实景三维模型辅助下小型多旋翼无人机航线设计

Air Route Design Method of Multi-rotor Unmanned Aerial Vehicles Assisted by Real 3D Model

传统无人机航线设计中相机的摄影角度相对固定,摄影位置依据航线的规划和对影像分辨率的要求而定。在倾斜摄影测量技术应用中,传统的航线设计方法往往不能获取地物情况较为复杂的多角度影像或良好的地物立面纹理。针对上述情况,该文提出了一种实景三维模型辅助下的小型多旋翼无人机的航线设计方法,可自由地设置相机的摄影角度和摄影位置,从而实现地物全面影像的获取。该方法首先在已有的粗略实景三维模型上通过人机交互在模型上选取航点并设置相应的航高和摄影角度等参数;然后通过根据摄影视点和预设置的摄影角度预判断摄影覆盖范围和重叠区域;最后,通过航线与粗略模型是否相交,判断在航线中是否有地物的遮挡,并串连所有航点。该方法能够获取较为全面的地物影像,同时可以间接地实现躲避障碍物,从而提高了航空摄影在外业飞行中的效率并提高了通过倾斜摄影测量生成的三维模型质量。

In traditional UAV air route design method,the camera angles are relatively fixed.Meanwhile,the positions of the camera rely on the planning of the course and the requirement of image resolution.In the field of oblique photogrammetry technology,it cannot get more complex images or good textural features of the facade surface.In view of the above situations,this paper proposes a method of air route design based on real 3D model for multi-rotor UAV,which can freely set the angles and the position of the camera,so as to realize the comprehensive image acquisition.This method,which is based on the existing rough3 Dmodel in the beginning,sets up the point of camera and the corresponding height and the angles based on human-computer interaction in the model.Then,it can be used to pre-judge the coverage and overlap area of the camera according to the viewpoint of photography and pre-setting.After that,it takes the intersection of air route and the model to determine whether there is a feature in the course of the cover.Finally,it connects each waypoint.In the practical application,the method shows that it could obtain more comprehensive oblique images,also it can indirectly avoid obstacles,so as to improve the efficiency of aerial photography in the measurement and indirectly improves the quality of 3Dmodels generated by oblique images.