Research On Route Planning Method Of UAV For Slope Aerial Photography

There are a large number of potential safety hazards in natural slope,artificial slope,landslide,collapse zone and other slope areas,which will cause great social and economic losses and casualties every year,seriously affecting the safety of personnel,and the selective implementation of long-term periodic observation is an effective means to eliminate potential safety hazards in the slope area in the future,using UAV aerial photography technology Slope data collection is an important technical means to accurately grasp the basic information such as surface displacement of slope area,and it is the basic basis for the implementation of slope disaster prevention and control.However,as a special terrain area with large height difference,the commonly used route planning method has great limitations.Only considering the horizontal direction and the lowest and highest factors of the target area,the particularity of the aerial photography area with large slope can not be taken into account,which seriously affects the balance of image resolution when data acquisition,thus affecting the accuracy of slope measurement.Therefore,this paper has carried out the research of route planning method for slope aerial photography,the main contents are as follows:(1)In view of the particularity of aerial photographing on the slope,this paper describes the rational selection of UAV resources and aerial camera resources and the unified description of their performances,and weighted the performances of all aerial photographing resources with the demand of aerial photographing task on the slope as the weight,so as to express the ability of each aerial photographing resource to complete the aerial photographing task on the slope,and realizes the aerial photographing of UAV Based on the aerial photographing task on the slope Hardware resource selection.(2)In order to avoid the imbalance of image resolution during data acquisition,the slope shape model is introduced to extract the composite slope plane,and the slope aerial datum is established as the reference flight plane.Specific content: carry out the research on the method of vertex deletion based on terrain importance adjustment and the method of constructing slope shape model based on vertex clustering based on normal vector direction constraint.The plane parameters of each slope plane are obtained by sampling the classification vertices of each slope and fitting the plane parameters of the sampling vertices.The composite slope plane is constructed within the target range,and the established slope aerial photographing datum is taken as the reference flight plane,so that the UAV can maintain the consistency of the aerial photographing distance to a certain extent during the aerial photographing process.(3)Considering the complexity of the same slope,aiming at the problem that the image overlap is not enough or inconsistent with the preset overlap,a route planning method based on flight plane constraint is proposed for compound slope terrain.This method determines the best exposure point position through the route optimization of variable baseline based on DEM,so that all the images meet the requirements of overlap,and realizes the course and route laying under the plane constraint.