CN113375644B - High-precision measuring method for side slope occurrence - Google Patents
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Abstract
The invention relates to a high-precision measuring method for side slope attitude, which belongs to the technical field of measurement and comprises the following steps: collecting geological attribute information by using an unmanned aerial vehicle aerial photographing technology; converting the acquired geological attribute information into an oblique photography model by using a graphic workstation, and then importing the oblique photography model into mobile equipment; determining a slope range in the oblique photography model; randomly generating n slope point data in the range of the slope, and then screening and filtering outlier slope points to obtain reserved slope points; fitting a slope equation by adopting a least square method, and solving the occurrence of the slope through the slope equation; encrypting by using a Delong triangle network, circularly traversing all triangular surfaces, and solving the occurrence of all triangular surfaces; comparing the shape of the side slope with the shape of all triangular surfaces, and determining the triangular surface closest to the shape element of the side slope.
Description
Technical Field
The disclosure relates to the technical field of measurement, in particular to a high-precision slope attitude measurement method.
Background
The side slope attitude measurement is a basic work in the field geological exploration process, and lays a foundation for the analysis of the stability of the side slope. The traditional measuring method is to measure by means of a geological compass, is complex in process and large in error, is easily limited by terrain conditions, and is poor in implementation effect. With the continuous development of science and technology, the computer parallel computing capability is continuously enhanced, the technical field starts to acquire surface data by using an unmanned plane, then a series of datum points are selected for trial calculation, finally the maximum visual inclination angle and the corresponding azimuth angle are selected as the occurrence, and by adopting the measuring mode, in the process of slope point selection, points with larger elevation abnormality or points with concave slope surface are selected, so that the deviation of a computing result is easy to be caused, and after the slope occurrence is obtained by solving, representative slope surface points cannot be obtained, and subsequent deep analysis cannot be performed.
Disclosure of Invention
The disclosure provides a high-precision measuring method for slope occurrence, which aims to solve the problems of deviation of calculation results and incapability of in-depth analysis in the background technology.
In view of the above problems, the present disclosure provides a slope yield high-precision measurement method, including:
taking aerial photographs of the region to be measured by using an unmanned aerial vehicle aerial photographing technology, and collecting geological attribute information;
converting the acquired geological attribute information into an oblique photography model by using a graphic workstation, and then guiding the oblique photography model into mobile equipment;
determining a natural slope to be measured in the oblique photography model, randomly selecting at least three reference points on the natural slope, and determining a slope range;
randomly generating n slope point data in the range of the side slope, and then screening and filtering outlier slope points to obtain reserved slope points, wherein n is an integer greater than or equal to 1;
fitting the datum point with a slope equation by adopting a least square method, and solving the yield of the slope through the slope equation;
encrypting the reserved slope points by using a Delong triangle network, circularly traversing all triangular surfaces, and solving the occurrence of all triangular surfaces;
comparing the shape of the slope with the shape of all triangular surfaces, and determining the triangular surface closest to the shape element of the slope.
According to the embodiment of the disclosure, the oblique photography model comprises a three-dimensional live-action model which is formed by superposition processing of images acquired by unmanned aerial vehicle aerial photography and elevation data and can represent field terrain environment.
According to an embodiment of the present disclosure, the method for determining a slope range includes: and selecting the reference points by clicking a screen of the mobile equipment, and selecting three or more representative reference points to determine the approximate range of the slope.
According to an embodiment of the present disclosure, the above-mentioned reference points are uniformly distributed.
According to an embodiment of the present disclosure, a method for screening and filtering the outlier slope points includes:
determining a range of an abscissa X, Y according to the selected datum point, randomly combining n groups of (X, Y) data point pairs in the range, and extracting elevation information on the oblique photography model according to the oblique photography model and the n groups of (X, Y) data point pairs to obtain a first set of three-dimensional coordinates of the n groups of (X, Y) data point pairs;
and then automatically screening out the outlier slope points by using an isolated forest algorithm, and filtering to obtain a reserved slope point three-dimensional coordinate second set.
According to an embodiment of the present disclosure, a method for solving the slope occurrence includes:
taking three from any of the selected reference points, preliminarily planning an edge slope equation S 0 ：
A 0 X+B 0 Y+C 0 Z+1＝0 (1)
Wherein: a is that 0 、B 0 、C 0 Coefficients that are plane equations;
x, Y, Z is a space rectangular three-dimensional coordinate;
assuming that the final slope equation of all the selected reference point fits is S:
AX+BY+CZ+1＝0 (2)
wherein: A. b, C is the coefficient of the plane equation;
x, Y, Z is a space rectangular three-dimensional coordinate;
s is then 0 The following relationship with S is satisfied:
A＝A 0 +A * ,B＝B 0 +B * ,C＝C 0 +C * (3)
wherein: a is that * 、B * 、C * Respectively representing error coefficients corresponding to A, B, C;
taking the formula (3) into the formula (2), the reference point (X) is obtained i ,Y i ,Z i ) The fitted slope equation S is:
S＝A * X i +B * Y i +C * Z i +A 0 X i +B 0 Y i +C 0 Z i +1＝A * X i +B * Y i +C * Z i +N i (4)
wherein: n (N) i Representing the error caused by the ith slope point brought into an equation, wherein the error is a constant term;
the reference point is not less than 3, and the least square method is used to determine the reference point (X i ,Y i ,Z i ) I=0-n-1 fits the slope equation, equation (5) should be minimized,
to make for
The set of equations is obtained as:
solving and calculating a linear equation set (6), solving and obtaining an error coefficient, and finally obtaining a slope equation as S:
A f X+B f Y+C f Z+1＝0 (7)
wherein: a is that f 、B f 、C f Representing the final coefficient of slope equation X, Y, Z;
solving the trend of the slope, and enabling the slope S to intersect with the plane Z=0, wherein the calculation formula is as follows:
(1) When B is f When=0, the trend of the side slope is:
θ 1 ＝90 (8)
(2) When B is f When not equal to 0, the trend calculation formula of the side slope is as follows:
θ 1 ＝arctan(-A f /B f ) (9)
the inclination angle of the side slope is calculated according to the following formula:
solving the tendency of the slope, considering the quadrant where the normal vector of the slope equation is projected on the X-Y plane, and specifically calculating the following steps:
(1) When C f ＞0：
(2) When C f ＜0：
According to an embodiment of the present disclosure, a method of determining a triangular face closest to a slope includes:
combining the reserved slope points and the datum points, and encrypting by using a deluxe triangle network;
solving the occurrence of each triangular surface through cyclic iteration;
based on all triangular surface occurrence and side slope occurrence, any attribute of trend, trend and inclination angle is selected, and all triangular surfaces and side slopes are visualized in a thermodynamic diagram mode, so that the triangular surface closest to the side slope occurrence element is determined.
According to an embodiment of the present disclosure, a method of visualizing using a thermodynamic diagram includes: by calculation:
wherein X is f Representing any one of the occurrence attributes on any one of the triangular surfaces;
X area representing corresponding attitude attributes on the final slope equation;
According to an embodiment of the present disclosure, the mobile device includes a mobile tablet.
According to an embodiment of the present disclosure, the system adopted by the mobile device includes a Windows operating system.
The unmanned aerial vehicle aerial photography technology is suitable for field geological survey, the three-dimensional attitude of the side slope can be safely and accurately determined, the graphic workstation realizes automatic measurement of the three-dimensional attitude of the side slope, the inclined photographic model is displayed through the three-dimensional geological live-action platform, a large amount of labor force can be saved, and the attitude measurement can be carried out on areas with severe natural conditions, such as areas which are difficult to reach by people with high side slopes, broken cliffs and the like, so that the field measurement mode is enriched.
The slope range is determined by selecting the datum points, then a plurality of slope point data are randomly generated in the slope range, and then the slope points of the outliers are screened and filtered, so that deviation caused by selecting points with larger elevation abnormality or points with concave slope surfaces is effectively avoided.
The slope surface equation is fitted through the datum points, the occurrence of the slope is solved, the reserved slope surface points are encrypted by using the deluo inner triangular net, the occurrence of all triangular surfaces is solved, the occurrence of the slope is compared with the occurrence of all triangular surfaces, the triangular surface closest to the occurrence element of the slope is determined, and subsequent deep analysis can be conveniently carried out by geological survey staff, so that the accuracy of geological exploration is improved.
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The foregoing and other objects, features and advantages of the disclosure will be more apparent from the following description of embodiments of the disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates an architectural diagram of the present disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where expressions like at least one of "A, B and C, etc. are used, the expressions should generally be interpreted in accordance with the meaning as commonly understood by those skilled in the art (e.g.," a system having at least one of A, B and C "shall include, but not be limited to, a system having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
Fig. 1 schematically illustrates an architectural diagram of the present disclosure. As shown in fig. 1, according to an embodiment of the present disclosure, a slope yield high-precision measurement system includes: unmanned aerial vehicle, graphic workstation, mobile device. The unmanned aerial vehicle is used for carrying out aerial photography on an area to be measured, geological attribute information is collected, the geological attribute information collected by the unmanned aerial vehicle is converted into an oblique photography model by the graphic workstation, then the oblique photography model is led into mobile equipment, the measurement of the side slope attitude is realized through the mobile equipment, and finally the measured attitude information is stored in a database.
As shown in fig. 1, according to an embodiment of the present disclosure, there is provided a slope yield high-precision measurement method, including:
taking aerial photographs of the region to be measured by using an unmanned aerial vehicle aerial photographing technology, and collecting geological attribute information;
converting the acquired geological attribute information into an oblique photography model by using a graphic workstation, and then guiding the oblique photography model into mobile equipment;
determining a natural side slope to be measured in an oblique photography model, randomly selecting at least three reference points on the natural side slope, and determining a side slope range;
randomly generating n slope point data in a slope range, and then screening and filtering outlier slope points to obtain reserved slope points, wherein n is an integer greater than or equal to 1;
the datum point adopts a least square method to fit a slope equation, and the yield of the slope is solved through the slope equation;
the reserved slope points are encrypted by using a Delong triangle network, all triangle surfaces are traversed circularly, and the occurrence of all triangle surfaces is solved;
comparing the slope shape with the shape of all triangular surfaces, and determining the triangular surface closest to the shape element of the slope.
The unmanned aerial vehicle aerial photography technology is suitable for field geological survey, the three-dimensional attitude of the side slope can be safely and accurately determined, the graphic workstation realizes automatic measurement of the three-dimensional attitude of the side slope, the inclined photographic model is displayed through the three-dimensional geological live-action platform, a large amount of labor force can be saved, and the attitude measurement can be carried out on areas with severe natural conditions, such as areas which are difficult to reach by people with high side slopes, broken cliffs and the like, so that the field measurement mode is enriched.
The slope range is determined by selecting the datum points, then a plurality of slope point data are randomly generated in the slope range, and then the slope points of the outliers are screened and filtered, so that deviation caused by selecting points with larger elevation abnormality or points with concave slope surfaces is effectively avoided.
The slope surface equation is fitted through the datum points, the occurrence of the slope is solved, the reserved slope surface points are encrypted by using the deluo inner triangular net, the occurrence of all triangular surfaces is solved, the occurrence of the slope is compared with the occurrence of all triangular surfaces, the triangular surface closest to the occurrence element of the slope is determined, and subsequent deep analysis can be conveniently carried out by geological survey staff, so that the accuracy of geological exploration is improved.
As shown in fig. 1, according to an embodiment of the present disclosure, the oblique photography model includes a three-dimensional live-action model formed by superposition processing of an image acquired by aerial unmanned aerial vehicle and elevation data, and capable of characterizing a field topography environment.
The unmanned aerial vehicle with high precision is used as a main tool for collecting geological attribute information, ground surface data are collected from a plurality of different angles, then a graphic workstation is utilized to render an aerial base map, and then elevation data are combined to manufacture an oblique photography model which not only contains terrain elevation information, but also contains specific ground surface information, so that the accuracy of the ground surface data is improved, and the unmanned aerial vehicle can be applied to the fields of water conservancy, mineral products, resource exploration and the like.
As shown in fig. 1, a mobile device includes a mobile tablet and a system employed by the mobile device includes a Windows operating system in accordance with an embodiment of the present disclosure.
The mobile tablet is adopted as mobile equipment, so that the mobile tablet is convenient to carry and operate, and the Windows operating system is adopted, so that the mobile tablet has complete functions, good compatibility and convenient operation.
As shown in fig. 1, according to an embodiment of the present disclosure, a method for determining a range of a side slope includes: and clicking a screen by the mobile equipment to select reference points, clicking three or more representative reference points, and determining the approximate range of the slope.
The method for determining the slope range by selecting the datum points is convenient to operate, convenient to implement and high in accuracy.
The selected datum points are distributed uniformly, so that the accuracy of the slope range can be improved.
As shown in fig. 1, according to an embodiment of the present disclosure, a method for screening and filtering outlier slope points includes:
determining the range of an abscissa X, Y according to the point selected reference point, then randomly combining n groups of (X, Y) data point pairs in the range, and then extracting elevation information on the oblique photography model according to the oblique photography model and the n groups of (X, Y) data point pairs to obtain a three-dimensional coordinate first set of the n groups of (X, Y) data point pairs; preferred values of n may be 150, 200, 250.
And then automatically screening out outlier slope points by using an isolated forest algorithm, and filtering to obtain a reserved slope point three-dimensional coordinate second set.
The unsupervised algorithm-the isolated forest algorithm realizes automatic separation of outliers by training the idees and integrating the idees into a forest, and the specific implementation modes are shown in the following table algorithm 1 and algorithm 2.
TABLE 1 Algorithm 1
TABLE 2 Algorithm 2
The isolated forest algorithm is adopted to automatically screen out outlier slope points, so that the screening accuracy can be ensured, and the screening efficiency can be improved.
As shown in fig. 1, a method of solving a slope yield according to an embodiment of the present disclosure includes:
taking any three of the selected reference points, and preliminarily planning an edge slope equation S 0 ：
A 0 X+B 0 Y+C 0 Z+1＝0 (1)
Wherein: a is that 0 、B 0 、C 0 Coefficients that are plane equations;
x, Y, Z is a space rectangular three-dimensional coordinate;
assuming that the final slope equation fitted by all the selected reference points is S:
AX+BY+CZ+1＝0 (2)
wherein: A. b, C is the coefficient of the plane equation;
x, Y, Z is a space rectangular three-dimensional coordinate;
s is then 0 The following relationship with S is satisfied:
A＝A 0 +A * ,B＝B 0 +B * ,C＝C 0 +C * (3)
wherein: a is that * 、B * 、C * Respectively representing error coefficients corresponding to A, B, C;
taking formula (3) into formula (2), a reference point (X) i ,Y i ,Z i ) The fitted slope equation S is:
S＝A * X i +B * Y i +C * Z i +A 0 X i +B 0 Y i +C 0 Z i +1＝A * X i +B * Y i +C * Z i +N i (4)
wherein: n (N) i Representing the error caused by the ith slope point brought into an equation, wherein the error is a constant term;
the reference point is not less than 3, and the least square method is used to determine the reference point (X i ,Y i ,Z i ) I=0-n-1 fits the slope equation, equation (5) should be minimized,
to make for
The set of equations is obtained as:
solving and calculating a linear equation set (6), solving and obtaining an error coefficient, and finally obtaining a slope equation as S:
A f X+B f Y+C f Z+1＝0 (7)
wherein: a is that f 、B f 、C f Representing the final coefficient of the slope equation X, Y, Z;
solving the trend of the slope, and enabling the slope S to intersect with the plane Z=0, wherein the calculation formula is as follows:
(1) When B is f When=0, the trend of the side slope is:
θ 1 ＝90 (8)
(2) When B is f When not equal to 0, the trend calculation formula of the side slope is as follows:
θ 1 ＝arctan(-A f /B f ) (9)
the inclination angle of the side slope is calculated according to the following formula:
solving the tendency of the slope, considering the quadrant where the normal vector of the slope equation is projected on the X-Y plane, and specifically calculating the following steps:
(1) When C f ＞0：
(2) When C f ＜0：
The slope equation is fitted through the datum point by adopting a least square method, then the slope shape is solved through the slope equation, the logic of the whole solving process is strict, the accuracy of the slope shape numerical value is improved, and accurate basic data is provided for later analysis of geological investigation personnel.
As shown in fig. 1, a method of determining a triangular surface closest to a slope according to an embodiment of the present disclosure includes:
combining the reserved slope points and the reference points, and encrypting by using a Delaunay triangle network;
solving the occurrence of each triangular surface through cyclic iteration;
based on all triangular surface occurrence and side slope occurrence, any attribute of trend, trend and inclination angle is selected, and all triangular surfaces and side slopes are visualized in a thermodynamic diagram mode, so that the triangular surface closest to the side slope occurrence element is determined.
According to an embodiment of the present disclosure, a method of visualizing using a thermodynamic diagram includes: by calculation:
wherein X is f Representing any one of the occurrence attributes on any one of the triangular surfaces;
X area representing corresponding attitude attributes on the final slope equation;
By utilizing the thermodynamic diagram form, the method can visualize all triangular surfaces and side slopes, can facilitate the identification of geological survey staff and determine and analyze the occurrence of the side slopes, improves the efficiency and accuracy of the occurrence measurement of the side slopes, and has good practicability.
The embodiments of the present disclosure have been described above for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (8)
1. A high-precision side slope attitude measurement method comprises the following steps:
taking aerial photographs of the region to be measured by using an unmanned aerial vehicle aerial photographing technology, and collecting geological attribute information;
converting the acquired geological attribute information into an oblique photography model by using a graphic workstation, and then importing the oblique photography model into mobile equipment;
determining a natural slope to be measured in the oblique photography model, randomly selecting at least three reference points on the natural slope, and determining a slope range;
randomly generating n slope point data in the range of the side slope, and then screening and filtering outlier slope points to obtain reserved slope points, wherein n is an integer greater than or equal to 1;
the datum point adopts a least square method to fit a slope equation, and the slope yield is solved through the slope equation;
the reserved slope points are encrypted by using a Delong triangle network, all triangle surfaces are traversed circularly, and the occurrence of all triangle surfaces is solved;
comparing the occurrence of the side slope with the occurrence of all triangular surfaces, and determining the triangular surface closest to the occurrence element of the side slope;
the method for determining the triangular surface closest to the side slope comprises the following steps:
combining the reserved slope points and the datum points, and encrypting by using a deluxe triangle network;
solving the occurrence of each triangular surface through cyclic iteration;
based on all triangular surface occurrence and side slope occurrence, selecting any attribute of trend, trend and inclination angle, and visualizing all triangular surfaces and side slopes in a thermodynamic diagram mode so as to determine the triangular surface closest to the side slope occurrence element;
the method for solving the side slope attitude comprises the following steps:
taking any three of the selected reference points, and preliminarily planning an edge slope equation S 0 ：
A 0 X+B 0 Y+C 0 Z+1＝0 (1)
Wherein: a is that 0 、B 0 、C 0 Coefficients that are plane equations;
x, Y, Z is a space rectangular three-dimensional coordinate;
assuming that the final slope equation of all the selected reference point fits is S:
AX+BY+CZ+1＝0 (2)
wherein: A. b, C is the coefficient of the plane equation;
x, Y, Z is a space rectangular three-dimensional coordinate;
s is then 0 The following relationship with S is satisfied:
A＝A 0 +A * ,B＝B 0 +B * ,C＝C 0 +C * (3)
wherein: a is that * 、B * 、C * Respectively representing error coefficients corresponding to A, B, C;
bringing the formula (3) into the formula (2) to obtain the reference point (X) i ,Y i ,Z i ) The fitted slope equation S is:
S＝A * X i +B * Y i +C * Z i +A 0 X i +B 0 Y i +C 0 Z i +1＝A * X i +B * Y i +C * Z i +N i (4)
wherein: n (N) i Representing the error caused by the ith slope point brought into an equation, wherein the error is a constant term;
the reference point is not less than 3, and the least square method is used to determine the reference point (X i ,Y i ,Z i ) I=0-n-1 fits the slope equation, equation (5) should be minimized,
to make for
The set of equations is obtained as: />
Solving and calculating a linear equation set (6), solving and obtaining an error coefficient, and finally obtaining a slope equation as S:
A f X+B f Y+C f Z+1＝0 (7)
wherein: a is that f 、B f 、C f Representing the final coefficient of slope equation X, Y, Z;
solving the trend of the slope, and enabling the slope S to intersect with the plane Z=0, wherein the calculation formula is as follows:
(1) When B is f When=0, the trend of the side slope is:
θ 1 ＝90 (8)
(2) When B is f When not equal to 0, the trend calculation formula of the side slope is as follows:
θ 1 ＝arctan(-A f /B f ) (9)
the inclination angle of the side slope is calculated according to the following formula:
solving the tendency of the slope, considering the quadrant where the normal vector of the slope equation is projected on the X-Y plane, and specifically calculating the following steps:
(1) When C f ＞0：
(2) When C f ＜0：
2. The measurement method according to claim 1, wherein the oblique photography model comprises a three-dimensional live-action model which is formed by superposition processing of images acquired by unmanned aerial vehicle aerial photography and elevation data and can characterize field topography environment.
3. The measurement method according to claim 1, wherein the slope range determination method comprises: and clicking a screen through the mobile equipment to select the datum points, clicking three or more representative datum points, and determining the approximate range of the side slope.
4. A measurement method according to claim 3, wherein the reference points are uniformly distributed.
5. The method for measuring according to claim 1, wherein the method for screening and filtering the outlier slope points comprises the following steps:
determining the range of an abscissa X, Y according to the datum point selected by the points, then randomly combining n groups of (X, Y) data point pairs in the range, and then extracting elevation information on the oblique photography model according to the oblique photography model and the n groups of (X, Y) data point pairs to obtain a first set of three-dimensional coordinates of the n groups of (X, Y) data point pairs;
and then automatically screening out the outlier slope points by using an isolated forest algorithm, and filtering to obtain a reserved slope point three-dimensional coordinate second set.
6. The measurement method of claim 1, the method of visualizing using thermodynamic diagrams comprising: by calculation:
wherein X is f Representing any one of the occurrence attributes on any one of the triangular surfaces;
X area representing corresponding attitude attributes on the final slope equation;
7. The measurement method of claim 1, the mobile device comprising a mobile tablet.
8. The measurement method of claim 1, the system employed by the mobile device comprising a Windows operating system.
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