CN107818697B - Non-horizontal route design method based on terrain elevation, terminal and storage medium - Google Patents

Abstract

The invention provides a method for designing a non-horizontal route based on terrain elevation, including: automatically fitting each non-horizontal flight segment on the route based on the sampled terrain height; calculating the ground coverage of the starting route and the initial adjacent route based on a collinear equation mathematical model range, so as to obtain the overlap degree of the two, and adjust the position of the initial adjacent route so that it can adaptively meet the requirements of the design overlap degree. Based on the above-mentioned non-horizontal route design method based on terrain elevation, the present invention also provides a terminal and a storage medium. Using the technical solution of the present invention, the non-horizontal route can be automatically calculated based on the terrain height, so as to ensure that the relative altitude difference of each sampling point on the route is within a specified threshold, so that a better remote sensing flight monitoring effect can be obtained.

Description

Non-horizontal route design method, terminal and storage medium based on terrain elevation

technical field

The invention relates to the field of aerial remote sensing, in particular to a non-horizontal route design method, terminal and storage medium based on terrain elevation.

Background technique

In the design of traditional aviation remote sensing routes, taking into account the convenience and safety of fixed-wing aircraft flight navigation, the absolute altitudes of the starting and ending points of each route are the same, that is, to keep the aircraft in level flight; For aerial remote sensing, it can maintain non-level flight during flight, and in order to obtain image data and laser point cloud data with consistent resolution, it is necessary to maintain the consistency of relative altitude; meanwhile, for aerial geophysical remote sensing, in order to obtain better remote sensing The detection effect also needs to maintain a undulating flight with a consistent relative altitude, but currently in the terrain undulating area, the traditional manual route design is very inconvenient.

SUMMARY OF THE INVENTION

In order to meet the route design requirements of terrain undulating areas, the present invention provides a non-horizontal route design method, terminal and storage medium based on terrain elevation.

The method for designing a non-horizontal route based on terrain elevation provided by the present invention includes the following steps: determining a starting route in the area to be measured, collecting several sampling points on the starting route based on a preset sampling interval; The corresponding ground point plus the preset relative altitude is transformed into an air point, all the air points are arranged in order to form an air point set, and the air point set is subjected to line segment fitting through linear regression, and the non-linear corresponding to the starting route is obtained. A horizontal route, wherein the non-horizontal route is composed of a plurality of continuous line segments; the starting route is used as a reference route, the adjacent route is obtained according to the preset lateral distance, and the air point set corresponding to the adjacent route is passed through linear regression Perform line segment fitting to obtain the non-horizontal air route corresponding to the adjacent air route; calculate the degree of overlap between the non-horizontal air route corresponding to the reference air route and the non-horizontal air route corresponding to the adjacent air route. The non-horizontal route corresponding to the adjacent route is the next non-horizontal route in the area to be tested; with the calculated adjacent route as the reference route, continue to lay the non-horizontal route until the side of the current non-horizontal route being laid. When the coordinate value of the lateral direction is not between the maximum coordinate value and the minimum coordinate value of the lateral direction of the area to be measured, the aerial installation is stopped.

Specifically, in the non-horizontal route design method based on terrain elevation according to the present invention, determining the starting route in the area to be measured includes: setting the Y value of the starting route to (Y _min +Y _max based on the route design direction) )/2, obtain the intersection point of the starting route and the area to be measured, to determine the coordinates of the starting point and the end point of the starting route; wherein Y _min is the minimum Y value coordinate of the corner point of the area to be measured, and Y _max is the maximum Y value coordinate of the corner point of the area to be measured.

Specifically, in the method for designing a non-horizontal route based on terrain elevation of the present invention, performing line segment fitting on the air point set through linear regression to obtain a non-horizontal route corresponding to the starting route, including: using the The starting point of the aerial point set is used as the starting point to perform line segment fitting on the aerial point set. When the difference in elevation between the points participating in the fitting in the aerial point set and the fitted line segment is greater than a preset threshold, the fitting is stopped. , to obtain the first flight segment; take the first flight segment as the current flight segment, and use the end point of the current flight segment as the starting point to continue to perform line segment fitting on the remaining air point set, when the air point set participates in the fitting When the difference in elevation between the point and the fitted line segment is greater than the preset threshold, the fitting is stopped and the next segment is obtained; the next segment is used as the current segment and the line segment fitting is continued until the After all the air points in the air point set are fitted, the non-horizontal route corresponding to the starting route is obtained.

Specifically, in the method for designing a non-horizontal route based on terrain elevation according to the present invention, the starting route is used as a reference route, and adjacent routes are obtained according to a preset lateral spacing, including: using the starting route as a reference route , use the Y coordinate of the reference route to add or subtract the preset lateral distance to obtain the Y coordinate of the adjacent route; based on the route design direction and the Y coordinate of the adjacent route, obtain the adjacent route and the pending route. The intersection point of the survey area is determined to determine the coordinates of the start point and the end point of the adjacent route to obtain the adjacent route.

Specifically, in the method for designing a non-horizontal air route based on terrain elevation according to the present invention, the degree of overlap between the non-horizontal air route corresponding to the reference air route and the non-horizontal air route corresponding to the adjacent air route is calculated. When the conditions are met, the non-horizontal air route corresponding to the adjacent air route is the next non-horizontal air route in the area to be tested, including: calculating the ground coverage of the non-horizontal air route corresponding to the adjacent air route by using a collinear equation mathematical model ; Calculate the ground coverage of the non-horizontal route corresponding to the reference route using the mathematical model of the collinear equation; Obtain the narrowest distance in the Y direction of the intersection polygon of the above-mentioned two ground coverages, and divide the narrowest distance by the side of the reference plane. The minimum overlap degree is obtained from the width; the difference between the minimum overlap degree and the theoretical overlap degree is calculated. When the difference satisfies the preset threshold, the non-horizontal air route corresponding to the adjacent air route is the The next non-horizontal route within the survey area.

Specifically, in the method for designing a non-horizontal route based on terrain elevation according to the present invention, the method further includes: when the overlapping degree does not meet a preset condition, calculating the adjustment amount of the Y coordinate of the adjacent route; according to the The adjustment amount of the Y coordinate of the adjacent route adjusts the Y coordinate of the adjacent route, and re-obtains the start and end coordinates of the adjusted adjacent route, and performs non-horizontal route fitting and overlap calculation until the recalculated overlap meet the preset conditions.

Specifically, in the non-horizontal route design method based on terrain elevation according to the present invention, before determining the position of the starting route, the method further includes: rotating the coordinate system according to the route laying direction, so that the X axis of the rotated coordinate system is parallel Determine the route direction as the X axis of the coordinate system, and determine the side direction of the route as the Y axis of the coordinate system.

Specifically, in the method for designing a non-horizontal route based on terrain elevation according to the present invention, after stopping the laying of the route, the method further includes: performing an inverse transformation of the coordinate system, and re-determining the coordinates of the new route, so as to transform the route coordinates into a map projection The coordinates in the coordinate system.

The present invention also provides a terminal, which includes: a memory, a processor, and a computer program stored on the memory and running on the processor, and the computer program is implemented when executed by the processor The steps of the method for designing a non-horizontal route based on terrain elevation as described above.

The present invention also provides a storage medium on which a terrain-elevation-based non-horizontal route design program is stored, and the terrain-elevation-based non-horizontal route design program is executed by a processor to realize the above-mentioned terrain-based route design program Steps of a method for designing a non-horizontal route of elevation. The storage medium is a computer-readable storage medium.

The beneficial effects of the present invention are as follows:

The terrain elevation-based non-horizontal route design method, terminal, and storage medium provided by the embodiments of the present invention can automatically calculate the non-horizontal route based on the terrain elevation, thereby ensuring that the relative altitude difference of each sampling point on the route is within a specified threshold, Thus, a better remote sensing flight monitoring effect can be obtained.

Description of drawings

Fig. 1 is the flow chart of the non-horizontal route design method based on terrain elevation of the method embodiment of the present invention;

Fig. 2 is the design effect schematic diagram of the non-horizontal route corresponding to the starting route in the method embodiment of the present invention;

3 is a schematic diagram of the narrowest distance in the Y direction of the intersection polygon of the ground coverage of two adjacent air routes in an embodiment of the method of the present invention;

Fig. 4 is the schematic flow chart of the non-horizontal route design method based on terrain elevation in example 1;

Fig. 5 is the schematic flow chart of each flight segment on the self-adaptive calculation route in example 1;

6 is a schematic flowchart of adaptive calculation of the non-horizontal route corresponding to the adjacent route to be sought in Example 1;

7 is an oblique view of route design results for a non-horizontal route based on terrain elevation in Example 1;

FIG. 8 is a top view of the route design result of the terrain elevation-based non-horizontal route in Example 1. FIG.

Detailed ways

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure will be more thoroughly understood, and will fully convey the scope of the present disclosure to those skilled in the art.

In order to meet the requirements of route design in terrain undulating areas, the present invention provides a non-horizontal route design method, terminal and storage medium based on terrain elevation. The present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate the present invention, but not to limit the present invention.

According to an embodiment of the method of the present invention, a method for designing a non-horizontal route based on terrain elevation is provided. FIG. 1 is a flowchart of a method for designing a non-horizontal route based on terrain elevation according to an embodiment of the method of the present invention, as shown in FIG. 1 , The non-horizontal route design method based on terrain elevation according to the method embodiment of the present invention includes the following steps:

S101: Determine a starting route in the area to be measured, and collect several sampling points on the starting route based on a preset sampling interval.

Specifically, determining the starting route in the area to be measured includes: based on the route design direction, setting the Y value of the starting route to (Y _min + Y _max )/2, and obtaining the intersection of the starting route and the area to be measured , to determine the start and end coordinates of the starting route; wherein Y _min is the minimum Y value coordinate of the corner point of the area to be measured, and Y _max is the maximum Y value coordinate of the corner point of the area to be measured.

S102: Transform the ground point corresponding to each sampling point plus a preset relative altitude into an air point, arrange all the air points in sequence to form an air point set, and perform line segment fitting on the air point set through linear regression to obtain The non-horizontal route corresponding to the starting route, wherein the non-horizontal route is composed of a plurality of continuous line segments.

Specifically, performing line segment fitting on the aerial point set through linear regression to obtain a non-horizontal route corresponding to the starting route includes: using the starting point of the aerial point set as a starting point to perform line segment fitting on the aerial point set , when the height difference between the points participating in the fitting in the air point set and the fitted line segment is greater than the preset threshold, stop the fitting and obtain the first flight segment; take the first flight segment as the current flight segment segment, using the end point of the current flight segment as the starting point to continue to perform line segment fitting on the remaining air point set, when the height difference between the points participating in the fitting in the air point set and the fitted line segment is greater than the preset value When the threshold is reached, the fitting is stopped to obtain the next flight segment; the next flight segment is used as the current flight segment to continue the subsequent line segment fitting until all the air points in the air point set are fitted, and the starting calculation is obtained. The non-horizontal route corresponding to the route. Fig. 2 is a schematic diagram of the design effect of the non-horizontal route corresponding to the starting route in the embodiment of the method of the present invention. In Fig. 2, the upper broken line is the non-horizontal route corresponding to the starting route; the lower curved curve is the terrain elevation corresponding to the starting route. section.

S103: Using the starting route as a reference route, obtain an adjacent route according to a preset lateral distance, and perform line segment fitting on the air point set corresponding to the adjacent route through linear regression to obtain a non-horizontal route corresponding to the adjacent route.

Specifically, taking the starting route as a reference route, and obtaining adjacent routes according to a preset lateral distance, including: taking the starting route as a reference route, and using the Y coordinate of the reference route to add or subtract a preset route The lateral distance is used to obtain the Y coordinate of the adjacent air route; based on the route design direction and the Y coordinate of the adjacent air route, the intersection point of the adjacent air route and the area to be measured is obtained to determine the start and end coordinates of the adjacent air route. , get the adjacent route.

S104: Calculate the degree of overlap between the non-horizontal air route corresponding to the reference air route and the non-horizontal air route corresponding to the adjacent air route. When the degree of overlap satisfies a preset condition, the non-horizontal air route corresponding to the adjacent air route is the non-horizontal air route corresponding to the adjacent air route. The next non-horizontal route within the survey area.

Specifically, the degree of overlap between the non-horizontal air route corresponding to the reference air route and the non-horizontal air route corresponding to the adjacent air route is calculated. When the degree of overlap satisfies a preset condition, the non-horizontal air route corresponding to the adjacent air route is the non-horizontal air route corresponding to the adjacent air route. The next non-horizontal route in the area to be tested includes: calculating the ground coverage of the non-horizontal route corresponding to the adjacent route by using a collinear equation mathematical model; calculating the non-horizontal route corresponding to the reference route by using the collinear equation mathematical model obtain the narrowest distance in the Y direction of the intersection polygon of the above two ground coverages, and divide the narrowest distance by the lateral width of the reference plane to obtain the minimum overlap; calculate the minimum overlap and the theoretical overlap When the difference meets a preset threshold, the non-horizontal route corresponding to the adjacent route is the next non-horizontal route in the area to be measured. 3 is a schematic diagram of the narrowest distance in the Y direction of the intersection polygon of the ground coverage areas of two adjacent air routes in an embodiment of the method of the present invention. Specifically, obtain the narrowest distance Q _Y-MIN in the Y direction of the intersection polygon of the ground coverage of the non-horizontal air route corresponding to the reference air route and the ground coverage of the non-horizontal air route corresponding to the adjacent air route. The minimum overlap is obtained by dividing the distance by L _Y , where L _Y is the corresponding ground lateral width (reference plane lateral width) under the preset relative flight height, L _Y =2H*tan(θ/2) , H is the relative flight height, and θ is the lateral field of view of the aerial remote sensing sensor.

The method for designing a non-horizontal air route based on terrain elevation provided by the present invention further includes the following steps: when the overlapping degree does not meet a preset condition, calculating the adjustment amount of the Y coordinate of the adjacent air route; according to the Y coordinate of the adjacent air route Adjust the Y coordinate of the adjacent route by the adjustment amount, and re-obtain the start and end coordinates of the adjusted adjacent route, and perform non-horizontal route fitting and overlap calculation until the recalculated overlap meets the preset conditions of. Specifically, the adjustment amount of the Y coordinate of the adjacent air route=(Q _Y-MIN -Q _Y-PLAN )*L _Y , where Q _Y-PLAN is the theoretical overlap degree.

S105: Using the adjacent route as a new reference route, continue to lay the non-horizontal route until the lateral direction coordinate value of the current non-horizontal route being laid is not located at the maximum coordinate value and the minimum coordinate value of the lateral direction of the area to be measured In between, stop the route laying.

The method for designing a non-horizontal route based on terrain elevation provided by the present invention further includes the following steps before determining the position of the starting route: rotating the coordinate system according to the route laying direction, so that the X-axis of the rotated coordinate system is parallel to the route to be laid ; Determine the route direction as the X axis of the coordinate system, and determine the side direction of the route as the Y axis of the coordinate system.

The method for designing a non-horizontal route based on terrain elevation provided by the present invention further includes the following steps after the route laying is stopped: inverse transformation of the coordinate system is performed, and new route coordinates are re-determined, so as to transform the route coordinates into the map projection coordinate system. coordinate.

Example 1 is given in order to illustrate the non-horizontal route design method based on terrain elevation in the method embodiment of the present invention in more detail.

The non-horizontal route design method based on terrain elevation in Example 1 includes the following steps: first, according to the range of the area to be measured, determine the position of the starting route, and then calculate the ground points corresponding to the points sampled at a certain horizontal interval on the route; The ground points of , plus the relative altitude, form a point set in the air, and this point set is segmented and fitted to a continuous polyline segment. When the height difference of the fitted polyline is greater than the threshold, the line segment is the desired fitted line segment; the end point of the fitted line segment is the starting point of the next fitted line segment, and the next line segment is re-fitted. Fitted point, the elevation distance to the fitted line segment, when the elevation distance is greater than the threshold, stop fitting; and so on, determine all other route polyline segments on the route, so as to complete the automatic design of other polyline segments of this route; Similarly, the initial position of the adjacent route to be sought is determined according to the preset lateral distance, and according to the above steps, the continuous broken-line segment on this route is fitted, and the broken-line segment of the route to be sought and the reference route are based on the ground range. When the minimum overlap is less than the preset overlap, the route to be sought moves away from the reference route, and when the minimum overlap is greater than the preset overlap, the route to be sought moves closer to the reference route, and repeats This process stops when the overlap degree is within the specified threshold, that is, the route to be sought is solved; the previous route to be sought is the new reference route, and the next route to be sought is solved according to the above steps, according to the scope of the area to be measured. As a constraint, the adaptive route design of all routes can be completed in sequence. Fig. 4 is the design general flow chart of the non-horizontal route design method based on terrain elevation in the example 1; Fig. 5 is the schematic flow chart of each flight segment on the self-adaptive calculation route in the example 1; Fig. 6 is the self-adaptive calculation adjacent to the example 1 A schematic diagram of the process of finding the non-horizontal route corresponding to the route.

Figure 7 is an oblique view of the route design result of the non-horizontal route based on terrain elevation in Example 1. In Figure 7, the survey area consists of 14 routes, and some routes consist of multiple segments, which are automatically adjusted according to terrain fluctuations. Fig. 8 is a top view of the route design result of the non-horizontal route based on terrain elevation in Example 1 (that is, the viewing angle of Fig. 7 becomes vertically downward). As shown in Fig. 8, the survey area is composed of 14 routes, and it can be seen that Each segment on the route is in a straight line.

The present invention also provides a terminal, which includes: a memory, a processor, and a computer program stored on the memory and running on the processor, and the computer program is implemented when executed by the processor The steps of the method for designing a non-horizontal route based on terrain elevation as described above.

The present invention also provides a storage medium on which a terrain-elevation-based non-horizontal route design program is stored, and the terrain-elevation-based non-horizontal route design program is executed by a processor to realize the above-mentioned terrain-based route design program Steps of a method for designing a non-horizontal route of elevation.

The embodiment of the present invention uses the terrain elevation data (DEM) to automatically fit each non-horizontal flight segment on the route based on the sampled terrain height; To find out the overlap between the two, adjust the position of the initial adjacent route so that it can adaptively meet the requirements of the design overlap. Compared with the prior art, the present invention has the following advantages: 1.

It can calculate non-horizontal routes based on terrain data, so as to ensure the quality of aerial remote sensing data acquisition in the flight design stage; 2. Automatically calculate flight routes based on terrain data, reducing the workload of previous manual non-horizontal route design.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the scope of the claims of the present invention.

Claims (9)

1. a non-horizontal route design method based on terrain elevation, is characterized in that, comprises: Determine the starting route in the area to be measured, and collect several sampling points on the starting route based on the preset sampling interval; The ground point corresponding to each sampling point plus the preset relative altitude is transformed into an air point, all the air points are arranged in order to form an air point set, and the air point set is subjected to line segment fitting through linear regression to obtain the Calculating the non-horizontal route corresponding to the starting route includes: using the starting point of the aerial point set as the starting point to perform line segment fitting on the aerial point set, and when the aerial point set participates in the fitting point to the height of the fitted line segment When the difference is greater than the preset threshold, stop fitting to obtain the first segment; take the first segment as the current segment, and continue to carry out the remaining aerial point sets with the end point of the current segment as the starting point. Line segment fitting, when the height difference between the points participating in the fitting in the air point set and the fitted line segment is greater than a preset threshold, stop the fitting, and obtain the next flight segment; Continue to perform line segment fitting as the current flight segment until all the air points in the air point set are fitted, and obtain a non-horizontal route corresponding to the starting route, wherein the non-horizontal route is composed of a plurality of continuous line segments; Taking the starting route as a reference route, obtaining an adjacent route according to a preset lateral spacing, and performing line segment fitting on the air point set corresponding to the adjacent route through linear regression to obtain a non-horizontal route corresponding to the adjacent route; Calculate the degree of overlap between the non-horizontal air route corresponding to the reference air route and the non-horizontal air route corresponding to the adjacent air route. When the overlap degree satisfies a preset condition, the non-horizontal air route corresponding to the adjacent air route is the area to be measured the next non-horizontal route within the Taking the calculated adjacent route as a new reference route, continue to lay the non-horizontal route until the lateral direction coordinate value of the current non-horizontal route being laid is not located in the maximum coordinate value and the minimum coordinate of the lateral direction of the area to be measured When the value is between, stop the air laying. 2. the non-horizontal route design method based on terrain elevation as claimed in claim 1 is characterized in that, determining the starting route in the area to be measured, comprising: Based on the route design direction, the Y value of the starting route is set to (Y _min +Y _max )/2, and the intersection point of the starting route and the area to be measured is obtained to determine the start and end coordinates of the starting route; Wherein Y _min is the minimum Y value coordinate of the corner point of the area to be measured, and Y _max is the maximum Y value coordinate of the corner point of the area to be measured. 3. the non-horizontal route design method based on terrain elevation as claimed in claim 1, is characterized in that, with described starting route as reference route, obtain adjacent route according to preset side spacing, comprising: Taking the starting route as the reference route, and using the Y coordinate of the reference route to add or subtract the preset side spacing, the Y coordinate of the adjacent route is obtained; Based on the route design direction and the Y coordinate of the adjacent route, the intersection of the adjacent route and the area to be measured is obtained to determine the start and end coordinates of the adjacent route to obtain the adjacent route. 4. the non-horizontal route design method based on terrain elevation as claimed in claim 1 is characterized in that, calculating the overlap degree of the non-horizontal route corresponding to the reference route and the non-horizontal route corresponding to the adjacent route, when the overlap degree When the preset conditions are met, the non-horizontal route corresponding to the adjacent route is the next non-horizontal route in the area to be measured, including: Calculate the ground coverage of the non-horizontal air route corresponding to the adjacent air route by using a collinear equation mathematical model; Calculate the ground coverage of the non-horizontal route corresponding to the reference route by using a collinear equation mathematical model; Obtain the narrowest distance in the Y direction of the intersection polygon of the above-mentioned two ground coverage areas, and divide the narrowest distance by the lateral width of the reference plane to obtain the minimum overlap; Calculate the difference between the minimum overlap degree and the preset design overlap degree. When the difference satisfies the preset threshold, the non-horizontal air route corresponding to the adjacent air route is the lower air route in the area to be measured. A non-horizontal route. 5. the non-horizontal route design method based on terrain elevation as claimed in claim 1, is characterized in that, also comprises: When the overlapping degree does not meet the preset condition, calculate the adjustment amount of the Y coordinate of the adjacent air route; Adjust the Y coordinate of the adjacent route according to the adjustment amount of the Y coordinate of the adjacent route, and re-obtain the adjusted start and end coordinates of the adjacent route, and perform non-horizontal route fitting and overlap calculation until the new The calculated overlap degree satisfies the preset condition. 6. The method for designing a non-horizontal route based on terrain elevation according to any one of claims 1 to 5, wherein before determining the position of the starting route, the method further comprises: Rotate the coordinate system according to the route laying direction, so that the X axis of the coordinate system after the rotation is parallel to the route laid; Determine the route direction as the X axis of the coordinate system, and determine the side direction of the route as the Y axis of the coordinate system. 7. The non-horizontal route design method based on terrain elevation according to any one of claims 1 to 5, characterized in that, after stopping the route laying, further comprising: Perform the inverse transformation of the coordinate system, and re-determine the new route coordinates, so as to transform the route coordinates into the coordinates in the map projection coordinate system. 8. A terminal, characterized in that the terminal comprises: a memory, a processor, and a computer program stored on the memory and executable on the processor, when the computer program is executed by the processor The steps of implementing the method for designing a non-horizontal route based on terrain elevation as claimed in any one of claims 1 to 5. 9. A storage medium, characterized in that, a non-horizontal route design program based on terrain elevation is stored on the storage medium, and the non-horizontal route design program based on terrain elevation is implemented by a processor as claimed in claim 1 to Steps of the method for designing a non-horizontal route based on terrain elevation described in any one of 5.

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