Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an unmanned aerial vehicle data acquisition system based on hyperspectral remote sensing and laser radar remote sensing, which solves the problem that the existing unmanned aerial vehicle data acquisition system is difficult to realize seamless fusion of hyperspectral and laser radar data.
In order to achieve the above purpose, the invention is realized by the following technical scheme: unmanned aerial vehicle data acquisition system based on hyperspectral remote sensing and laser radar remote sensing includes:
the flight control module is used for managing the flight of the unmanned aerial vehicle, and comprises navigation, automatic take-off and landing, path planning and remote control operation;
the hyperspectral sensing module is used for collecting high-resolution image data in the visible light and infrared spectrum ranges so as to capture spectrum information of the surface features;
the laser radar sensing module is used for measuring data of the terrain height and the three-dimensional structure of the ground object, including the ground elevation and the position of the object;
the inertial navigation module is used for determining the gesture, the position and the speed of the unmanned aerial vehicle and providing accurate navigation information;
the remote sensing data storage module is used for storing the collected hyperspectral and laser radar data for subsequent processing and analysis;
the data transmission and communication module is used for transmitting real-time data to a ground station or other processing equipment, so that timeliness and reliability of the data are ensured;
the image processing module is used for preprocessing, correcting and enhancing the hyperspectral image so as to remove noise and improve the image quality;
the data fusion and registration module registers and fuses the hyperspectral and laser radar data to ensure that the hyperspectral and laser radar data are aligned in space;
the geographic information integration module integrates the acquired data with a geographic information system to realize map making, analysis and space data visualization;
the data analysis and model establishment module is used for analyzing hyperspectral and laser radar data, extracting geographic information and characteristics, constructing a map and a model and carrying out environment monitoring;
the task planning and control module is used for planning unmanned aerial vehicle tasks and determining acquisition paths, areas and time so as to meet specific application requirements;
the power management module is used for managing power supply of the unmanned aerial vehicle, and comprises battery state monitoring and power optimization;
the remote controller and the ground station module are used for remotely controlling the unmanned aerial vehicle, monitoring task execution, data receiving and real-time control.
Preferably, the flight control module comprises:
an autopilot unit for monitoring the status of the drone, such as position, altitude, speed, attitude, etc., and automatically maneuvering the flight of the drone according to a predetermined mission path or user input;
the GPS and navigation unit is used for determining the position, speed and course of the unmanned aerial vehicle;
and the communication equipment is used for carrying out bidirectional communication with the ground station or other control equipment so as to receive the task instruction, send the status report and ensure remote control operation.
Preferably, the hyperspectral sensing module comprises:
a hyperspectral sensor unit for capturing high resolution image data in the visible and infrared spectral ranges;
an image acquisition and storage unit for acquiring the image data generated by the sensor and storing it on a suitable medium, typically an internal storage device or an external media card;
an image preprocessing unit: after image sensing, pre-processing is often required to correct the image, remove noise, and improve image quality to obtain accurate data;
the data transmission unit is used for transmitting the hyperspectral data to a ground station or other processing equipment for further analysis and processing;
the data calibration and correction unit is used for calibrating and correcting the hyperspectral data so as to ensure the accuracy and consistency of the data;
and the data processing software unit is used for processing the hyperspectral image data and executing the tasks of spectrum analysis, feature extraction and classification.
Preferably, the inertial navigation module comprises:
the accelerometer unit is used for measuring acceleration of the aircraft on three axes, and speed information can be obtained by integrating acceleration signals;
a gyroscope unit for measuring rotational speeds of the aircraft about three axes, which provides angular speed information of the aircraft, helping to determine direction and angular variations of the aircraft;
a magnetometer unit for measuring the magnetic field of the earth, providing directional information of the unmanned aerial vehicle relative to the magnetic north pole of the earth;
a computing unit for processing the accelerometer, gyroscope and magnetometer data, which can perform complex algorithms, including sensor fusion algorithms, which fuse the data from the different sensors together, providing more accurate flight status and position information;
and a filter unit for removing noise and errors in the sensor data, thereby providing more stable and accurate flight status and position information.
Preferably, the remote sensing data storage module comprises:
the storage medium unit is used for storing physical media of the collected remote sensing data, and can be a solid state disk, a hard disk drive, a flash memory card and the like;
the data interface and the controller unit are used for connecting the storage medium with the data acquisition system of the unmanned aerial vehicle so as to transmit acquired data to the storage medium;
a file system unit for organizing data on the storage medium so that it can be efficiently stored and retrieved;
the data management unit is used for processing and managing software of remote sensing data;
and the metadata storage unit is used for storing data acquisition time, geographic coordinate information, sensor parameters and the like.
Preferably, the image processing module includes:
a data preprocessing unit for correcting the raw data acquired from the hyperspectral and laser radar sensors, including radiation correction, atmospheric correction, geometric correction, etc., to eliminate errors introduced by the sensors and environmental factors;
an image registration unit registering data from different sensors or points in time to ensure that they are aligned under the same geographic coordinate system, thereby enabling fusion and comparison of multi-sensor data;
a feature extraction unit for extracting useful ground feature such as building, vegetation, topography, etc. from hyperspectral image and laser radar data, including tasks of object detection, classification, segmentation, etc.;
a multi-sensor data fusion unit that fuses data from the hyperspectral and lidar sensors to provide more comprehensive information, which can improve ground object identification and geographic information extraction by integrating the data of the different sensors together;
a map generation unit for generating a map or map layer including a digital elevation model, a digital surface model, a vegetation index map, etc. by using the processed data;
the change detection unit is used for comparing the data acquired at different time points to detect the change of the ground surface, such as the new construction or the dismantling of a building and the growth of vegetation;
the object recognition and classification unit is used for recognizing and classifying specific types of ground objects or objects, such as vehicles, buildings, trees and the like;
an automated and intelligent analysis unit for automatically processing and analyzing a large amount of data using machine learning, deep learning, etc. techniques to extract insight about geographic information.
Preferably, the data fusion and registration module includes:
a data link unit for establishing and maintaining hardware and protocols of the communication link;
a communication protocol and coding unit, a protocol and coding mode for ensuring the integrity and safety of data in the transmission process, which can comprise the technologies of data compression, encryption, error detection, correction and the like;
the real-time data transmission unit is used for transmitting the hyperspectral and laser radar data acquired in real time to a ground station or a unit of data processing equipment;
a data storage and buffering unit for temporarily storing data on the unmanned aerial vehicle to cope with communication interruption or delay;
a ground station communication device unit for receiving and transmitting data, which typically includes a computer, communication hardware, a display screen, and a manipulation device;
and the fault clearing and emergency communication unit is used for processing the communication unit when the system fails, the emergency situation or the communication link is lost so as to ensure the data safety and the safe return of the unmanned aerial vehicle.
Preferably, the task planning and control module comprises:
the mission planning unit is used for making a flight mission plan, including a route, a height, a speed, sampling points and the like;
the path planning algorithm unit comprises various algorithms and is used for determining the optimal flight path of the unmanned aerial vehicle, and taking the factors such as terrain, obstacles, flight task requirements and the like into consideration;
the flight control unit is used for controlling actuators such as a control surface and a motor of the unmanned aerial vehicle and ensuring that the unmanned aerial vehicle flies according to a planned path;
the environment sensing unit is used for sensing the surrounding environment, detecting factors such as obstacles, weather changes and the like, so as to adjust the flight path or take emergency measures when needed;
the task execution and monitoring unit is used for executing the flight task and monitoring the progress of the task;
an emergency control and emergency handling unit for taking emergency measures, such as return, landing, aircraft protection, etc., when the system encounters a fault or emergency.
Preferably, the system further comprises a remote controller and a ground station module, wherein the remote controller and the ground station module are used for remotely controlling the unmanned aerial vehicle, monitoring task execution, data receiving and real-time control.
Preferably, the system further comprises a power management module for managing power supply of the unmanned aerial vehicle, including battery state monitoring and power optimization.
The invention provides an unmanned aerial vehicle data acquisition system based on hyperspectral remote sensing and laser radar remote sensing. The beneficial effects are as follows:
1. the invention can provide high-precision geographic information including topography, landform, vegetation type, building, water body and the like by combining the hyperspectral remote sensing and laser radar technology of the unmanned aerial vehicle, can provide more comprehensive geographic information, is beneficial to more accurately identifying the topography, monitoring the topography and environmental change, and is far faster than the traditional ground surveying method. This helps to improve efficiency and reduce data acquisition time, which is very effective for land management, city planning, environmental monitoring and resource management;
2. the system allows real-time data acquisition and analysis, provides timely decision support in quick response to events such as natural disasters, emergency situations or environmental monitoring, can perform tasks in dangerous or difficult-to-enter areas, such as fire, flood, border patrol and the like, and is beneficial to improving personnel safety;
3. the invention can transmit real-time data to a ground station or other processing equipment by additionally arranging the data transmission and communication module, ensures the timeliness and reliability of the data, and simultaneously sets the geographic information integration module to integrate the acquired data with a geographic information system so as to realize map making, analysis and space data visualization and ensure the consistency and integrity of the data. This helps to reduce data redundancy, improve the quality of data, and simplify the data management flow;
4. the invention allows the geographic data from different sources, different formats or different times to be integrated into a consistent data set by adding the data fusion module, which is helpful for improving the integrity and consistency of the data and reducing errors and inconsistencies, and is helpful for deep analysis and comprehensive decision making.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Examples:
referring to fig. 1-8, an embodiment of the present invention provides an unmanned aerial vehicle data acquisition system based on hyperspectral remote sensing and laser radar remote sensing, including:
the flight control module is used for managing the flight of the unmanned aerial vehicle, and comprises navigation, automatic take-off and landing, path planning and remote control operation;
the flight control module includes:
an autopilot unit for monitoring the status of the drone, such as position, altitude, speed, attitude, etc., and automatically maneuvering the flight of the drone according to a predetermined mission path or user input;
the GPS and navigation unit is used for determining the position, speed and course of the unmanned aerial vehicle;
communication device for bi-directional communication with ground station or other control device to receive task instructions, send status reports and ensure remote control operations
The hyperspectral sensing module is used for collecting high-resolution image data in the visible light and infrared spectrum ranges so as to capture spectrum information of the surface features;
the hyperspectral sensing module includes:
a hyperspectral sensor unit for capturing high resolution image data in the visible and infrared spectral ranges;
an image acquisition and storage unit for acquiring the image data generated by the sensor and storing it on a suitable medium, typically an internal storage device or an external media card;
an image preprocessing unit: after image sensing, pre-processing is often required to correct the image, remove noise, and improve image quality to obtain accurate data;
specifically, a hyperspectral sensor unit equipped with an advanced filter and detector array can capture high resolution image data in the range from visible to infrared spectrum, has extremely high spatial and spectral resolution, an image acquisition and storage unit equipped with a sophisticated image acquisition chip and high-speed storage device, and can acquire sensor-generated image data in real time and store it on a huge capacity internal storage device or external media card. The storage mode can ensure the safety and the integrity of the data, and simultaneously, the user can conveniently access and share the image data anytime and anywhere.
The data transmission unit is used for transmitting the hyperspectral data to a ground station or other processing equipment for further analysis and processing;
the data calibration and correction unit is used for calibrating and correcting the hyperspectral data so as to ensure the accuracy and consistency of the data;
a data processing software unit for processing hyperspectral image data, performing spectral analysis, feature extraction and classification tasks
The laser radar sensing module is used for measuring data of the terrain height and the three-dimensional structure of the ground object, including the ground elevation and the position of the object;
the inertial navigation module is used for determining the gesture, the position and the speed of the unmanned aerial vehicle and providing accurate navigation information;
the inertial navigation module includes:
the accelerometer unit is used for measuring acceleration of the aircraft on three axes, and speed information can be obtained by integrating acceleration signals;
in particular to high-precision measuring equipment which can sensitively sense the acceleration change of an aircraft on three axes. By integrating the acceleration signal, the speed information of the aircraft can be accurately deduced. This function is critical for unmanned aerial vehicles, as it can help unmanned aerial vehicles to accurately grasp their own motion state, thereby better navigating and controlling.
A gyroscope unit for measuring rotational speeds of the aircraft about three axes, which provides angular speed information of the aircraft, helping to determine direction and angular variations of the aircraft;
in particular, it is another important measuring device that is able to accurately sense the rotational speed of the aircraft about three axes. The angular velocity information provided by the method can help the unmanned aerial vehicle to determine the direction and the angle change of the unmanned aerial vehicle. With the information, the unmanned aerial vehicle can more accurately master the position and the posture of the unmanned aerial vehicle, so that the unmanned aerial vehicle can better perform flight control and navigation.
A magnetometer unit for measuring the magnetic field of the earth, providing directional information of the unmanned aerial vehicle relative to the magnetic north pole of the earth;
in particular, it is a device for measuring the magnetic field strength of the earth that can help unmanned aerial vehicles determine their own direction and position. The earth's magnetic field varies from place to place, so magnetometers can assist in the accurate positioning and navigation of unmanned aerial vehicles in complex geographic environments.
A computing unit for processing the accelerometer, gyroscope and magnetometer data, which can perform complex algorithms, including sensor fusion algorithms, which fuse the data from the different sensors together, providing more accurate flight status and position information;
specifically, it is the brain of an unmanned aircraft, which is responsible for processing data from accelerometers, gyroscopes and magnetometers. This unit can perform complex algorithmic operations, including sensor fusion algorithms, which fuse data from different sensors together, providing more accurate flight status and position information. In addition, the computing unit may also filter the received data to eliminate noise and errors in the sensor data, thereby providing more stable and accurate flight status and position information.
A filter unit for removing noise and errors in the sensor data, thereby providing more stable and accurate flight status and position information,
the remote sensing data storage module is used for storing the collected hyperspectral and laser radar data for subsequent processing and analysis;
the remote sensing data storage module comprises:
the storage medium unit is used for storing physical media of the collected remote sensing data, and can be a solid state disk, a hard disk drive, a flash memory card and the like;
the data interface and the controller unit are used for connecting the storage medium with the data acquisition system of the unmanned aerial vehicle so as to transmit acquired data to the storage medium;
a file system unit for organizing data on the storage medium so that it can be efficiently stored and retrieved;
the data management unit is used for processing and managing software of remote sensing data;
a metadata storage unit for storing data acquisition time, geographic coordinate information, sensor parameters, etc
The data transmission and communication module is used for transmitting real-time data to a ground station or other processing equipment, so that timeliness and reliability of the data are ensured;
the image processing module is used for preprocessing, correcting and enhancing the hyperspectral image so as to remove noise and improve the image quality;
the image processing module includes:
a data preprocessing unit for correcting the raw data acquired from the hyperspectral and laser radar sensors, including radiation correction, atmospheric correction, geometric correction, etc., to eliminate errors introduced by the sensors and environmental factors;
an image registration unit registering data from different sensors or points in time to ensure that they are aligned under the same geographic coordinate system, thereby enabling fusion and comparison of multi-sensor data;
a feature extraction unit for extracting useful ground feature such as building, vegetation, topography, etc. from hyperspectral image and laser radar data, including tasks of object detection, classification, segmentation, etc.;
a multi-sensor data fusion unit that fuses data from the hyperspectral and lidar sensors to provide more comprehensive information, which can improve ground object identification and geographic information extraction by integrating the data of the different sensors together;
a map generation unit for generating a map or map layer including a digital elevation model, a digital surface model, a vegetation index map, etc. by using the processed data;
in particular, the unit is capable of generating detailed and accurate maps or map layers using processed data, such as information about terrain, topography, buildings, etc. It includes digital elevation models, digital surface models, etc., which can show the relief of the terrain and the detail features of the earth's surface. In addition, the unit can also generate a vegetation index graph for reflecting the growth condition and the distribution condition of vegetation.
The change detection unit is used for comparing the data acquired at different time points to detect the change of the ground surface, such as the new construction or the dismantling of a building and the growth of vegetation;
in particular, this unit is able to compare the data acquired at different points in time, in order to detect changes in the surface. For example, it can detect the creation or removal of a building, the growth of vegetation, etc. This helps us to find the change of the environment in time, providing basis for decision making.
The object recognition and classification unit is used for recognizing and classifying specific types of ground objects or objects, such as vehicles, buildings, trees and the like;
in particular, the unit has the ability to identify and classify particular types of features or objects. The method can identify and classify the targets of vehicles, buildings, trees and the like, and provides convenience for subsequent analysis and processing. Through target recognition and classification, we can better understand various ground object information on the map.
An automated and intelligent analysis unit for automatically processing and analyzing a large amount of data using machine learning, deep learning, etc. techniques to extract insight about geographical information
Specifically, the unit is capable of automated processing and analysis of large amounts of data using advanced machine learning, deep learning, and like techniques. The method can extract the insight of the related geographic information from the mass data, and greatly improves the processing and analysis efficiency. This allows us to better understand and utilize the geographic information, providing more accurate data support for decisions.
The data fusion and registration module registers and fuses the hyperspectral and laser radar data to ensure that the hyperspectral and laser radar data are aligned in space;
the data fusion and registration module comprises:
a data link unit for establishing and maintaining hardware and protocols of the communication link;
a communication protocol and coding unit, a protocol and coding mode for ensuring the integrity and safety of data in the transmission process, which can comprise the technologies of data compression, encryption, error detection, correction and the like;
the real-time data transmission unit is used for transmitting the hyperspectral and laser radar data acquired in real time to a ground station or a unit of data processing equipment;
a data storage and buffering unit for temporarily storing data on the unmanned aerial vehicle to cope with communication interruption or delay;
a ground station communication device unit for receiving and transmitting data, which typically includes a computer, communication hardware, a display screen, and a manipulation device;
troubleshooting and emergency communication unit for handling communication units in case of system failure, emergency or loss of communication link to ensure data security and safe return of unmanned aerial vehicle
The geographic information integration module integrates the acquired data with a geographic information system to realize map making, analysis and space data visualization;
the data analysis and model establishment module is used for analyzing hyperspectral and laser radar data, extracting geographic information and characteristics, constructing a map and a model and carrying out environment monitoring;
the task planning and control module is used for planning unmanned aerial vehicle tasks and determining acquisition paths, areas and time so as to meet specific application requirements;
the task planning and control module comprises:
the mission planning unit is used for making a flight mission plan, including a route, a height, a speed, sampling points and the like;
the path planning algorithm unit comprises various algorithms and is used for determining the optimal flight path of the unmanned aerial vehicle, and taking the factors such as terrain, obstacles, flight task requirements and the like into consideration;
the flight control unit is used for controlling actuators such as a control surface and a motor of the unmanned aerial vehicle and ensuring that the unmanned aerial vehicle flies according to a planned path;
the environment sensing unit is used for sensing the surrounding environment, detecting factors such as obstacles, weather changes and the like, so as to adjust the flight path or take emergency measures when needed;
the task execution and monitoring unit is used for executing the flight task and monitoring the progress of the task;
emergency control and emergency handling unit for taking emergency measures, such as return, landing, aircraft protection, etc., when the system encounters a fault or emergency
The power management module is used for managing power supply of the unmanned aerial vehicle, and comprises battery state monitoring and power optimization;
the remote controller and the ground station module are used for remotely controlling the unmanned aerial vehicle, monitoring task execution, data receiving and real-time control.
The system also comprises a remote controller and a ground station module, which are used for remotely controlling the unmanned aerial vehicle, monitoring task execution, data receiving and real-time control.
Also comprises a power management module for managing the power supply of the unmanned aerial vehicle, including battery state monitoring and power optimization
In particular, the power management module is a vital component of the unmanned aerial vehicle system, the main responsibility of which is to ensure that the power supply of the unmanned aerial vehicle is efficiently and accurately managed. The module has a real-time monitoring function for the state of the unmanned aerial vehicle battery, can accurately evaluate the residual electric quantity of the battery, and timely reminds a pilot to charge or replace the battery. In addition, the system also has a power optimization function, and the power distribution of the unmanned aerial vehicle is intelligently adjusted, so that the unmanned aerial vehicle can maintain the optimal performance state when executing tasks.
The remote controller and the ground station module are used as key control and monitoring components of the unmanned aerial vehicle, and have various practical functions. The module can remotely control the unmanned aerial vehicle, so that a pilot can perform various operations on the unmanned aerial vehicle, such as take-off, landing, flying, shooting and the like, through a remote controller. Meanwhile, the system can also monitor the task execution condition of the unmanned aerial vehicle in real time, so that a pilot can clearly know the working state of the unmanned aerial vehicle. In addition, the remote controller and the ground station module also bear the responsibility of data receiving and processing, and can transmit the data acquired by the unmanned aerial vehicle to a pilot or a ground control center in real time so as to help the pilot or the ground control center to better master the field situation.
In unmanned aerial vehicle systems, the cooperation of the power management module with the remote control and the ground station module is of paramount importance. Only when unmanned aerial vehicle's power supply obtains high-efficient management to can carry out remote control and monitor through remote controller and ground station module, can guarantee unmanned aerial vehicle system's stability and reliability. Therefore, both modules play an indispensable role in the practical application of the unmanned aerial vehicle.
To sum up: the invention can provide high-precision geographic information including topography, landform, vegetation type, building, water body and the like by combining the hyperspectral remote sensing and laser radar technology of the unmanned aerial vehicle, can provide more comprehensive geographic information, is beneficial to more accurately identifying the topography, monitoring the topography and environmental change, and is far faster than the traditional ground surveying method. This helps to improve efficiency and reduce data acquisition time, which is very effective for land management, urban planning, environmental monitoring and resource management, while allowing real-time data acquisition and analysis to provide timely decision support in quick response to events such as natural disasters, emergencies or environmental monitoring, and the present unmanned aerial vehicle data acquisition system can perform tasks such as fire, flood, border patrol, etc. in dangerous or difficult-to-enter areas, helping to improve personnel safety.
The invention can transmit real-time data to a ground station or other processing equipment by additionally arranging the data transmission and communication module, ensures the timeliness and reliability of the data, and simultaneously sets the geographic information integration module to integrate the acquired data with a geographic information system so as to realize map making, analysis and space data visualization and ensure the consistency and integrity of the data. This helps to reduce data redundancy, improve data quality, and simplify data management processes by adding a data fusion module that allows geographic data from different sources, different formats, or different times to be integrated into a consistent data set, which helps to improve data integrity and consistency, and reduces errors and inconsistencies, which is very helpful for in-depth analysis and comprehensive decisions.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.