CN110189411A - Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft - Google Patents
Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft Download PDFInfo
- Publication number
- CN110189411A CN110189411A CN201910507443.2A CN201910507443A CN110189411A CN 110189411 A CN110189411 A CN 110189411A CN 201910507443 A CN201910507443 A CN 201910507443A CN 110189411 A CN110189411 A CN 110189411A
- Authority
- CN
- China
- Prior art keywords
- region
- search
- unmanned plane
- aircraft
- oblique photograph
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 206010000369 Accident Diseases 0.000 claims abstract description 28
- 230000008054 signal transmission Effects 0.000 claims abstract description 17
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 230000004888 barrier function Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 239000000295 fuel oil Substances 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000007726 management method Methods 0.000 description 17
- 238000012800 visualization Methods 0.000 description 9
- 238000012876 topography Methods 0.000 description 6
- 238000012216 screening Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 231100000518 lethal Toxicity 0.000 description 1
- 230000001665 lethal effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Software Systems (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The invention discloses emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft in emergency management and rescue field.Include: 1, according to ADS-B information last before aircraft accident, determines unmanned plane region of search for the first time；2, according to the geomorphic feature of region of search for the first time, determine the parameter of the type of unmanned plane and the oblique photograph camera of UAV flight；3, the unmanned plane for carrying oblique photograph camera and signal transmission apparatus flies according to preset path, meanwhile, oblique photograph camera acquires oblique photograph data, signal transmission apparatus real-time Transmission oblique photograph data；4, construct the three-dimensional space model with geographical location information.Unmanned plane and oblique photograph camera are combined by the present invention, high definition camera is carried, aircraft accident region shape texture image information with multi-angle is obtained, has broken the limitation that orthography can only be shot from vertical angle, shooting angle is expanded, and aircraft accident region threedimensional model can be established in real time.
Description
Technical field
The present invention relates to emergency management and rescue field, in particular to emergency management and rescue Search Area visualizes after a kind of aircraft accident
Method.
Background technique
For Civil Aviation Industry in fast development, whole world civil aviaton in 2018 completes 1,200,000,000 people's Passenger Traffics, but aviation safety thing altogether
Therefore still happen occasionally, 15 serious lethal airplane crashes occur altogether for whole world civil aviaton in 2018, cause 556 people dead altogether, aircraft
It when accident region is located at mountain area, is limited by topography and geomorphology, and lacks the visualization image in accident region, rescue personnel is difficult to directly
The topography and geomorphology of the understanding search and rescue region of sight, cannot targetedly formulate and search and rescue path, bring to the expansion of emergency management and rescue action
Big inconvenience.
The prior art mainly passes through high-resolution satellite remote sensing date and computer modeling software to aircraft accident region
It is visualized, the lack accuracy and terrain data for being limited to DEM altitude data are difficult to obtain at the first time, computer
The limitation such as energy, causes the visual modeling time long, precision is low, and partial region only has the defects of orthography.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency in the presence of the prior art, answered after a kind of aircraft accident is provided
Search Area method for visualizing is helped in first aid.
In order to achieve the above-mentioned object of the invention, the present invention provides following technical schemes:
Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft, comprising:
S1 determines unmanned plane region of search for the first time according to ADS-B information last before aircraft accident；
S2 determines the type of unmanned plane and the oblique photograph camera of UAV flight according to the geomorphic feature of region of search for the first time
Parameter；
S3, the unmanned plane for carrying oblique photograph camera and signal transmission apparatus fly according to preset path, meanwhile, oblique photograph
Oblique photograph data of the camera from multiple angle acquisition emergency management and rescue Search Areas comprising longitude and latitude, signal transmission apparatus pass in real time
Defeated oblique photograph data；
Oblique photograph data are used to construct the three-dimensional space model with geographical location information by S4.
According to ADS-B information last before aircraft accident, unmanned plane region of search for the first time is determined, step includes:
S11 extracts latitude and longitude information, flying speed V1 and the height of aircraft in accident aircraft final report (FR) ADS-B information；
S12, remaining fuel oil when according to accident, estimates aircraft with the maximum time length T1 of flying speed V1 horizontal flight；
S13, estimation aircraft are the time span T2 of freely falling body crash from height；
S14 constructs region of search for the first time centered on the latitude and longitude information of aircraft, and region of search is using A as side length for the first time
Square area, as T1 >=T2, A=T2 × V1；As T1 < T2, A=T1 × V1.
According to the geomorphic feature of region of search for the first time, the type of unmanned plane and the oblique photograph camera of UAV flight are determined
Parameter, step includes:
S21 transfers the satellite map of the region of search for the first time, the area of the estimation region of search for the first time；
S22, converts the satellite map of the region of search for the first time to the digital elevation map of the region of search for the first time, then by
The digital elevation map is converted into contour map；
S23 analyzes the contour map, determines the height H1 of highest barrier in the region of search for the first time；
S24 chooses unmanned plane type according to highest flying height H and the area of the region of search for the first time, wherein the highest
Flying height H ﹥ H1；
S25 determines the number and slanted angle range of oblique photograph camera according to highest flying height H.
Oblique photograph data further include high definition picture data, course angle, pitch angle and roll angle.
The geographical location information of three-dimensional space model is obtained according to longitude and latitude.
Preset path is zigzag, and the region of zigzag path covering is the square area that side length is N, wherein N >=A,
A is the side length for searching for square area for the first time.
The step of method further include: if three-dimensional space model does not cover accident aircraft disintegration chip distribution region, expand
The range of big unmanned plane during flying, so that three-dimensional space model range covering accident aircraft disintegration chip distribution region, specific to wrap
It includes:
S31 expands region of search, the satellite map of the region of search after transferring expanded scope；
S32, the satellite map of the region of search after will be enlarged by range are converted into digital elevation map, and reconvert is at contour map；
S33, the barrier maximum height H2 according to contour map, in the region of search after determining expanded scope；
H2 and H3 are compared by S34, determine that unmanned plane type, H3 are current execution task unmanned plane highest flying heights；
S35, unmanned plane type fly according to zigzag flight path, while oblique photograph camera expands model from multiple angle acquisitions
The oblique photograph data comprising longitude and latitude of region of search after enclosing, signal transmission apparatus real-time Transmission oblique photograph data；
S36, the three-dimensional space model of the region of search after oblique photograph data to be used to construct expanded scope, and judge to expand model
Whether the three-dimensional space model of the region of search after enclosing covers accident aircraft disintegration chip distribution region, if covering, directly
The three-dimensional space model of region of search after exporting expanded scope, if not covering, return step S31.
H2 and H3 are compared, determine unmanned plane type, in particular to:
If H2 > H3, unmanned plane type is replaced, so that the flying height of unmanned plane meets flight demand；
If H2≤H3, and unmanned plane cruising ability can cover new region of search, then be changed without unmanned plane type；
If H2≤H3, but unmanned plane cruising ability cannot cover new region of search, then replace unmanned plane type or replace nobody
The battery of machine, to meet demand of the region of search after expanded scope to cruising ability.
The region of zigzag flight path covering is the square area that side length is 2N or 3N, wherein N >=A1, A1 are to expand
The side length in the square aearch region after range.
The device of emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft, including at least one unmanned plane,
And be mounted at least one oblique photograph camera on unmanned plane and at least one signal transmission apparatus, oblique photograph camera from
Multiple angle acquisition emergency management and rescue Search Areas include the oblique photograph data of longitude and latitude, and signal transmission apparatus transmits oblique photograph
Data, the unmanned plane for carrying oblique photograph camera and signal transmission apparatus are able to carry out above-mentioned method.
Compared with prior art, beneficial effects of the present invention:
1, unmanned plane and oblique photograph camera are combined by the present invention, carry high definition camera, can obtain aircraft mistake in time
Thing region multi-angle landform texture image information, by Computerized three-dimensional modeling technique, rapid build has accurate geographical location
The three-dimensional space model of information can accurately rebuild the topography and geomorphology in aircraft accident region and the minutia of building, mention
The high efficiency and quality of modeling, the precision of outdoor scene model can reach grade.
2, it since data pass ground station back from oblique photograph camera in real time, can be made in the short time after aircraft accident
Make high-resolution, measurable search and rescue region three-dimensional live model-aided emergency rescue commanding and decision-making.
Detailed description of the invention
Fig. 1 is the flow chart of emergency management and rescue Search Area method for visualizing after a kind of aircraft accident of the present invention；
Fig. 2 is the flow chart of emergency management and rescue Search Area method for visualizing after the aircraft accident in embodiment 1；
Fig. 3 be in embodiment 1 with time T2 be reference region of search figure for the first time；
Fig. 4 be in embodiment 1 with time T1 be reference region of search figure for the first time；
Fig. 5 is the zigzag path figure in embodiment 1 after expanded scope；
Fig. 6 is the zigzag path figure after expanded scope again in embodiment 1；
When Fig. 7 is that aircraft disaster area domain is cities and towns in embodiment 2, have an accident region three-dimensional live modeling figure in cities and towns；
Fig. 8 is that have an accident region three-dimensional live accident region partial enlarged view in cities and towns in embodiment 2；
Fig. 9 is that have an accident region three-dimensional live modeling top view in cities and towns in embodiment 2；
Figure 10 is the region building space distance measurements mapping that has an accident in embodiment 2；
When Figure 11 is that aircraft disaster area domain is mountain valley in embodiment 2, three-dimensional live modeling figure；
When Figure 12 is that aircraft disaster area domain is mountain valley in embodiment 2, mountain valley region top view.
Specific embodiment
Below with reference to test example and specific embodiment, the present invention is described in further detail.But this should not be managed
Solution is all to be belonged to based on the technology that the content of present invention is realized for the scope of the above subject matter of the present invention is limited to the following embodiments
The scope of the present invention.
Embodiment 1
The flow chart of emergency management and rescue Search Area method for visualizing is as shown in Figure 1, this implementation after a kind of aircraft accident of the present invention
In example, as a kind of specific embodiment of the invention, emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft
Flow chart is as shown in Figure 2 comprising the steps of:
Step 1: losing priori information according to the aircraft of the offers such as blank pipe department, airline, determine that unmanned plane searches area for the first time
Domain.
Determine Search Area be usually formulate search plan the first step, the range should comprising accident aircraft remains and
The position of all possibility survivors.A kind of using Civil Aviation System actively monitors means --- ADS-B first extracts accident aviation
The rearmost position (i.e. the last sent latitude and longitude information of aircraft) of aircraft and height are believed in device final report (FR) ADS-B information
Breath, is then based on rearmost position, determines search area, method particularly includes:
When accident, according to remaining fuel oil, estimation accident aircraft should with the duration for the speed V1 horizontal flight finally reported, setting
Maximum flight time length is T1；
When accident, if height and position locating for aircraft is H2, aircraft can be calculated is done from H2 height and position and freely fall
The time that body crashes sets the time of freely falling body crash as T2；
As T1 >=T2, region of search is constructed centered on aircraft rearmost position point (latitude and longitude information), region is using A as side
Long square area, wherein A=T2 × V1 are as shown in Figure 3 with the figure of region of search for the first time that time T2 is reference.
As T1 < T2, region of search is constructed centered on aircraft rearmost position point (latitude and longitude information), region is with A
For the square area of side length, wherein A=T1 × V1 is as shown in Figure 4 with region of search for the first time that time T1 is reference.
Step 2: calling satellite map to determine accident region topography and geomorphology according to the Search Area that the first step determines, determining
The type of unmanned plane and the parameter of oblique photograph camera.
According to different topography and geomorphologies, viewable area complex situations are determined, the unmanned type of execution task is determined with this
Number.The performance that different terrain landforms require the unmanned plane for executing visualization operation is different, and model is different, and tilts accordingly
Photographic camera model is different, and angle initialization parameter is different.
The satellite map for transferring region of search estimates the area of region of search, converts the satellite map of region of search to
The digital elevation map (DEM) of region of search, reconvert at region of search contour map.Analyze the contour of region of search
Figure, setting obstacle height in region of search is up to H1.
Region of search area and barrier highest H1 height and the performance of each model unmanned plane are compared, determine unmanned plane
Type and oblique photograph camera parameter Choice.According to existing unmanned plane model and oblique photograph camera, unmanned plane
Model and oblique photograph camera selection gist are as shown in table 1.
1 unmanned plane model of table and oblique photograph camera selection gist
| Protocol Numbers | Unmanned plane model | Highest flying height | Cruising ability coverage area | Oblique photograph camera | Parameter setting |
| 1 | Rotor | 2000m | 8KM2 | Binocular | 30-45 ° of angle |
| 2 | Fixed-wing | 4000m | 20KM2 | Five mesh | 30-45 ° of angle |
| 3 | Composite wing | 5000m | 40KM2 | Five mesh | 30-45 ° of angle |
| 4 | Unmanned helicopter | 8000m | 60KM2 | Five mesh | 30-45 ° of angle |
Step 3: carrying out working path planning to unmanned plane.
Unmanned plane is maintained at same flying height when flight, and last photo acquisition has with photo acquisition next time
The size of the part of overlapping, overlapping region is stated with sidelapping rate, sets endlap rate range as 60%-75%, it is other to
Duplication range is 60%-78%, sets path as zigzag, and the region of zigzag path covering is the square area that side length is N,
The value of N is more than or equal to the square area side length A of region of search.
Step 4: unmanned plane flies according to predefined paths, multiple inclined cameras carry out data acquisition.
Unmanned plane flies according to the zigzag path that third step is set, and the region of flight range covering is the pros that side length is N
Shape region, wherein N >=A, A are the side length for searching for square area for the first time.Multiple inclined cameras carry out data acquisition simultaneously.Number
According to the image collection in collection process in addition to just taking the photograph angle, multiple inclined cameras can also carry out from different angles image and adopt
Collection, for example, the image collection in addition to just taking the photograph angle can also simultaneously in the past if the oblique photograph camera of UAV flight is 5 mesh
The 4 different angle acquisition images in left and right afterwards.
Collected unmanned plane oblique photograph data include POS data and high definition picture data, and POS data is by flight control system
The generation when camera is taken pictures is corresponded with photo, the longitude and latitude of unmanned plane during the main Collecting operation of POS data, height,
The information such as height above sea level, heading, flight attitude, unmanned plane oblique photograph data format are as shown in table 2.
2 unmanned plane oblique photograph data of table
| Data name | Data type | Storage format | Data precision |
| High definition picture data | Picture | Jpg | It is high |
| Longitude and latitude | Coordinate | Txt | It is high |
| Course angle | Angle | Txt | It is high |
| Pitch angle | Angle | Txt | It is high |
| Roll angle | Angle | Txt | It is high |
Step 5: passing collected unmanned plane oblique photograph data back ground work by the signal transmission apparatus of UAV flight
It stands, signal transmission apparatus used in the present embodiment is big boundary DJI Lightbridge 2, to the nothing for passing ground station back
High definition picture data in man-machine oblique photograph data carries out artificial screening, rejects the photo for being not used to Visualization Modeling
Data, the picture data not being available include: over-exposed photo, lopsided photo, hopped data.
Step 6: by after screening unmanned plane oblique photograph data import ground station in visual modeling software into
The visual modeling of line search area three-dimensional outdoor scene.
Construct have geographical location information three-dimensional space model use Smart3D software realization, step include: to
Oblique photograph data of the Smart3D software input after screening；Complete three encryption of sky and simultaneous adjustment；Tile segmentation is carried out,
Export three-dimensional space model；Pattern checking is carried out, if passed examination, exports the three-dimensional space model of emergency management and rescue Search Area,
If inspection is unqualified, the angle retake photo of unmanned plane during flying route and inclined camera is adjusted in real time, the unmanned plane of retake is inclined
Oblique photographed data passes ground station back, carries out model modification, it is to be checked it is qualified after, export the three-dimensional of emergency management and rescue Search Area
Spatial model.
Step 7: the threedimensional model to foundation checks, if discovery accident aircraft disintegration chip distribution region is whole
It is covered by visualization range, then executes the 9th step.
If checking, discovery accident aircraft disintegration chip distribution region by all visualization range coverings, does not expand unmanned plane
The range of flight, and acquire the unmanned plane oblique photograph data in bigger region.
Expand search range, do not mean only that widened search range requires to improve to the cruising ability of unmanned plane,
Mean that the topography and geomorphology for including in new search range is changed.It new search range after transferring expanded scope defends
Star map estimates the area of new search range, is converted into the digital elevation map (DEM) of new search range, reconvert at
Contour map.The contour map for analyzing new region of search determines the barrier maximum height of new region of search, sets this
New maximum height is H2, set current execution task unmanned plane highest flying height as H3,
If H2 > H3, replaces unmanned plane type and execute task, the flying height of unmanned plane meets flight demand；
If H2≤H3, and unmanned plane cruising ability can cover new region of search, then be changed without unmanned plane type；
If H2≤H3, but unmanned plane cruising ability cannot cover new region of search, then replace unmanned plane type or replace nobody
The battery of machine, to meet demand of the new region of search to cruising ability.
Unmanned plane still keeps zigzag flight path after expanding search range, and the region of zigzag path covering is that side length is
The square area of 2N, and the acquisition of unmanned plane oblique photograph data is carried out again, zigzag path such as Fig. 5 after expanded scope
It is shown.
Step 8: after carrying out visual modeling to the unmanned plane oblique photograph data that acquire again, to Visualization Model into
Row second checks that discovery thing aircraft disintegration chip distribution region is all covered by visualization range if checking, executes the
Nine steps.
If checking, discovery accident aircraft disintegration chip distribution region by all visualization range coverings, does not expand nothing again
The range of man-machine flight, the satellite map of the search range after transferring expanded scope again, searching after estimating expanded scope again
Rope range area, the digital elevation map (DEM) of the search range after being converted into expanded scope again, reconvert is at contour
Figure.The contour map of region of search after analyzing expanded scope again, the obstacle of the region of search after determining expanded scope again
Object maximum height sets the maximum height as H4, sets the current task unmanned plane highest flying height that executes as H5,
If H4 > H5, replaces unmanned plane type and execute task, the flying height of unmanned plane meets flight demand；
If H4≤H5, and unmanned plane cruising ability can cover new region of search, then be changed without unmanned plane type；
If H4≤H5, but unmanned plane cruising ability cannot cover new region of search, then replace unmanned plane type or replace nobody
The battery of machine, to meet demand of the region of search after expanded scope again to cruising ability.
Unmanned plane after expanding search range again still keeps zigzag flight path, and the region of zigzag path covering is
Side length is the square area of 3N, and carries out the acquisition of unmanned plane oblique photograph data again, again the zigzag after expanded scope
Path is as shown in Figure 6.
Step 9: output accident region Visualization Model.
Construct the three-dimensional space model with geographical location information；Pattern checking is carried out, if passed examination, first aid is answered in output
The three-dimensional space model of Search Area is helped, if inspection is unqualified, adjusts the angle of unmanned plane during flying route and inclined camera in real time
Retake photo passes the unmanned plane oblique photograph data of retake back ground station, carries out model modification, it is to be checked it is qualified after,
Export the three-dimensional space model of emergency management and rescue Search Area.
The device of emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft, including at least one unmanned plane,
And be mounted at least one oblique photograph camera on unmanned plane and at least one signal transmission apparatus, oblique photograph camera from
Multiple angle acquisition emergency management and rescue Search Areas include the oblique photograph data of longitude and latitude, and signal transmission apparatus transmits oblique photograph
The method that the unmanned plane of data, carrying oblique photograph camera and signal transmission apparatus is able to carry out any one of above scheme.
Embodiment 2
In order to more fully simulate aircraft accident region, the requirement of unmanned plane equipment performance and different landforms feelings are comprehensively considered herein
Condition, searching addressing is the urban architecture positioned at Sichuan Province Deyang City somewhere, and positioned at certain hillside in Kunming Chenggong area, mountain
Slope maximum drop is 20 meters.
Lectotype selection comprehensively considers load capacity, flying quality, and positioning accuracy selects rotor wing unmanned aerial vehicle to execute task.In addition
Also set the one camera pixel of image transmitting efficiency and oblique photograph camera, the total pixel of camera, the parameters such as lens focus.It adopts
It uses big boundary M600 Pro as flying platform, obtains oblique photograph data using capital boat Powerise 3S oblique photograph camera.Big boundary
The flight performance and precisely manipulation that unmanned plane is stable when M600 Pro rotor wing unmanned aerial vehicle can ensure operation, the D-RTK system of carrying
It is able to achieve the other precision positioning of Centimeter Level, and is able to achieve the remote low delay high definition image transmission of 5Km, is suitable for aircraft
Accident region is located at the scenes such as mountain area.Capital is navigated, and Powerise 3S oblique photograph camera load is small, and pixel is high, and single-lens pixel reaches 2430
Ten thousand, the total pixel of five mesh reaches 1.2 hundred million, can collect high-resolution ground image.
Flight course planning is a ring critically important in entire work flow, and the quality of flight course planning directly affects oblique photograph shadow
Image sharpness, sidelapping rate, endlap rate.This experiment flight course planning carries out flight course planning, flight road using DJI GO
Diameter is zigzag, and flying height is set as 60 meters, and endlap rate is 75%, and sidelapping rate is 70%, camera tilt angles 45
Degree, whole image acquisition process avoid some focal length from there was only the case where very small amount of image using fixed focal length.
Data screening mainly rejects over-exposed, fuzzy, the bad equal photos of lighting effect, while checking the complete of photo
Property and reliability according to the collected data of inclined camera are saved respectively under all around finally check the time of file generated,
It is complete such as to generate Time Continuous, then shows that data structure is effective.This project finally screens 237 images as modeling foundation.
The main software for handling oblique photograph photo in industry at present has ContextCapture(Smart3D),
PhotoScan, Pix4D mapper, three kinds of software comparisons are as shown in table 3:
The comparison of 3 three-dimensional live modeling software of table
| Compare direction | Pix4Dmapper | PhotoScan | Smart3D |
| Software uses difficulty | Simply | It is difficult | Simply |
| Model accuracy | It is low | It is high | It is high |
| Handle workload | Greatly | It is small | Greatly |
| Software overhead | It is low | It is high | It is low |
Smart3D software is the post-processing software that a powerful unmanned plane carries out shooting image, can input unmanned plane
Aerial images data, export high-resolution, high-precision, the three-dimensional live model with geographical coordinate.The three of Smart3D generation
Dimension module effect is ideal, and artificial repair amount is although bigger, but software is using fairly simple, is easy to operate and price
It is lower.Because Smart3D is difficult to calculate out extreme lens distortion, before raw video is imported Smart3D, without appointing
What is edited.After modeling operation sky three is disposed, preference pattern data format, setting texture compression ratio and node size are protected
Empty three computation engine programs are held in opening state, submits and generates, that is, produce three-dimensional live model.The export format of model is general
OSGB is selected, the model of generation can be checked in Acute3D View.The three-dimensional live model such as Fig. 7 generated in this subjob~
Shown in 12.When aircraft accident region is cities and towns, the modeling of region three-dimensional live is had an accident as shown in fig. 7, cities and towns accident region in cities and towns
Three-dimensional live has an accident region partial enlarged view as shown in figure 8, three-dimensional live modeling top view in downtown areas is as shown in Figure 9.Accident
Region building space distance measurements mapping is as shown in Figure 10.When aircraft accident region is mountain valley, three-dimensional live modeling such as Figure 11
Shown, mountain valley region top plan view is as shown in figure 12.
Claims (10)
1. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident characterized by comprising
S1 determines unmanned plane region of search for the first time according to ADS-B information last before aircraft accident；
S2 determines the type of unmanned plane and the inclination of the UAV flight according to the geomorphic feature of the region of search for the first time
The parameter of photographic camera；
S3, the unmanned plane for carrying the oblique photograph camera and signal transmission apparatus fly according to preset path, meanwhile, it is described
Oblique photograph data of the oblique photograph camera from multiple angle acquisition emergency management and rescue Search Areas comprising longitude and latitude, the signal pass
Oblique photograph data described in transfer device real-time Transmission；
The oblique photograph data are used to construct the three-dimensional space model with geographical location information by S4.
2. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
The step of S1 includes:
S11 extracts latitude and longitude information, flying speed V1 and the height of aircraft in accident aircraft final report (FR) ADS-B information；
S12, remaining fuel oil when according to accident, estimates aircraft with the maximum time length T1 of flying speed V1 horizontal flight；
S13, estimation aircraft are the time span T2 of freely falling body crash from the height；
S14 constructs region of search for the first time centered on the latitude and longitude information of the aircraft, and the region of search for the first time is with A
For the square area of side length, as T1 >=T2, A=T2 × V1；As T1 < T2, A=T1 × V1.
3. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
According to the geomorphic feature of the region of search for the first time, the type of unmanned plane and the oblique photograph camera of the UAV flight are determined
Parameter, step includes:
S21 transfers the satellite map of the region of search for the first time, the area of the estimation region of search for the first time；
S22, converts the satellite map of the region of search for the first time to the digital elevation map of the region of search for the first time, then by
The digital elevation map is converted into contour map；
S23 analyzes the contour map, determines the height H1 of highest barrier in the region of search for the first time；
S24 chooses unmanned plane type according to highest flying height H and the area of the region of search for the first time, wherein the highest
Flying height H ﹥ H1；
S25 determines the number and slanted angle range of oblique photograph camera according to highest flying height H.
4. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
The oblique photograph data further include high definition picture data, course angle, pitch angle and roll angle.
5. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
The geographical location information of the three-dimensional space model is obtained according to the longitude and latitude.
6. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
The preset path is zigzag, and the region of the zigzag path covering is the square area that side length is N, wherein N >=A,
A is the side length for searching for square area for the first time.
7. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as described in claim 1, which is characterized in that
The step of the method further include: if the three-dimensional space model does not cover accident aircraft disintegration chip distribution region, expand
The range of big unmanned plane during flying, so that three-dimensional space model range covering accident aircraft disintegration chip distribution region, specific to wrap
It includes:
S31 expands region of search, the satellite map of the region of search after transferring expanded scope；
The satellite map of the region of search after the expanded scope is converted digital elevation map by S32, and reconvert is at contour
Figure；
S33, the barrier maximum height H2 according to the contour map, in the region of search after determining the expanded scope；
H2 and H3 are compared by S34, determine that unmanned plane type, the H3 are that current execution task unmanned plane highest flight is high
Degree；
S35, the unmanned plane type flies according to zigzag flight path, while the oblique photograph camera is adopted from multiple angles
The oblique photograph data comprising longitude and latitude of region of search after collecting expanded scope, described in the signal transmission apparatus real-time Transmission
Oblique photograph data；
S36, the three-dimensional space model of the region of search after the oblique photograph data to be used to construct expanded scope, and judge to expand
Whether the three-dimensional space model of the region of search after a wide range of covers accident aircraft disintegration chip distribution region, if covering,
The three-dimensional space model of region of search after directly exporting the expanded scope, if not covering, return step S31.
8. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as claimed in claim 7, which is characterized in that
It is described to be compared H2 and H3, determine unmanned plane type, in particular to:
If H2 > H3, unmanned plane type is replaced, so that the flying height of unmanned plane meets flight demand；
If H2≤H3, and unmanned plane cruising ability can cover new region of search, then be changed without unmanned plane type；
If H2≤H3, but unmanned plane cruising ability cannot cover new region of search, then replace unmanned plane type or replace nobody
The battery of machine, to meet demand of the region of search after the expanded scope to cruising ability.
9. emergency management and rescue Search Area method for visualizing after a kind of aircraft accident as claimed in claim 7, which is characterized in that
The region of the zigzag flight path covering is the square area that side length is 2N or 3N, wherein N >=A1, A1 are expanded scope
The side length in square aearch region afterwards.
10. the device of emergency management and rescue Search Area method for visualizing after a kind of aircraft accident, which is characterized in that including at least one
A unmanned plane, and at least one oblique photograph camera and at least one signal transmission apparatus for being mounted on the unmanned plane,
Oblique photograph data of the oblique photograph camera from multiple angle acquisition emergency management and rescue Search Areas comprising longitude and latitude, the letter
Number transmission device transmits the oblique photograph data, the unmanned plane for carrying the oblique photograph camera and signal transmission apparatus
It is able to carry out method described in any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507443.2A CN110189411A (en) | 2019-06-12 | 2019-06-12 | Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910507443.2A CN110189411A (en) | 2019-06-12 | 2019-06-12 | Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110189411A true CN110189411A (en) | 2019-08-30 |
Family
ID=67721618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910507443.2A Pending CN110189411A (en) | 2019-06-12 | 2019-06-12 | Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110189411A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110794868A (en) * | 2019-10-18 | 2020-02-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Fan-shaped search and rescue method for helicopter flight management system |
| CN111366137A (en) * | 2020-04-26 | 2020-07-03 | 湖州市南浔创业测绘与土地规划院股份有限公司 | Unmanned aerial vehicle combined terrain surveying and mapping method |
| CN111399536A (en) * | 2020-03-25 | 2020-07-10 | 广州极飞科技有限公司 | Aircraft searching method and device, storage medium and processor |
| CN111784838A (en) * | 2020-06-29 | 2020-10-16 | 中国二十冶集团有限公司 | Super-long linear structure three-dimensional real scene model processing method based on oblique photography |
| CN111800180A (en) * | 2020-05-12 | 2020-10-20 | 萧县航迅信息技术有限公司 | Rescue target discovery system and method for field unmanned aerial vehicle |
| WO2021056411A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Air route adjustment method, ground end device, unmanned aerial vehicle, system, and storage medium |
| CN114779816A (en) * | 2022-05-17 | 2022-07-22 | 成都工业学院 | Searching and rescuing unmanned aerial vehicle for lifting in earthquake ruin environment and system thereof |
| CN115326020A (en) * | 2022-08-09 | 2022-11-11 | 温州中纬测绘有限公司 | Shooting method and device for aerial photography |
| CN116989746A (en) * | 2023-07-20 | 2023-11-03 | 深圳赛尔智控科技有限公司 | Oblique photography aerial survey method, system, equipment and storage medium |
| CN117950422A (en) * | 2024-03-25 | 2024-04-30 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle inspection system and inspection method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834784A (en) * | 2015-05-13 | 2015-08-12 | 西南交通大学 | Railway emergency auxiliary rescue three-dimensional virtual electronic sand table system |
| CN105629980A (en) * | 2015-12-23 | 2016-06-01 | 深圳速鸟创新科技有限公司 | Single-camera oblique photography three-dimensional modeling system |
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| KR101854181B1 (en) * | 2017-10-20 | 2018-05-04 | 이병섭 | Target search system using an unmanned aerial vehicle |
| CN108613676A (en) * | 2018-03-27 | 2018-10-02 | 中国民用航空飞行学院 | A kind of unmanned plane and there is the multimachine multiple target emergency rescue path planning method under Mechanism of Human-Computer Cooperation |
| CN109141363A (en) * | 2018-02-24 | 2019-01-04 | 上海华测导航技术股份有限公司 | Unmanned plane high-precision dual camera oblique photograph measuring system |
-
2019
- 2019-06-12 CN CN201910507443.2A patent/CN110189411A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104834784A (en) * | 2015-05-13 | 2015-08-12 | 西南交通大学 | Railway emergency auxiliary rescue three-dimensional virtual electronic sand table system |
| CN106454209A (en) * | 2015-08-06 | 2017-02-22 | 航天图景（北京）科技有限公司 | Unmanned aerial vehicle emergency quick action data link system and unmanned aerial vehicle emergency quick action monitoring method based on spatial-temporal information fusion technology |
| CN105629980A (en) * | 2015-12-23 | 2016-06-01 | 深圳速鸟创新科技有限公司 | Single-camera oblique photography three-dimensional modeling system |
| KR101854181B1 (en) * | 2017-10-20 | 2018-05-04 | 이병섭 | Target search system using an unmanned aerial vehicle |
| CN109141363A (en) * | 2018-02-24 | 2019-01-04 | 上海华测导航技术股份有限公司 | Unmanned plane high-precision dual camera oblique photograph measuring system |
| CN108613676A (en) * | 2018-03-27 | 2018-10-02 | 中国民用航空飞行学院 | A kind of unmanned plane and there is the multimachine multiple target emergency rescue path planning method under Mechanism of Human-Computer Cooperation |
Non-Patent Citations (3)
| Title |
|---|
| STUART HAWKINS: ""Using a drone and photogrammetry software to create orthomosaic images and 3D models of aircraft accident sites"", 《ISASI 2016 SEMINAR》 * |
| 卓星宇: ""无人机山区搜寻方法研究"", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
| 王文博: ""民用航空器搜寻技术研究"", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ辑》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021056411A1 (en) * | 2019-09-27 | 2021-04-01 | 深圳市大疆创新科技有限公司 | Air route adjustment method, ground end device, unmanned aerial vehicle, system, and storage medium |
| CN110794868A (en) * | 2019-10-18 | 2020-02-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Fan-shaped search and rescue method for helicopter flight management system |
| CN111399536A (en) * | 2020-03-25 | 2020-07-10 | 广州极飞科技有限公司 | Aircraft searching method and device, storage medium and processor |
| CN111366137A (en) * | 2020-04-26 | 2020-07-03 | 湖州市南浔创业测绘与土地规划院股份有限公司 | Unmanned aerial vehicle combined terrain surveying and mapping method |
| CN111366137B (en) * | 2020-04-26 | 2022-02-01 | 湖州市南浔创业测绘与土地规划院股份有限公司 | Unmanned aerial vehicle combined terrain surveying and mapping method |
| CN111800180A (en) * | 2020-05-12 | 2020-10-20 | 萧县航迅信息技术有限公司 | Rescue target discovery system and method for field unmanned aerial vehicle |
| CN111800180B (en) * | 2020-05-12 | 2022-11-15 | 萧县航迅信息技术有限公司 | Rescue target discovery system and method for field unmanned aerial vehicle |
| CN111784838A (en) * | 2020-06-29 | 2020-10-16 | 中国二十冶集团有限公司 | Super-long linear structure three-dimensional real scene model processing method based on oblique photography |
| CN114779816A (en) * | 2022-05-17 | 2022-07-22 | 成都工业学院 | Searching and rescuing unmanned aerial vehicle for lifting in earthquake ruin environment and system thereof |
| CN115326020A (en) * | 2022-08-09 | 2022-11-11 | 温州中纬测绘有限公司 | Shooting method and device for aerial photography |
| CN116989746A (en) * | 2023-07-20 | 2023-11-03 | 深圳赛尔智控科技有限公司 | Oblique photography aerial survey method, system, equipment and storage medium |
| CN117950422A (en) * | 2024-03-25 | 2024-04-30 | 航大汉来（天津）航空技术有限公司 | Unmanned aerial vehicle inspection system and inspection method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110189411A (en) | Emergency management and rescue Search Area method for visualizing after a kind of accident of aircraft | |
| CN107194989B (en) | Traffic accident scene three-dimensional reconstruction system and method based on unmanned aerial vehicle aircraft aerial photography | |
| CN110110641B (en) | Unmanned aerial vehicle monitoring method and system for watershed flooding scene | |
| CN104637370B (en) | A kind of method and system of Photogrammetry and Remote Sensing synthetic instruction | |
| KR102203135B1 (en) | Method and system for detecting disaster damage information based on artificial intelligence using drone | |
| CN107504957A (en) | The method that three-dimensional terrain model structure is quickly carried out using unmanned plane multi-visual angle filming | |
| CN111537515A (en) | Iron tower bolt defect display method and system based on three-dimensional live-action model | |
| CN107545538B (en) | Panoramic image splicing method and device based on unmanned aerial vehicle | |
| CN110310248A (en) | A kind of real-time joining method of unmanned aerial vehicle remote sensing images and system | |
| CN107222467B (en) | Method for realizing mobile communication base station panoramic operation and maintenance system | |
| CN104618689B (en) | Coastal waters spilled oil monitoring method and system based on unmanned plane | |
| CN106767706A (en) | A kind of unmanned plane reconnoitres the Aerial Images acquisition method and system of the scene of a traffic accident | |
| CN104168455A (en) | Air-based large-scene photographing system and method | |
| CN110189405B (en) | Live-action three-dimensional modeling method considering building density | |
| CN110033411A (en) | The efficient joining method of highway construction scene panoramic picture based on unmanned plane | |
| CN103942273A (en) | Dynamic monitoring system and method for aerial quick response | |
| CN104360362B (en) | Method and system for positioning observed object via aircraft | |
| CN107193027A (en) | A kind of highway UAV Intelligent inspection alignment system | |
| CN110706273B (en) | Real-time collapse area measurement method based on unmanned aerial vehicle | |
| Zhou et al. | Application of UAV oblique photography in real scene 3d modeling | |
| CN207068060U (en) | The scene of a traffic accident three-dimensional reconstruction system taken photo by plane based on unmanned plane aircraft | |
| CN116129064A (en) | Electronic map generation method, device, equipment and storage medium | |
| Yijing et al. | Construction and analysis of 3D scene model of landscape space based on UAV oblique photography and 3D laser scanner | |
| Liang et al. | Accuracy analysis of oblique photogrammetry measurement in 3D modeling of power line selection design | |
| KR102587445B1 (en) | 3d mapping method with time series information using drone |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190830 |