Exploration of curved UAV flight path design methods for banded aerial survey areas
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摘要: 为了提高无人机航测在条带状复杂地形区域的作业效率, 该文提出了一种曲线航线设计方法, 包括针对条带状区域的水平曲线和变高曲线航线规划算法, 及基于数字高程模型(digital elevation model, DEM)的航线安全性检测算法。首先, 构建了一个无人机航测实景仿真系统, 通过仿真实验从平面航测、变高航测及安全性检测3个方面对该方法进行了测试; 然后, 进行实际航摄实验, 验证其航摄生产数据成果质量。结果表明, 水平曲线航线设计算法和变高航线设计算法能够针对条带状地形复杂区域自动规划出合理的航线, 航线安全检测算法可确保航线的安全性; 相比于常规航线, 曲线航线的航摄数据成果质量同样能满足现有规范要求。针对条带状地形复杂区域的航测, 所提方法能够自动设计出合理、安全的航线, 可有效提高无人机航摄的作业效率。Abstract: To improve the efficiency of UAV aerial surveys in complex banded areas, this study explored and proposed a design method for curved flight paths. This method included planning algorithms for both horizontal and variable-altitude curved flight paths for banded areas, as well as a detection algorithm for flight path safety based on a digital elevation model (DEM). First, a simulation system for UAV aerial surveys was constructed, and the method was tested for planar aerial surveys, variable altitude aerial surveys, and safety detection through simulation experiments. Then, the quality of the aerial photography production data was verified using actual aerial photography experiments. The results indicate that design algorithms for horizontal and variable-altitude flight paths can automatically generate reasonable flight paths for complex banded areas and that the detection algorithm for flight path safety can ensure route safety. Compared to conventional flight paths, the quality of aerial photography data from curved flight paths can also meet the requirements of existing regulations. In other words, for aerial surveys in complex banded areas, the method presented in this study allows for the automatic design of reasonable, safe flight paths and, thus, can effectively improve the operational efficiency of UAV aerial photography.
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Key words:
- banded areas /
- UAV aerial survey /
- design of curved flight paths /
- safety detection
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