distance meter, theodolite etc. this kind of mode can satisfy the measurement requirement basically, but consuming time and cost are all higher. With the maturity of unmanned aerial vehicle technology, unmanned aerial vehicles have more and more applications in the aspect of surveying and mapping. However, the existing unmanned aerial vehicle aerial surveying and mapping has certain disadvantages, and problems such as image overlapping and route setting during shooting exist. However, in essence, unmanned aerial vehicle surveying and mapping is essentially an auxiliary surveying and mapping means, and is an improved refinement performed on the basis of an original topographic map, so that how to obtain more effective unmanned aerial vehicle auxiliary surveying and mapping information and attach the unmanned aerial vehicle auxiliary surveying and mapping information to the original topographic map becomes one of the current core research points.
Disclosure of Invention
In order to solve the above problem, the present application provides an unmanned aerial vehicle-assisted mapping method on the one hand, including the following steps: acquiring an original topographic map and a corrected picture obtained by an unmanned aerial vehicle; selecting a plurality of standard lines with directions in an original topographic map; acquiring the sequence according to the direction of the standard line, and then adding the additional information in the corrected picture to the original topographic map; the correction picture contains coordinate information and elevation information. This application is through setting up the standard line on original topographic map to carry out the stack of the correction picture that unmanned aerial vehicle acquireed as the guide with the standard line, improvement survey and drawing efficiency and survey and drawing accuracy by a wide margin, thereby play to original topographic map at a maximum, also can more effectually utilize the correction picture that unmanned aerial vehicle acquireed, thereby the two is mutual obtains final survey and drawing data after optimizing.
Preferably, geodetic coordinate information is obtained according to the coordinate information and the elevation information of the corrected picture, then the geodetic coordinate information is matched with the standard line, a plurality of correction points on the corrected picture are obtained, the corrected picture is deformed and stretched to obtain an improved picture matched with the original topographic map, and the improved picture is used for correcting the original topographic map.
Preferably, the correction point is obtained as follows: equally dividing the picture length and width respectively to set dividing lines so as to divide the picture into a plurality of unit blocks, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, if the central unit block does not have the marker, taking an adjacent central unit block until obtaining the first correction point, extending a plurality of unit blocks to any direction by taking the central unit block as a starting point to obtain a first edge unit block, obtaining a second correction point by analyzing the marker, then obtaining a second edge unit block which is symmetrically arranged relative to the central unit block relative to the first edge unit block by analyzing, and obtaining a third correction point by the marker on the second edge unit block. The picture that this application so acquireed to unmanned aerial vehicle is revised, on the one hand is when unmanned aerial vehicle acquireed the picture in succession, has certain visual angle deviation problem, on the other hand then considers that original topography if take place when great change, if directly carry out the additional can only rely on coordinate information and elevation information, is difficult to combine the actual conditions of the correction picture that unmanned aerial vehicle acquireed more, greatly reduced corrects the effect of picture.
Preferably, the improved picture is processed to obtain three-dimensional data, the three-dimensional data is compared with data of the original topographic map, and the data in the original topographic map is modified into the three-dimensional data for inconsistent data.
Preferably, the three-dimensional data in the overlap region is superimposed such that the three-dimensional data superimposed later is weighted with the three-dimensional data superimposed earlier.
Preferably, the weighting mode is obtained by calculating the deformation degree of the improved picture obtained according to the original corrected picture; the degree of deformation is the ratio of the area of the improved picture that is not deformed to the total area of the corrected picture.
Preferably, the distances between the standard lines are set at equal intervals.
Preferably, the flying mode of the unmanned aerial vehicle for obtaining the corrected picture is obtained by flying and shooting along the right upper part of the standard line. The method can adopt the standard line to guide the flight direction of the unmanned aerial vehicle, and is based on the fact that the standard line can be preset, and the method has a better promoting effect on the acquisition quality of the correction picture and the final retest consistency rate by finding through the auxiliary surveying and mapping process, and can also improve the efficiency of auxiliary surveying and mapping and the efficiency of processing the correction picture.
On the other hand, still disclose an unmanned aerial vehicle auxiliary mapping system, including following module: the data module is used for acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle, and the corrected picture contains coordinate information and elevation information; and the processing module is used for selecting a plurality of standard lines with directions in the original topographic map, acquiring the sequence according to the directions of the standard lines, and then adding the additional information in the corrected picture (if the improved picture is available, the improved picture) to the original topographic map.
Preferably, the device further comprises a correction module, wherein the correction module is used for obtaining geodetic coordinate information according to the coordinate information and the elevation information of the corrected picture, matching the geodetic coordinate information with the standard line, and performing deformation stretching on the corrected picture by obtaining a plurality of correction points on the corrected picture to obtain an improved picture matched with the original topographic map.
This application can bring following beneficial effect:
1. according to the method, the standard lines are arranged on the original topographic map and are used as guidance to superpose the corrected pictures acquired by the unmanned aerial vehicle, so that the surveying and mapping efficiency and the surveying and mapping accuracy can be greatly improved, the original topographic map can be utilized to the maximum extent, the corrected pictures acquired by the unmanned aerial vehicle can be more effectively utilized, and the corrected pictures and the original topographic map are interacted to obtain the final optimized surveying and mapping data;
2. according to the method and the device, the picture acquired by the unmanned aerial vehicle is corrected, on one hand, when the unmanned aerial vehicle continuously acquires the picture, a certain visual angle deviation problem exists, and on the other hand, the method and the device consider that when the original topographic map is greatly changed, if the original topographic map is directly attached, only coordinate information and elevation information can be relied on, the actual situation of the corrected picture acquired by the unmanned aerial vehicle is more difficult to combine, and the effect of correcting the picture is greatly reduced;
3. the method can adopt the standard line to guide the flight direction of the unmanned aerial vehicle, and is based on the fact that the standard line can be preset, and can better promote the acquisition quality of the correction picture and the final retest consistency rate by adopting the method because of finding through the auxiliary surveying and mapping process, and also can improve the efficiency of auxiliary surveying and mapping and the efficiency of processing the correction picture.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic view of example 1;
FIG. 2 is a schematic view of example 2.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present application will be explained in detail through the following embodiments.
In a first embodiment, a method of drone-assisted mapping, comprises the steps of:
s101, acquiring an original topographic map and selecting a plurality of standard lines with directions in the original topographic map;
the drawing ratio of the original topographic map is 1:2000, and when the marking lines are set, the distances between the standard lines are set at equal intervals.
S102, obtaining and processing a correction picture obtained by the unmanned aerial vehicle to obtain the correction picture:
the flying mode of the unmanned aerial vehicle for obtaining the corrected picture is obtained by flying and shooting along the right upper part of the standard line; the corrected picture contains coordinate information and elevation information;
obtaining geodetic coordinate information according to the coordinate information and the elevation information of the corrected picture, matching the geodetic coordinate information with the standard line, obtaining a plurality of correction points on the corrected picture, performing deformation stretching on the corrected picture to obtain an improved picture matched with the original topographic map, and using the improved picture for correcting the original topographic map; the correction point is obtained according to the following method: equally dividing the picture length and width respectively to set dividing lines so as to divide the picture into a plurality of unit blocks, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, if the central unit block does not have the marker, taking an adjacent central unit block until obtaining the first correction point, extending a plurality of unit blocks to any direction by taking the central unit block as a starting point to obtain a first edge unit block, obtaining a second correction point by analyzing the marker, then obtaining a second edge unit block which is symmetrically arranged relative to the central unit block relative to the first edge unit block by analyzing, and obtaining a third correction point by the marker on the second edge unit block.
S103, acquiring a sequence according to the direction of the standard line, and then adding additional information in the corrected picture (if the corrected picture is stretched to obtain an improved picture, the improved picture is utilized) to the original topographic map to obtain a corrected topographic map;
processing the improved picture to obtain three-dimensional data, comparing the three-dimensional data with data of an original topographic map, and modifying the data in the original topographic map into the three-dimensional data for inconsistent data;
for the three-dimensional data in the overlapping area, overlapping the three-dimensional data in a mode of weighting the three-dimensional data which is overlapped later and the three-dimensional data which is overlapped first; the weighting mode is obtained by calculating the deformation degree of the improved picture obtained according to the original corrected picture; the degree of deformation is the ratio of the area of the improved picture that is not deformed to the total area of the corrected picture.
S104, setting coordinate information and elevation information of 50 detection points before surveying and mapping, comparing the corrected topographic map with the coordinate information and the elevation information, calculating a matching rate, and determining that any more than surveying and mapping errors are unmatched.
The first group operates strictly as above, with a matching rate of 98%;
the second group of unmanned aerial vehicles acquire corrected pictures, and the corrected pictures are corrected from standard lines to contour lines, and the matching rate is 94%;
the third group of unmanned aerial vehicles acquire the corrected pictures, and the corrected pictures are corrected into annular flight along the marked lines, and the matching rate is 94%;
the fourth group is based on the first group, but no correction of the corrected picture to the improved picture is performed, and the matching rate is 86%.
In a second embodiment, a drone assisted mapping system includes the following modules:
the data module 201 is used for acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle, wherein the corrected picture contains coordinate information and elevation information;
the processing module 202 selects a plurality of standard lines with directions in the original topographic map and obtains the precedence order according to the directions of the standard lines, and then attaches the additional information in the modified picture (if the modified picture is available, the modified picture) to the original topographic map.
The correction module 203 is used for obtaining geodetic coordinate information according to the coordinate information and the elevation information of the corrected picture, matching the geodetic coordinate information with the standard line, and performing deformation stretching on the corrected picture by obtaining a plurality of correction points on the corrected picture to obtain an improved picture matched with the original topographic map;
the above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. An unmanned aerial vehicle auxiliary surveying and mapping method is characterized in that: the method comprises the following steps:
acquiring an original topographic map and a corrected picture obtained by an unmanned aerial vehicle;
selecting a plurality of standard lines with directions in an original topographic map;
acquiring the sequence according to the direction of the standard line, and then adding the additional information in the corrected picture to the original topographic map;
the correction picture contains coordinate information and elevation information.
2. An unmanned aerial vehicle-assisted mapping method according to claim 1, wherein: obtaining geodetic coordinate information according to the coordinate information and the elevation information of the corrected picture, then matching the geodetic coordinate information with the standard line, obtaining a plurality of correction points on the corrected picture, performing deformation stretching on the corrected picture to obtain an improved picture matched with the original topographic map, and using the improved picture for correcting the original topographic map.
3. An unmanned aerial vehicle-assisted mapping method according to claim 2, wherein: the correction point is obtained according to the following method: equally dividing the picture length and width respectively to set dividing lines so as to divide the picture into a plurality of unit blocks, taking a central unit block at the center and obtaining a marker on the central unit block as a first correction point, if the central unit block does not have the marker, taking an adjacent central unit block until obtaining the first correction point, extending a plurality of unit blocks to any direction by taking the central unit block as a starting point to obtain a first edge unit block, obtaining a second correction point by analyzing the marker, then obtaining a second edge unit block which is symmetrically arranged relative to the central unit block relative to the first edge unit block by analyzing, and obtaining a third correction point by the marker on the second edge unit block.
4. An unmanned aerial vehicle-assisted mapping method according to claim 2, wherein: and processing the improved picture to obtain three-dimensional data, comparing the three-dimensional data with the data of the original topographic map, and modifying the data in the original topographic map into the three-dimensional data for inconsistent data.
5. An unmanned aerial vehicle-assisted mapping method according to claim 4, wherein: and for the three-dimensional data in the overlapping area, overlapping the three-dimensional data in a mode of weighting the three-dimensional data overlapped later and the three-dimensional data overlapped earlier.
6. An unmanned aerial vehicle-assisted mapping method according to claim 5, wherein: the weighting mode is obtained by calculating the deformation degree of the improved picture obtained according to the original corrected picture; the degree of deformation is the ratio of the area of the improved picture that is not deformed to the total area of the corrected picture.
7. An unmanned aerial vehicle-assisted mapping method according to claim 1, wherein: the distances between the standard lines are arranged at equal intervals.
8. An unmanned aerial vehicle-assisted mapping method according to claim 7, wherein: the flying mode of the unmanned aerial vehicle for obtaining the corrected picture is obtained by flying and shooting along the right upper part of the standard line.
9. The utility model provides an unmanned aerial vehicle assists mapping system which characterized in that: the system comprises the following modules:
the data module is used for acquiring an original topographic map and a corrected picture obtained by the unmanned aerial vehicle, and the corrected picture contains coordinate information and elevation information;
and the processing module is used for selecting a plurality of standard lines with directions in the original topographic map, acquiring the sequence according to the directions of the standard lines, and then adding the additional information in the corrected picture to the original topographic map.
10. An unmanned aerial vehicle assisted mapping system according to claim 9, wherein: the correction module is used for obtaining geodetic coordinate information according to the coordinate information and the elevation information of the corrected picture, then matching the geodetic coordinate information with the standard line, and obtaining a plurality of correction points on the corrected picture to deform and stretch the corrected picture to obtain an improved picture matched with the original topographic map.
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