技术领域technical field
本发明涉及河湖长制中的河湖治理保护技术领域，具体是一种基于立体监测技术的河湖涉水建筑动态监测方法。The invention relates to the technical field of river and lake governance and protection in the river and lake chief system, in particular to a dynamic monitoring method for river and lake wading buildings based on three-dimensional monitoring technology.
背景技术Background technique
长期以来，湖治理保护部门在河湖涉水建筑的监督和管理工作中，通常以人工巡查和监督方法为主，呈现明显的被动性、滞后性以及劳动强度大，人力资源投入多等困难。随着社会经济的高速发展，河湖开发治理保护区域的土地开发强度日益增大，各项水事活动日益增多，水事违法事件有增多趋势，水事违法区域有扩大趋势，而且部分水事违法行为又往往发生在较为偏僻的地方，交通不便，导致水政执法监察任务日趋加重，需要耗费大量的人力资源，而目前河湖管理部门执法人员相对较少，难以保障涉水建筑管理和监督工作的顺利进行。For a long time, in the supervision and management of river and lake wading buildings, the lake governance and protection departments usually rely on manual inspection and supervision methods, which are obviously passive, lag, labor-intensive, and labor-intensive. With the rapid development of society and economy, the intensity of land development in the development, management and protection areas of rivers and lakes is increasing, various water affairs activities are increasing day by day, the number of illegal water affairs incidents is increasing, and the illegal water affairs areas are expanding. Illegal acts often occur in relatively remote places with inconvenient transportation, which leads to the increasing task of water administration law enforcement and supervision, which requires a lot of human resources. At present, there are relatively few law enforcement personnel in river and lake management departments, and it is difficult to ensure the management and supervision of water-related buildings. work smoothly.
高分辨率遥感技术具有覆盖范围大、监测精度高、重复周期短、执行效率高等特点，采用高分辨率遥感技术进行河湖涉水建筑的动态监测，能够快速、全面获取河湖区域内的变化目标，确定疑似涉水违建区域，为河湖治理保护工作提供可靠的技术支撑。High-resolution remote sensing technology has the characteristics of large coverage, high monitoring accuracy, short repetition period and high execution efficiency. Using high-resolution remote sensing technology for dynamic monitoring of river and lake wading buildings can quickly and comprehensively obtain changing targets in river and lake areas. , identify areas suspected of wading illegal construction, and provide reliable technical support for river and lake management and protection.
本申请的发明人在实现本发明的过程中经过研究发现：无人机测量、无人船测量以及高精度GPS测量技术，能够有效与卫星遥感监测技术相互结合，构建多平台、多视角、多层级的立体监测网，从宏观到微观，快速、精准获取涉水违建区域的精准工况信息以及相关基础地理信息，实施对涉水违建区域的精准动态监测。In the process of realizing the present invention, the inventors of the present application have found through research that: UAV measurement, unmanned ship measurement and high-precision GPS measurement technology can be effectively combined with satellite remote sensing monitoring technology to build a multi-platform, multi-view, multi- The hierarchical three-dimensional monitoring network, from macro to micro, quickly and accurately obtains accurate working condition information and relevant basic geographic information of illegal water-related construction areas, and implements accurate dynamic monitoring of water-related illegal construction areas.
针对传统河湖治理保护中涉水建筑监督和管理工作中存在的困难，结合空间信息技术快速发展所带来的技术优势和巨大应用潜力，应充分发挥立体监测技术在涉水建筑动态监测和管理工作中的作用，构建立体监测技术支撑下的涉水建筑动态监测系统，有效提高工作效率和执法水平，促进河湖治理保护的信息化和现代化发展。In view of the difficulties existing in the supervision and management of water-related buildings in traditional river and lake governance and protection, combined with the technical advantages and huge application potential brought by the rapid development of spatial information technology, it is necessary to give full play to the three-dimensional monitoring technology in dynamic monitoring and management of water-related buildings. It is necessary to build a dynamic monitoring system for wading buildings under the support of three-dimensional monitoring technology, effectively improve work efficiency and law enforcement level, and promote the informatization and modernization of river and lake management and protection.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种基于天-空-陆-水立体监测技术的河湖涉水建筑动态监测方法，用以解决当前河湖开发治理保护工作中，涉水违建监督管理工作中呈现的被动、滞后、成本高、难度大等系列问题。The purpose of the present invention is to provide a dynamic monitoring method for river and lake wading buildings based on the three-dimensional monitoring technology of sky-sky-land-water, which is used to solve the problems in the current river and lake development, governance and protection work, and the problems in the supervision and management of illegal wading construction. Passive, lag, high cost, difficult and other series of problems.
为实现上述目的，本发明通过引入立体监测技术，通过对监测区域的高精度卫星遥感动态监测，初步获取河湖涉水监测目标的边界位置和几何形状信息，然后对于需要精准获取三维坐标信息的违建目标，在卫星遥感监测的基础上，集成无人机倾斜摄影测量技术、高精度GPS测量技术和无人船水下地形测量技术，开展河湖库涉水建筑的动态精准监测，该方法具体包括如下步骤：In order to achieve the above purpose, the present invention initially obtains boundary position and geometric shape information of river and lake wading monitoring targets by introducing three-dimensional monitoring technology and high-precision satellite remote sensing dynamic monitoring of the monitoring area, and then for accurately obtaining three-dimensional coordinate information. For illegal construction targets, on the basis of satellite remote sensing monitoring, integrated UAV tilt photogrammetry technology, high-precision GPS measurement technology and unmanned ship underwater terrain measurement technology to carry out dynamic and accurate monitoring of river, lake and reservoir wading buildings. This method Specifically include the following steps:
步骤一、高分辨率卫星遥感动态监测提取河湖涉水建筑疑似目标 (1)监测区域基础资料的收集和整理Step 1. High-resolution satellite remote sensing dynamic monitoring to extract suspected targets of river and lake wading buildings (1) Collection and arrangement of basic data in the monitoring area
首先对实施监测的相关水域和涉及的内陆区域，收集多时相高空间分辨率遥感影像、高精度地形数据、涉水工程的工况及批复数据。然后将所有基础地理数据转化为统一的地图投影和坐标系统、高程系统。Firstly, for the relevant water areas and inland areas involved in the monitoring, multi-temporal high-spatial-resolution remote sensing images, high-precision topographic data, working conditions and approval data of water-related projects are collected. Then convert all base geographic data into a unified map projection and coordinate system, elevation system.
(2)河湖库涉水空间数据精细化处理及专题数据库建设(2) Refinement processing of water-related spatial data of rivers and lakes and construction of special database
采用RTX等高精度GPS测量设备，精准获取地面控制点，实现对多时相高空间分辨率遥感影像(主要是历史和当前时期影像)的几何校正。通过遥感图像处理软件，实施遥感图像的辐射校正工作，同时，开展高精度地形、多时相遥感影像等之间的配准工作。最终获得统一地理坐标系环境下的地形、遥感影像以及涉水工程的空间分布数据，并将所有空间数据和数据数据进行集成，建立一套完整的河湖库涉水空间数据库。High-precision GPS measurement equipment such as RTX is used to accurately obtain ground control points and realize geometric correction of multi-temporal high-spatial-resolution remote sensing images (mainly historical and current period images). Through the remote sensing image processing software, the radiometric correction of remote sensing images is implemented, and at the same time, the registration work between high-precision terrain and multi-temporal remote sensing images is carried out. Finally, the spatial distribution data of terrain, remote sensing images and water wading projects under the unified geographic coordinate system environment are obtained, and all spatial data and data data are integrated to establish a complete set of river, lake and reservoir water wading spatial database.
(3)涉水违建目标高分辨率遥感影像专题信息提取，获得涉水建筑物变化区域。在遥感图像处理软件环境下，主要是采用人机交互的高分辨率遥感解译方式，通过不同时相遥感影像之间的对比分析，依据遥感影像中的几何、光谱信息，对于发生明显变化的区域，特别有涉水区域有人工建筑物新增的区域，进行专题信息提取，将其初步判定为目标区域。然后，对于初步拟定的目标区域，依据高精度DEM 数据、涉水工程工况数据及批复数据，综合判定是否为涉水违建疑似目标。通过以上专题信息提取步骤，获得监测区涉水违建疑似目标对象库。(3) Thematic information extraction of high-resolution remote sensing images of water-wading illegal construction targets to obtain the change area of water-wading structures. In the remote sensing image processing software environment, the high-resolution remote sensing interpretation method of human-computer interaction is mainly used. Areas, especially areas with new artificial buildings in the wading area, extract thematic information, and preliminarily determine them as the target area. Then, for the preliminary proposed target area, based on high-precision DEM data, water wading engineering condition data and approval data, comprehensively determine whether it is a suspected target of illegal water wading. Through the above thematic information extraction steps, a database of suspected targets for illegal construction of water wading in the monitoring area is obtained.
(4)疑似涉水违建目标的现场复核和确认。(4) On-site review and confirmation of suspected illegal water-related construction targets.
携带监测区涉水违建疑似目标对象库数据，开展目标现场复核和确认。首先，会同相关河湖库管理部门，结合涉水目标的工程设计、批复等管理数据，现场查勘，无人机航拍获取目标区域高精度影像， GPS定位测量获取目标区的特征点平面坐标以及高精度高程数据，通过与工程设计、批复中的数据进行对比，精准判定是否为涉水违建目标。Carry the data of the suspected target object database wading illegally constructed in the monitoring area, and carry out on-site review and confirmation of the target. First of all, in conjunction with the relevant river, lake and reservoir management departments, combined with the engineering design, approval and other management data of the wading target, on-site investigation, drone aerial photography to obtain high-precision images of the target area, GPS positioning measurement to obtain the plane coordinates of the feature points and height of the target area. Accurate elevation data, by comparing with the data in engineering design and approval, can accurately determine whether it is a water-wading illegal construction target.
步骤二、基于立体监测技术的涉水违建目标的基础地理信息精准获取Step 2. Accurate acquisition of basic geographic information of illegal construction targets based on three-dimensional monitoring technology
为进一步精准获取违建目标的实际工况信息，采用无人机、无人测量船和GPS测量设备，构建立体监测网，精准获取涉水违建区域全视角高精度三维数据库。首先，采用GPS测量设备，按照空间分布和作业要求，在目标区域布设高精度GPS控制点；然后，对于水面以上部分，采用无人机，根据制定的航拍方案，获取目标区高精度航空影像；对于水面以下部分，采用无人测量船，获取高精度水下地形数据；最后，采用无人机航拍数据处理软件和水下地形数据处理软件，对航拍数据和水下地形数据进行编辑和精细化处理，最终形成高精度水上、水下地形和涉水违建物真实几何尺寸三维模型的一体化全景真三维数据库。In order to further accurately obtain the actual working condition information of the illegal construction targets, UAVs, unmanned survey ships and GPS measurement equipment are used to build a three-dimensional monitoring network to accurately obtain a full-view high-precision three-dimensional database of illegal construction areas wading. First, GPS measurement equipment is used to set up high-precision GPS control points in the target area according to spatial distribution and operational requirements; then, for the part above the water surface, drones are used to obtain high-precision aerial images of the target area according to the formulated aerial photography plan; For the part below the water surface, an unmanned surveying vessel is used to obtain high-precision underwater terrain data; finally, the UAV aerial photography data processing software and underwater terrain data processing software are used to edit and refine the aerial photography data and underwater terrain data After processing, an integrated panoramic true 3D database of high-precision water and underwater terrain and real geometric 3D models of wading illegal structures is finally formed.
1、GPS高精度地面测量(陆基监测)1. GPS high-precision ground measurement (land-based monitoring)
(1)河湖违建目标特征点的三维坐标GPS精准获取。(1) Accurate GPS acquisition of the three-dimensional coordinates of the target feature points of illegal construction of rivers and lakes.
采用高精度GPS测量设备，开展地面特征点测量，精准获取河湖违建目标特征点的三维坐标信息，即平面位置和位置信息，用于涉水违建目标与防洪安全范围的相互关系分析，以及与工程建设批复的工况空间位置信息对比分析，精准判定建筑物的空间分布实况。Using high-precision GPS measurement equipment, carry out the measurement of ground feature points, and accurately obtain the three-dimensional coordinate information of the feature points of illegal construction targets in rivers and lakes, that is, the plane position and position information, which are used for the analysis of the relationship between the illegal construction targets and the safety range of flood control. As well as comparative analysis with the spatial position information of the working conditions approved by the engineering construction, the actual spatial distribution of the building can be accurately determined.
(2)倾斜摄影测量控制网布设(2) Layout of oblique photogrammetry control network
在开展无人机倾斜摄影测量的过程中，需要在航空摄影测量区域布设控制网，采用高精度GPS测量设备，精准测量控制点，即获取地面控制点的三维坐标信息，同时保证控制点的密度和精度。通过控制网的布施和控制点坐标信息精准获取，为无人机倾斜摄影测量提供控制点信息。In the process of carrying out UAV tilt photogrammetry, it is necessary to set up a control network in the aerial photogrammetry area, and use high-precision GPS measurement equipment to accurately measure control points, that is, to obtain the three-dimensional coordinate information of ground control points, and to ensure the density of control points. and precision. Through the deployment of the control network and the accurate acquisition of control point coordinate information, it provides control point information for UAV tilt photogrammetry.
2、无人机倾斜摄影测量2. UAV tilt photogrammetry
(1)工作区确定与航线设计(1) Work area determination and route design
影响无人机航飞计划的主要因素有航线、相对航高、重叠度等，实施航摄计划前需充分考虑这些因素，设置参数保证影像质量。根据航空摄影测量相关规范，对航线、相对航高、重叠度进行设计。根据测区范围，设定航线起终点、航线长度、航线间距、航线方向参数，通常规划为矩形航线。The main factors affecting the flight plan of the UAV are the route, relative flight height, overlap, etc. These factors should be fully considered before the implementation of the aerial photography plan, and parameters should be set to ensure the image quality. According to the relevant specifications of aerial photogrammetry, the route, relative flight height and overlap degree are designed. According to the scope of the survey area, set the route starting and ending point, route length, route spacing, route direction parameters, usually planned as a rectangular route.
(2)外业航空摄影(2) Field aerial photography
根据步骤(1)设置的航线，应选择无风晴朗天气实施航飞计划。航飞作业时间一般选在上午10:00-下午4:00区间，航飞实施过程中应在地面监控站实时监控无人机作业飞行实况，确保飞行安全。According to the route set in step (1), the flight plan should be implemented in calm and sunny weather. The flight operation time is generally selected in the interval from 10:00 am to 4:00 pm. During the implementation of the flight, the real-time monitoring of the UAV operation and flight status should be carried out at the ground monitoring station to ensure flight safety.
(3)内业空三加密(3) Insider air three encryption
多视影像联合平差技术进行倾斜影像区域网平差、多视影像密集匹配技术得到高精度高密度点云数据。The multi-view image joint adjustment technology performs the oblique image area network adjustment and the multi-view image dense matching technology to obtain high-precision and high-density point cloud data.
考虑到倾斜影像中的地物变形和遮挡问题，多视影像联合平差可通过多匹配基元的冗余信息对这些问题进行修正。多视影像联合平差的重点即为空中三角测量。空中三角测量是根据少量的已知地面控制点坐标，由步骤(2)获取，依照一定的数学模型解算出待定点坐标的处理过程。Considering the problems of ground object deformation and occlusion in oblique images, the joint adjustment of multi-view images can correct these problems through redundant information of multi-matching primitives. The focus of the multi-view image joint adjustment is aerial triangulation. Aerial triangulation is a process of obtaining the coordinates of a few known ground control points in step (2), and calculating the coordinates of the to-be-determined point according to a certain mathematical model.
在实际生产过程中由于光束法平差模型理论较严密，加密精度较高，因此更多使用光束法作为空中三角测量平差模型。In the actual production process, the beam method is more used as the air triangulation adjustment model because the theory of the beam method adjustment model is stricter and the encryption accuracy is higher.
(4)高密度点云数据生成(4) High-density point cloud data generation
多视影像密集匹配是在步骤(3)形成的点云基础上根据相关密集匹配算法构建超高密度点云。多视影像包括倾斜影像和垂直影像，若采用单一匹配基元，则会造成大量错误匹配。在数据处理过程中，通常采用多基元匹配算法，建立多个摄影基线，完成精准匹配，形成高密度点云数据。The multi-view image dense matching is to construct an ultra-high-density point cloud based on the point cloud formed in step (3) according to the relevant dense matching algorithm. Multi-view images include oblique and vertical images, and if a single matching primitive is used, a large number of false matches will be caused. In the process of data processing, multi-element matching algorithm is usually used to establish multiple photographic baselines, complete accurate matching, and form high-density point cloud data.
(5)三维建模及模型生成(5) 3D modeling and model generation
倾斜摄影测量构建的三维模型本质为网格面模型，因此超高密度点云用于构建网格面。三维点云数据具有高程信息，在点云构网过程中可采用规则格网和不规则三角网两种形式。通常采用不规则三角网作为点云构网形式，准确表达地形地物信息，形成三角网格模型。The 3D model constructed by oblique photogrammetry is essentially a mesh surface model, so ultra-high-density point clouds are used to construct mesh surfaces. 3D point cloud data has elevation information, and two forms of regular grid and irregular triangulation can be used in the process of point cloud network construction. Usually, an irregular triangular mesh is used as the form of point cloud construction to accurately express terrain and feature information and form a triangular mesh model.
3、无人船水下地形测量3. Unmanned ship underwater terrain survey
采用无人船搭载多波束多波束测深仪，构建水下高精度水下地形观测平台，多波束水下地形测量系统由多波束测深仪、数据实时采集处理模块、定位系统和辅助设备及后处理软件模块等五部分组成，如图2所示。The multi-beam multi-beam echo sounder is equipped with an unmanned ship to construct an underwater high-precision underwater terrain observation platform. The post-processing software module is composed of five parts, as shown in Figure 2.
多波束是利用同时发射和同时接收多个波束对水下地形进行条带式、全覆盖测量。多波束水下地形测量系统和传统的单波束回声测深仪在原理上并没有本质区别，相对于单波束，多波束的换能器是由多个换能器单元组成的阵列，工作时能同时发射和接收多个波束，如图2所示。Multi-beam is a strip-type, full-coverage measurement of underwater terrain by simultaneously transmitting and receiving multiple beams. There is no essential difference between the multi-beam underwater topography measurement system and the traditional single-beam echo sounder in principle. Compared with the single-beam, the multi-beam transducer is an array composed of multiple transducer units. Multiple beams are transmitted and received simultaneously, as shown in Figure 2.
(1)测区确定和航线规划(1) Determination of survey area and route planning
水下地形观测点数据是通过测深线进行获取的，每条测深线之间存在一定的盲区，需要通过插值的方法获得数据，水深成果精度取决于观测点和插值点的精度。因此，合理的选择测线间距有利于保证精度和提高效率。The data of underwater topography observation points are obtained through sounding lines. There is a certain blind area between each sounding line, and the data needs to be obtained by interpolation. The accuracy of the water depth results depends on the accuracy of the observation points and interpolation points. Therefore, a reasonable selection of measuring line spacing is conducive to ensuring accuracy and improving efficiency.
根据《水利水电工程测量规范》(SL197-2013)要求，测线布设如下：主测线布设方向垂直河道中心线，各测线布设尽量平行。测线间距20m，定位点间距5m，重点区域可加密补充测线。According to the requirements of "Surveying Specifications for Water Conservancy and Hydropower Engineering" (SL197-2013), the layout of survey lines is as follows: the direction of the main survey line is perpendicular to the center line of the river, and the layout of each survey line is as parallel as possible. The distance between survey lines is 20m, the distance between positioning points is 5m, and the key areas can be encrypted and supplemented by survey lines.
不同小组接边处应布设一条重合测线，同一小组不同时期应布设两条重合测深线。检查线垂直主测线，其长度不小于主测线总长度的 5％。A coincident survey line should be arranged at the junction of different groups, and two coincident sounding lines should be arranged for the same group at different periods. The inspection line is perpendicular to the main survey line, and its length is not less than 5% of the total length of the main survey line.
(2)水下地形数据采集(2) Collection of underwater terrain data
在水下地形及涉水建筑水下部分三维模型采集过程中，主要通过多波束声纳测深仪，按照之前预设的航线和航速对布设网络点进行测量。这一过程中，充分利用GPS和IMU实施精准定位，按照设定的间距进行有效的触发测量，精准获取高程数据和平面位置，获得下水地形的空间位置三维坐标的点云数据，确保河湖水下地形数据的完整采集。During the acquisition of the 3D model of the underwater terrain and the underwater part of the building, the multi-beam sonar echo sounder is mainly used to measure the network points according to the previously preset route and speed. In this process, GPS and IMU are fully utilized to implement precise positioning, and effective trigger measurement is carried out according to the set interval, and the elevation data and plane position are accurately obtained, and the point cloud data of the three-dimensional coordinates of the spatial position of the launching terrain is obtained to ensure that the rivers and lakes are underwater. Complete collection of terrain data.
在数据采集时，应对声速剖面仪进行检查和校对，以保证仪器采集数据的可靠性，由于声速随水水温度及盐度的变化而改变，故在测量时，应随测量时间和空间的变化而及时采集声速剖面数据，尤其是在作业过程中，有突变的环境、气候变化时，要及时更新声速剖面数据。During data collection, the sound velocity profiler should be checked and calibrated to ensure the reliability of the data collected by the instrument. Since the sound velocity changes with the changes of water temperature and salinity, the sound velocity profiler should change with the measurement time and space during measurement. To collect the sound speed profile data in time, especially in the process of operation, when there is a sudden change in the environment and climate, the sound speed profile data should be updated in time.
(3)水下地形模型建立和生成(3) Establishment and generation of underwater terrain model
多波束声纳测深仪获取的原始点云数据，首先检查数据处理软件中设置的投影参数，椭球体参数，坐标转换参数，各传感器的位置偏移量，系统校准参数等相关数据的准确性，然后根据需要对水深数据进行声速改正、潮位改正，在检查每天测线的定位数据，罗经数据、姿态数据和水深数据。根据水底地形、陆地近岸地形数据的质量设置合理的参数滤波，生成水下地形数字高程模型。For the original point cloud data obtained by the multi-beam sonar echo sounder, first check the accuracy of the projection parameters, ellipsoid parameters, coordinate conversion parameters, position offset of each sensor, system calibration parameters and other related data set in the data processing software , and then correct the sound speed and tide level according to the needs, and check the positioning data of the daily survey line, compass data, attitude data and water depth data. According to the quality of underwater topography and land nearshore topography data, reasonable parameter filtering is set to generate underwater topography digital elevation model.
4、涉水违建目标高精度陆-水三维模型集成及分析4. High-precision land-water 3D model integration and analysis of illegal construction targets
采用无人机航拍数据处理软件和水下地形数据处理软件，对航拍数据和水下地形数据进行编辑和精细化处理，最终形成高精度水上、水下地形和涉水违建物真实几何尺寸三维模型的一体化全景真三维数据库。UAV aerial photography data processing software and underwater terrain data processing software are used to edit and refine the aerial photography data and underwater terrain data, and finally form a high-precision three-dimensional model of the real geometric size of water and underwater terrain and illegal structures. The all-in-one panoramic true 3D database.
通过对违建目标的三维场景下的空间分析，如尺寸量算、挖填方计算等，精准获取涉水违建目标的空间分布、几何形状等专题信息。Through the spatial analysis of the illegal construction target in the three-dimensional scene, such as size measurement, cut and fill calculation, etc., it can accurately obtain the spatial distribution, geometric shape and other thematic information of the illegal construction target.
步骤三、立体监测专题成果制作Step 3. Production of three-dimensional monitoring thematic results
以多时相高分辨率遥感影像为基础地图，根据监测目标提取的矢量数据，配合立体测量获得的三维数据，编制涉水违建目标专题成果图。Based on the multi-temporal high-resolution remote sensing images, the vector data extracted from the monitoring targets and the three-dimensional data obtained from the stereo measurement are used to compile the thematic result map of the illegal construction targets.
本发明方法具有如下优点：The method of the present invention has the following advantages:
本发明将立体监测技术和河湖库管理保护工作紧密结合，为科学开展河湖长制提供了良好的技术支撑，建立了内外业一体化、多尺度多视角的立体监测网，实现对涉水违建目标的动态监测与管理，有效解决了传统河湖管理工作中的经费、人员、时间、环境等系列难题，通过立体量测技术和涉水违建问题的有机结合，形成了一套覆盖范围广、主动、高效、精准的立体监测方法，能够大幅度提高河湖保护与管理水平，打造现代化河湖管理保护监管利器。The invention closely combines the three-dimensional monitoring technology with the management and protection of rivers, lakes and reservoirs, provides good technical support for the scientific development of the river and lake chief system, establishes a three-dimensional monitoring network integrating internal and external industries, multi-scale and multi-perspective, and realizes the protection of water wading. The dynamic monitoring and management of illegal construction targets effectively solves a series of problems in traditional river and lake management, such as funding, personnel, time, and environment. A wide-ranging, active, efficient, and accurate three-dimensional monitoring method can greatly improve the protection and management of rivers and lakes, and create a powerful tool for modern river and lake management, protection and supervision.
附图说明Description of drawings
图1是本发明基于立体监测技术的河湖涉水建筑动态监测方法的流程图；Fig. 1 is the flow chart of the dynamic monitoring method of river and lake wading buildings based on three-dimensional monitoring technology of the present invention;
图2是多波束水下地形测量系统的结构示意图；Fig. 2 is the structural schematic diagram of the multi-beam underwater terrain measurement system;
图3是目标区域无人机航空摄影成果；Figure 3 is the aerial photography result of the UAV in the target area;
图4是无人机获得的建筑物精细化三维模型；Figure 4 is the refined three-dimensional model of the building obtained by the drone;
图5是水上地形测量成果图；Fig. 5 is the result map of water topographic survey;
图6是水下地形测量成果图；Figure 6 is a graph of underwater topographic survey results;
图7是高分辨率卫星遥感影像提取涉水违建目标的平面信息，图中红线为防洪控制水位线，蓝线为涉水违建目标总体影响范围线；Figure 7 is the plane information of the high-resolution satellite remote sensing image to extract the target of illegal construction of wading. The red line in the figure is the water level line for flood control and the blue line is the line of the overall influence of the target of illegal construction.
图8是获取的涉水违建区域的空间位置图。FIG. 8 is the obtained spatial location map of the illegal construction area for wading.
具体实施方式Detailed ways
下面将结合本发明中的附图，对本发明中的技术方案进行清楚、完整地描述。The technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention.
随着库区经济、社会的迅猛发展，库区内城市化、工业化、现代化建设的步伐加快，以及库区两岸洲滩的土地开发强度日益加大，导致库区内各类水事活动日益频繁，水事违法案件日渐增多，包括：擅自拦截库汊，筑坝造地、养殖、阻塞、侵占河道，向河道内弃土弃渣，破坏天然植被、生态环境和水文测量设施等，这些违法水事项目，积少成多，严重侵占了库区的防洪库容，将对水库的防洪功能产生相当的负面影响。With the rapid economic and social development of the reservoir area, the pace of urbanization, industrialization and modernization in the reservoir area has been accelerated, and the land development intensity of the beaches on both sides of the reservoir area has been increasing, resulting in the increasing frequency of various water activities in the reservoir area. , Water violation cases are increasing day by day, including: unauthorized interception of reservoirs, dam building, breeding, blocking, encroaching on river channels, spoiling soil and slag into river channels, destroying natural vegetation, ecological environment and hydrological measurement facilities, etc. The project will add up to a lot, and seriously occupy the flood control storage capacity of the reservoir area, which will have a considerable negative impact on the flood control function of the reservoir.
本发明利用卫星遥感、无人机航空摄影测量、无人测量船、地面 GPS精准测量，构建立体监测网，能够排除人为因素的干扰，快速、准确地掌握监测区域内涉水工程、防汛设施、水文设施、取水口、排污口的基本设置情况，获得违法对象的空间位置等基本信息，了解河势变化，涉水工程变化情况，为水政执法提供精确、直观的数据支持，使水政执法工作更加便捷、公正和客观，有效地提高河湖监管的工作效率和执法水平，促进河湖开发保护的信息化和现代化发展。The present invention utilizes satellite remote sensing, unmanned aerial photogrammetry, unmanned surveying vessel, and ground GPS precise measurement to construct a three-dimensional monitoring network, which can eliminate the interference of human factors, and quickly and accurately grasp the water wading projects, flood control facilities, etc. in the monitoring area. Basic setting of hydrological facilities, water intakes and sewage outlets, obtain basic information such as the spatial location of illegal objects, understand changes in river conditions and changes in water-related projects, provide accurate and intuitive data support for water law enforcement, and enable water law enforcement The work is more convenient, fair and objective, effectively improving the work efficiency and law enforcement level of river and lake supervision, and promoting the informatization and modernization of river and lake development and protection.
本发明实施例以长江干流上游某大型河道型水库为例对本发明的技术方案进行说明，重点通过立体监测技术监测水库防洪安全线内涉水违建库容侵占状况。本发明基于立体监测技术，对示例区涉水违建进行了动态监测，精准获取违建目标的实景三维模型和水上水下地形地貌信息。具体操作如下：The embodiments of the present invention illustrate the technical solution of the present invention by taking a large-scale channel-type reservoir in the upper reaches of the main stream of the Yangtze River as an example, and focus on monitoring the flood control safety line of the reservoir by using three-dimensional monitoring technology. Based on the three-dimensional monitoring technology, the invention dynamically monitors the illegal constructions wading in the example area, and accurately obtains the real three-dimensional model of the illegal construction target and the information on the water and underwater topography. The specific operations are as follows:
(1)监测区域基础资料的收集和整理(1) Collection and arrangement of basic data in the monitoring area
1)、收集和整理库区蓄水前的1:5000DEM数据，并且针对本次项目的需要，将该资料分区域进行了拼接。1) Collect and organize the 1:5000 DEM data of the reservoir area before impoundment, and splicing the data by region according to the needs of this project.
2)、收集和整理库区2006年0.5米空间分辨率的航片资料，将该资料分区域进行了拼接，形成一整张航空影像图。2) Collect and organize the aerial photo data of the reservoir area in 2006 with a spatial resolution of 0.5 m, and splicing the data in different regions to form a whole aerial image map.
3)、从相关河湖管理部门获得2006年到2011年审批涉河建设项目的行政许可资料，并将库区的涉河建设项目(共136个项目)的工况信息中的主要控制点坐标录入数据库，并将涉河项目的属性资料进行整理。3) Obtain the administrative license data for the approval of river-related construction projects from 2006 to 2011 from the relevant river and lake management departments, and record the coordinates of the main control points in the working condition information of the river-related construction projects in the reservoir area (136 projects in total). Enter the database, and organize the attribute data of the river-related project.
4)、获取库区2016年度RapidEye卫星遥感影像，并对RapidEye 数据进行了几何纠正、坐标转换等数据加工处理。4) Acquire the 2016 RapidEye satellite remote sensing images of the reservoir area, and perform data processing such as geometric correction and coordinate transformation on the RapidEye data.
(2)河湖库涉水空间数据精细化处理及专题数据库建设(2) Refinement processing of water-related spatial data of rivers and lakes and construction of special database
1)地面控制点测量和几何校正。采用RTX开展控制点测量，在库区涉水项目周边选择典型特征点进行GPS高精度定位，利用观测获取的特征点坐标对遥感影像进行几何精纠正。1) Ground control point measurement and geometric correction. RTX is used to carry out control point measurement, typical feature points are selected around the water wading project in the reservoir area for high-precision GPS positioning, and the coordinates of the feature points obtained by observation are used to perform precise geometric correction of remote sensing images.
2)统一坐标系统和高程系统。对于所有空间数据，采用空间数据处理软件，将其转换为统一的坐标系和高程系，其中坐标系为 WGS1984，高程系为1985年国家高程基准高程。2) Unified coordinate system and elevation system. For all spatial data, spatial data processing software is used to convert it into a unified coordinate system and elevation system, where the coordinate system is WGS1984, and the elevation system is the 1985 national elevation reference elevation.
3)多时相遥感影像及地形数据几何配准。图像配准(Image registration)就是将不同时间、不同传感器(成像设备)或不同条件下(天候、照度、摄像位置和角度等)获取的两幅或多幅图像进行匹配、叠加的过程。采用ENVI软件中的“registration”模块，通过在不同时期影像上选择同名点，采用多项式模型进行相对几何配准。3) Geometric registration of multi-temporal remote sensing images and terrain data. Image registration is the process of matching and superimposing two or more images acquired at different times, different sensors (imaging devices) or under different conditions (weather, illuminance, camera position and angle, etc.). Using the "registration" module in ENVI software, by selecting points with the same name on images of different periods, a polynomial model was used to perform relative geometric registration.
4)监测区专题数据库建设。将处理好的高分辨率遥感影像，高精度地形数据，以及涉水工程的行政许可资料、工况信息，建立专题数据库，实现空间属性数据的无缝集成和管理。4) Construction of special database of monitoring area. The processed high-resolution remote sensing images, high-precision terrain data, as well as the administrative licensing data and working condition information of water-related projects will be established to establish a special database to achieve seamless integration and management of spatial attribute data.
(3)基于特定目标的高分辨率遥感影像专题信息提取(3) Thematic information extraction of high-resolution remote sensing images based on specific targets
在ArcGIS软件环境下，对高精度地形数据，即DEM(数字高程模型)数据，根据设定防洪安全水位高程值，进行淹没分析，获得防洪安全线，改线在空间上所包括的范围为防洪安全范围，即为开展涉水违建动态监测的空间分布范围。Under the ArcGIS software environment, the high-precision terrain data, that is, DEM (Digital Elevation Model) data, is subjected to inundation analysis according to the set flood control safety water level elevation value, and the flood control safety line is obtained. The scope of the change line in space is flood control safety Scope, that is, the spatial distribution scope for dynamic monitoring of illegal constructions related to water wading.
同时，对2006年0.5米分辨率航空正射影像和2016年5米卫星遥感影像，根据相同地理位置在不同时相遥感影像中地物差异进行对比分析，采用遥感变化监测的技术方法，提取防洪安全范围内人工建筑物建设区域，判定占用库容区域。At the same time, the 0.5-meter resolution aerial orthophoto image in 2006 and the 5-meter satellite remote sensing image in 2016 were compared and analyzed according to the difference of ground objects in the remote sensing image of the same geographical location in different phases, and the technical method of remote sensing change monitoring was used to extract flood control. In the construction area of artificial buildings within the safe range, the storage capacity area is determined to be occupied.
本步骤主要是利用高分辨率空间分辨率高的特征，在室内判定哪些区域疑似存在填库行为，获取填库区域专题信息，包括填库区域专题图、空间位置、面积大小，如图7所示。多时相遥感变化监测是获取填库区域的平面信息，因为遥感影像不包含高程信息，所以获取的专题信息不能进行填库量的定量计算。This step mainly uses the characteristics of high resolution and high spatial resolution to determine which areas are suspected to have filling behavior indoors, and obtain the thematic information of the filling area, including the thematic map, spatial location, and size of the filling area, as shown in Figure 7. Show. Multi-temporal remote sensing change monitoring is to obtain the plane information of the filling area. Because the remote sensing image does not contain elevation information, the obtained thematic information cannot be used for quantitative calculation of the filling volume.
(4)疑似涉水违建目标的现场复核和确认。(4) On-site review and confirmation of suspected illegal water-related construction targets.
根据多时相遥感变化监测获取的疑似填库建设项目所在区域的专题信息，采用无人机航拍和GPS测量技术，至疑似填库建设项目所在区域进行现场查勘，并精准获取疑似填库建设项目所在区域的边界点和特征点的三维坐标信息。According to the thematic information of the area where the suspected reservoir filling construction project is located, obtained by multi-temporal remote sensing change monitoring, using UAV aerial photography and GPS measurement technology to conduct on-site surveys in the area where the suspected reservoir filling construction project is located, and accurately obtain the location of the suspected reservoir filling construction project. The three-dimensional coordinate information of the boundary points and feature points of the area.
(5)基于立体监测技术的涉水违建目标的基础地理信息精准获取及分析。(5) Accurate acquisition and analysis of basic geographic information of illegal construction targets based on three-dimensional monitoring technology.
1)高精度地面控制点测量。1) High-precision ground control point measurement.
采用天宝RTX实施对监测目标区域的精准控制点获取，为实施无人机倾斜摄影测量和无人船水下地形测量布设控制网。该想服务是利用来自全球跟踪站网络的实时数据以及创新的定位和压缩算法来计算中继卫星轨道、卫星时钟和其他系统的改正再播发到接收机，从而获得实时高精度的定位系统。使用该服务，GNSS接收机可以在全球实现单台接收机优于2厘米的定位精度。在实际应用过程中可以有效解决测区无手机信号、无控制点等棘手问题,实现对监测区域全天候、全天时的精准测量。Trimble RTX was used to obtain precise control points in the monitoring target area, and a control network was deployed for the implementation of UAV tilt photogrammetry and UAV underwater topographic survey. The idea of the service is to use real-time data from a global network of tracking stations and innovative positioning and compression algorithms to calculate relay satellite orbits, satellite clocks and other system corrections and broadcast to receivers to obtain a real-time high-precision positioning system. Using this service, GNSS receivers can achieve better than 2 cm positioning accuracy for a single receiver worldwide. In the actual application process, it can effectively solve the difficult problems such as no mobile phone signal and no control point in the survey area, and realize accurate measurement of the monitoring area in all weather and all day.
2)无人机倾斜摄影，获取地表高精度三维地理信息。2) UAV oblique photography to obtain high-precision three-dimensional geographic information on the surface.
第1步航线策划Step 1 route planning
工作人员根据测区地图和实地勘察，根据相关航摄参数(例如摄影比例尺、航向重叠度等)初步拟定航摄航线，并到达测区进行检核。随后在无人机控制软件里下载好测区的地图，并对航线进行标记，以作为无人机航拍的路径参考。According to the map of the survey area and on-site survey, the staff preliminarily draws up the aerial photography route according to the relevant aerial photography parameters (such as photography scale, course overlap, etc.), and arrives at the survey area for inspection. Then download the map of the survey area in the UAV control software, and mark the route as a path reference for UAV aerial photography.
第2步软硬件准备Step 2 Software and hardware preparation
工作人员到达湖岸后，选取空旷、无电磁干扰的场地作为起飞场地。开启无人机和遥控器电源，开启移动端无人机控制软件。连接各设备，检查软硬件模块功能是否正常，GPS卫星数量是否大于10颗，做好飞行准备。After the staff arrives at the lakeshore, they select an open, non-electromagnetic interference site as the takeoff site. Turn on the power of the drone and the remote control, and open the mobile drone control software. Connect each device, check whether the software and hardware modules function normally, whether the number of GPS satellites is greater than 10, and prepare for flight.
第3步调整相机Step 3 Adjust the camera
飞行器起飞，以预定的飞行高度悬停在起飞点上方。用遥控器控制相机云台，使镜头光轴近似垂直于航线(即近似垂直于地面)并在随后的拍摄中一直保持。对无人机的相机进行设置，以记录拍摄时的经纬度和高程值。The aircraft takes off and hovers above the take-off point at a predetermined flight altitude. Use the remote control to control the camera pan/tilt, so that the optical axis of the lens is approximately perpendicular to the route (that is, approximately perpendicular to the ground) and maintains it during the subsequent shooting. Set the drone's camera to record the latitude, longitude and elevation values at the time of shooting.
第4步开始去行航拍Step 4 Start to take aerial photography
工作人员控制无人机按照预设航线进行飞行。移动端的控制软件实时监控无人机的飞行状态，例如飞行高度、水平速度、垂直速度和经纬度坐标。无人机每飞行一个摄影基线的长度，就会在空中短暂悬停，用于稳定相机，拍摄航片。拍摄完毕后无人机继续沿预设航线进行飞行，直到飞行路程再次达到一个摄影基线的长度时，再次重复上述悬停-拍摄-继续的过程。这样不断重复，直到飞达终点，结束本条航带的航片拍摄。The staff controls the drone to fly according to the preset route. The control software on the mobile terminal monitors the flight status of the drone in real time, such as flight altitude, horizontal speed, vertical speed, and latitude and longitude coordinates. Every time the drone flies the length of the photographic baseline, it will hover briefly in the air to stabilize the camera and take aerial photos. After the shooting is completed, the drone continues to fly along the preset route, and when the flight distance reaches the length of a shooting baseline again, the above-mentioned hovering-shooting-continue process is repeated again. This is repeated until the end point is reached, ending the aerial photo shooting of this flight zone.
第5步进行回行航拍Step 5 Take a flyback
无人机掉头并按照相邻航线飞行，返回起飞点。返航过程中与第 4步类似，进行保持一定航向重叠度的竖直摄影。The drone turns around and follows the adjacent route, returning to the take-off point. Similar to step 4, the process of returning to home is carried out to maintain a certain degree of course overlap and vertical photography.
继续参照4、5步，重复执行其他航线的拍摄任务，直到无人机的电池电量接近用尽，此时控制飞机返航。若有多个测区需要航摄，则在一个测区执行完毕后(或者电池接近用尽时)返航并更换电池，再继续执行本步骤。Continue to refer to steps 4 and 5, and repeat the shooting tasks of other routes until the battery of the drone is nearly exhausted, and then control the aircraft to return. If there are multiple survey areas that require aerial photography, after one survey area is completed (or when the battery is nearly exhausted), return home and replace the battery, and then continue with this step.
第6步航摄任务完成Step 6 Aerial photography task completed
测区航摄任务完成后，控制无人机降落，连接电脑拷出航片，工作人员返回进行内业处理。After the aerial photography task of the survey area is completed, control the drone to land, connect the computer to copy out the aerial photograph, and the staff returns to the office for processing.
第7步正射影像和DEM生成Step 7 Orthophoto and DEM Generation
将所获得的航片输入Smart3DZ软件，结合RTX在测区内获得控制点，经软件分析和处理后，获得整个目标区域的高精度航空影像照片和DEM数据、精准建筑物模型，如图3、图4所示。Input the obtained aerial photos into Smart3DZ software, and combine with RTX to obtain control points in the survey area. After software analysis and processing, high-precision aerial photos, DEM data and accurate building models of the entire target area are obtained, as shown in Figure 3. shown in Figure 4.
3)无人船水面测量，获取精准水下地形数据。3) Unmanned ship surface measurement to obtain accurate underwater terrain data.
无人船水域测量信息获取系统，是以无人船为载体，集成GNSS、水深测量、陀螺仪、CCD相机等多种高精度传感设备，采用宽带无线传输的方式，在岸基实时接收并分析处理无人船系统所采集的各种时空数据。获得的水深测量数据经数据处理后得高精度水下地形数据，如图5、图6所示。The water area measurement information acquisition system for unmanned ships is based on unmanned ships and integrates various high-precision sensing equipment such as GNSS, bathymetry, gyroscopes, and CCD cameras. Analyze and process various spatiotemporal data collected by the unmanned ship system. The obtained bathymetric data are processed to obtain high-precision underwater topography data, as shown in Figure 5 and Figure 6.
4)陆水空间数据集成，形成陆水一体全景高精度三维地理实体模型。采用空间数据处理软件，对无人机采集的高精度正射影像、 DEM和无人船采集的水下地形数据进行坐标转换，统一坐标系和高程系，形成一体化全景高精度三维地理实体模型。4) Integration of land and water spatial data to form a high-precision three-dimensional geographic entity model of land and water integration. Using spatial data processing software, coordinate transformation of high-precision orthophotos collected by UAV, underwater terrain data collected by DEM and unmanned ships, unified coordinate system and elevation system, and form an integrated panoramic high-precision three-dimensional geographic entity model .
5)空间量算及分析。采用地理信息系统软件中的三维分析工作，根据获取的目标区域陆水一体全景高精度三维地理实体模型，准确开展涉水建筑物的几何尺寸、空间分布等相关参数的三维精准量算，同时，可事实工程占库面积、体积等几何分析，精准获取涉水工程的工况信息。5) Space calculation and analysis. Using the three-dimensional analysis work in the geographic information system software, according to the obtained high-precision three-dimensional geographic entity model of the land-water integrated panoramic view of the target area, the three-dimensional accurate calculation of the geometric dimensions, spatial distribution and other related parameters of the water-related buildings is accurately carried out. It is possible to accurately obtain the working condition information of water-related projects through geometric analysis such as the area and volume of the reservoir occupied by the project.
(6)立体监测专题成果制作。(6) Production of three-dimensional monitoring special results.
通过对监测目标开展立体监测工作，精准获取涉水违建区域的空间位置，如图8所示，以及占用防洪库容面积、体积(侵占防洪库容) 等二、三维几何信息。Through the three-dimensional monitoring of the monitoring targets, the spatial location of the illegal construction area wading can be accurately obtained, as shown in Figure 8, as well as the occupied two-dimensional and three-dimensional geometric information such as the area and volume of the flood control storage capacity (occupying the flood control storage capacity).
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何属于本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求的保护范围为准。The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, All should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910501689.9ACN110220502A (en) | 2019-06-11 | 2019-06-11 | It is a kind of that dynamic monitoring method is built based on paddling for stereoscopic monitoring technology |
| Application Number | Priority Date | Filing Date | Title |
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| CN201910501689.9ACN110220502A (en) | 2019-06-11 | 2019-06-11 | It is a kind of that dynamic monitoring method is built based on paddling for stereoscopic monitoring technology |
| Publication Number | Publication Date |
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| CN110220502Atrue CN110220502A (en) | 2019-09-10 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201910501689.9APendingCN110220502A (en) | 2019-06-11 | 2019-06-11 | It is a kind of that dynamic monitoring method is built based on paddling for stereoscopic monitoring technology |
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