引入飞控数据的无人机航摄飞行质量检查方法研究

A Method of UAV Flight Quality Assessment Based onFlight Control Data

利用机载POS系统获取的传感器的位置和姿态数据,确定无人机航摄影像和飞行航线相对位置关系;引入航摄区域数字高程模型以及传感器参数信息,计算出每张航摄像片的真实地面分辨率及4个角点的框标坐标,实现飞行质量的快速自动检查。检查内容主要包括航带自动整理与划分、影像倾角和旋角的计算与检查、影像重叠度和地面分辨率的计算与检查、航高保持和航线弯曲度的计算与检查,以及摄区边界覆盖情况检查等。实验表明,该方法自动化程度高、检查快速、精度可靠,在日常生产中对低空无人机航摄生产具有一定的指导意义。

Using the position and attitude data of the sensor acquired by the on-board POS system,the relative position of the aerial images and flight path of the UAV is determined;The digital elevation model of the aerial photography area and sensor parameter information are introduced,and the ground resolution and frame coordinates of each image are calculated,so as to achieve a rapid automatic check of the quality of the aerial photography flight of the UAV.The main functions include the automatic arrangement and division of flight belts,calculation and inspection of image inclination and angle of rotation,calculation and inspection of image overlap and ground resolution,calculation and inspection of altitude maintenance and course curvature,and inspection of the coverage of the area boundary.The experimental results show that the method has a high degree of automation,fast inspection,reliable accuracy,and has certain guiding significance for the production of low-altitude drone aerial photography in daily production.