Photography Route Planning And Control Software Design Of Multi-rotor UAV Of Surveying And Mapping

In the field of surveying and mapping,it is particularly important to obtain real-time and high precision geographic information in the area of interest in order to make the operators work more quickly and accurately in unfamiliar areas.Compared with satellite and man-machine,unmanned aerial vehicle(UAV)has many advantages in the field of surveying and mapping,including fast acquisition of images,low altitude navigation safety and high resolution in accessing geographic information,so it has been a hot topic in recent years.The coverage path planning(CPP)of UAV is an important part of the mission of surveying and mapping.It will have a certain influence on the performance of flight and the quality of aerial photography.particularly,in mapping area with irregular shape,planning a high quality path with short length,less time and low redundant coverage,plays an important role in the efficient completion of the mapping mission.In this paper,the corresponding path planning algorithm of multi-rotor UAV is proposed and implemented according to the different shape types of mapping area.According to the set of evaluation index of path quality,a relatively superior mapping path is planned under the premise of meeting the overlap of aerial photography image and the full coverage of mapping area.At the same time,in order to improve the controllability of aerial photography mission and the ability of the UAV to perform the task independently,this paper also developed the ground monitoring software of mapping UAV based on the Android platform,And implemented the visualized interactive functions of map display,mapping area drawing,path automatic generation,task loading and uploading,and UAV position and attitude monitoring.The main contents of the study are as follows.1.The optimal path planning scheme and its computer realization method under the convex polygon mapping area are proposed and demonstrated.In view of the variation in the shape of the mapping area.Meanwhile,taking the path evaluation indexes into consideration.This paper proposed three kinds of path planning schemes under the irregular polygon area.It includes a full coverage path planning under the complex polygon mapping area,the optimal planning of course and altitude based on particle swarm optimization(PSO),as well as the optimal partition based on the minimum sum of subregion width and the subregion optimal traversal based on the dynamic programming algorithm.2.The UAV ground monitoring software of surveying and aerial photography based on the Android platform is designed and developed,which realizes the functions of electronic map display,mapping area drawing,path planning and display,UAV real-time information display,and the monitoring of aerial photography mission execution.