Automatic UAV Route Planning Method Based On Three-Dimensional Surface Model

Emergency Surveying and Mapping Service System is the core and basic of geographic information service and surveying and mapping security "in dealing with emergencies preparations, disaster evaluation and reconstruction. "Emergency" and "efficient" is the essential characteristics of Emergency Surveying and Mapping mission, which brings heavy demands for surveying work. UAV aerial photography, the important method of modern remote sensing and mapping, has proved to have high flexibility and able to rapidly developed, playing an increasingly important role in the emergency response mapping work. However, there exits several shortcomings of UAV aerial mapping technology in current emergency work, such as blind tasking, extensive planning, and lacking of scientific management and rational planning. Considering the urgency of task, the variety of resources as well as complicated environment, how to ensure the completion of resource scheduling and mission planning in UAV surveying and mapping is the key to guarantee the successful implementation of the emergency surveying and mapping task. Especially, the normalized demands and standardized task descriptions are the basis of automatically selection of emergency aerial resources; Fast and accurate method of UAV landing site selection is a key step in the rapid deployment of aerial mission; Precise design of the flight path is the assurance of data quality. The main work carried out as follows:(1) Summarizes the basic process of UAV aerial photography, including:task analysis, the match between resource and UAVs, determination of UAV landing field location, applications for airspace, field aerial survey using UVAs and aerial survey data processing;(2) Research on the unified method to describe the emergency surveying and mapping task, modeling of UAVs and camera parameters and design of algorithms realizing the automatic matching between aerial resources and UAVs;(3) Through analysis of surface features that might affect the flight of UVAs, model the threatening height field. Research on the method to build a 3-dimensional height field by merging with DEM. Design an algorithm to achieve an automatic selection of UAV landing field location;(4) Divide the irregular polygon aerial area and select the best aerial direction, which is based on a 3-dimensional surface model. Design an method of polygon adaptive route determination, taking DEM into account, to achieve precise laying UAV route.Based on the theory above, this thesis describes the design and implement of an UAV route planning and simulation system. With a mountainous area of Sichuan Province as experimental subject, a series of systematic and scientific tests has been conducted. As the result shows, scientific and rational resources scheduling do help to the rapid match between task and resources; The method to determine the landing field location is rapid and effective so that it can satisfy several UAVs landing location selections in complicated environment; The design of flight paths is accurate and efficient, perfectly meeting with the requirements of aerial degree of overlap.