基于无人机载LiDAR的采煤沉陷监测技术方法——以宁东煤矿基地马连台煤矿为例

探索采煤地表沉陷的高新监测技术方法是推动采煤沉陷监测的重要工作,无人机载LiDAR采煤塌陷监测技术是无人机与LiDAR构建的一种新型低空三维空间测量技术。以宁东煤炭基地马莲台煤矿采煤沉陷区为例,采用无人机机载LiDAR监测技术获取了2017年4月及8月2期三维点云数据,通过数据三维建模和沉降信息提取,得到了地面沉陷情况的三维立体图,监测出了3处地面沉降区,并利用实测水准点和已有GPS自动监测站数据,对该技术监测地面沉降的精度进行评估。研究结果表明,无人机机载LiDAR监测技术方法可满足采煤塌陷的立体监测需求,具有机动灵活、成本低、效率高、精度高等特点,未来可在类似地区推广应用。     

面向海上目标搜索任务的多无人机协同航路优化

提出了一种面向多无人机(unmanned aerial vehicle,UAV)协同搜索海上目标任务的航路优化方法。首先,分析多无人机协同航路优化问题的基本要素模型。然后,在对各UAV独立维护的目标概率图信息进行探测更新的基础上,采用状态预测一致性算法实现目标概率图信息的快速融合。最后,同时考虑局部搜索收益与未来搜索收益,采用分布式模型预测控制(distributed model predictive control,DMPC)方法优化各UAV的搜索航路。仿真结果表明,本研究提出的方法具有较高的搜索效率,可有效应用于海上目标的快速搜索任务,具有重要的应用价值。     

多旋翼无人机群自主探测大气边界层气象要素的模式分析

深入研究大气边界层气象现象的发生、发展、消散机制,需要获取三维同步气象要素数据,而现有探测技术与手段难以提供.因此,提出利用多旋翼无人机群进行自主探测大气边界层气象要素的探测模式,并就探测模式的背景与意义、特点与优势、流程与可行性,以及需要进一步研究的相关科学问题进行了分析,认为多旋翼无人机群自主探测大气边界层气象要素的探测模式针对性、灵活性、机动性、可操作性强,并具有自主动态同步探测、自主智能追踪探测等功能.     

自主技术无人机航空物探(磁/放)综合站研发进展

无人机航空物探技术是航空物探技术的一个新兴分支。文章首先阐述了无人机航空物探技术的国内外研发情况,然后介绍了基于国产彩虹3无人机的国内首套应用于地球物理勘查的无人机航空物探(磁/放)综合站的研究进展。基于国产彩虹3无人机平台,开展了专用飞机改装、超低空地形跟随飞控、远距离遥控遥测等关键技术攻关,集成研发了自主知识产权的无人机航空物探(磁/放)综合站样机,成功开展了面积性应用试验,综合站样机功能、性能等达到了世界先进水平。无人机航空物探(磁/放)综合站研发取得关键进展。     

High resolution UAV image acquisition method and modeling practice for geological outcrop with a large slope

The observation on the outcrop in the field is one of the most direct and efficient methods to obtain the underground formation information, which provides the most direct first-hand geological data for geological science research. However, the traditional outcrop investigation, especially for the outcrop with a large slope and unreachable area, mainly relies on the inspection, measurement of the slope bottom, and photos to record outcrop information, making it difficult to accurately characterize the whole geological body. Consumer unmanned aerial vehicle (UAVs) with the advantages of good mobility, strong adaptability and low cost, can obtain outcrop images from a short distance, multiple perspectives and varying heights. In this paper, the image acquisition method and model construction accuracy without control points available for the geological outcrop with a large slope are discussed. Consumer UAVs is used to capture images through vertical route and then the geological model is set up. The results show that oblique photogrammetry technology combined with consumer UAVs can effectively build a large slope geological outcrop model with millimeter resolution. The model has the characteristics of high resolution, uniform resolution and high measurement accuracy up to millimeter, which can effectively reduce the difficulty of field investigation and the personnel safety risk, thus it accurately reproduces the outcrop situation with large slope in the field, providing a real and reliable data basis for the section interpretation, analysis and measurement of large slope outcrop.     

控制点布设对冰川区无人机摄影测量精度的影响

冰川监测是冰冻圈科学研究中的一项重要基础内容,获取高质量冰川DEM和DOM数据是研究的基础。随着无人机技术的兴起,给冰川监测提供了全新的技术手段,然而冰川区开展无人机摄影测量时,地面控制点的布设与测量成为能否获取高精度数据产品的关键,而山地冰川往往伴随着地形复杂,行走困难,野外实地测量难以全面实施等不利因素。本研究中以位于祁连山西段大雪山地区的老虎沟12号冰川末端部分为研究区域,设计实施了多种控制点布设方案,使用低空微型无人机飞行3个架次,获取研究区航摄影像。通过对比控制点在不同分布情况及数量情况下,DEM和DOM数据检查点的精度,评价不同控制点布设方案的可行性。对比结果显示,在航飞过程中使用单格网模式即可获取高精度的影像数据;实施地面控制作业时,使用5—7个控制点均匀分布在测量区即可获取较高精度的图像数据;当冰川区不能满足均匀布设控制点时,可沿冰川主流线布设足够数量的控制点,所得图像精度也可以满足冰川学研究要求;若只能在冰川中下部或者中上部布设控制点,则控制点应覆盖冰面起伏较大的区域。     

大坡度地质露头高分辨率无人机影像采集方法与建模实践*

野外地质露头的观察、研究能够最直接、最有效地获取地下地层信息,为地质科学研究提供最直观、最真实的一手地质资料。然而传统的露头研究,尤其针对大坡度、人员无法到达区域的露头研究,主要依赖坡底部考察、测量和拍照等方式记录露头信息,难以精细、准确地表征整个地质体。消费级无人机具有机动性好、适应性强和成本低等优势,且能够近距离、多视角、变高度地获取露头影像。本研究对无控制点情况下的大坡度地质露头影像采集方法与模型构建精度进行探讨,利用消费级无人机垂向航线采集影像,然后构建模型。结果证明倾斜摄影测量技术结合消费级无人机能够有效地构建具有毫米分辨率精度的大坡度地质露头模型。构建的模型具有分辨率高、分辨率均一、量测精度可达毫米等特点,可有效降低野外考察的工作难度,降低人员安全风险,真实准确地复现野外大坡度露头情况,为大坡度露头剖面解译、分析和量测提供真实可靠的数据基础。     

变焦相机标定在无人飞行器中的应用

随着数码相机的普及和升级,高成像质量的非量测数码相机用于无人飞行器遥感已经成为现实。目前研究和应用中,变焦相机仅当作定焦相机使用,没有充分发挥其变焦的作用。文中通过利用OpenCV对两款变焦相机进行标定,分析变焦相机不同焦距的使用特点,总结变焦相机内参数与焦距之间的关系,为充分发挥变焦相机的作用提供一定的依据。     

USING UNMANNED AERIAL VEHICLE PHOTOGRAMMETRY TECHNOLOGY TO OBTAIN QUANTITATIVE PARAMETERS OF ACTIVE TECTONICS

With the development of photogrammetry technology and the popularity of unmanned aerial vehicles (UAVs)technology in recent years, using UAV photogrammetry technology to rapidly acquire high precision and high resolution topographic and geomorphic data on the fault zone has gradually become an important technical means. This paper first summarizes the basic principle and workflow of a new digital photogrammetry technology, SfM (Structure from Motion), which is simple, efficient and low cost. Using this technology, we conducted aerial image acquisition and data processing for a typical fault landform on the northern of Caka Basin in Qinghai. The digital elevation model (DEM)with 6.1cm/pix resolution is generated and the density of point cloud is as high as 273 points/m². The coverage area is 0.463km². Further, the terrain and slope data parallel to the fault direction are extracted by topographic analysis method, and combined with the contour map and the slope diagram generated by the DEM, a fine interpretation and quantitative study of complex multilevel geomorphic surfaces is carried out. Finally, based on the results of sophisticated interpretation of geomorphology, we got the vertical displacements of the T₁ terrace to the T₃ terrace as (1.01±0.06)m, (1.37±0.13)m and (3.10±0.11)m, and the minimum vertical displacements of the T₄ terrace and the T₅ terrace as (3.77±0.14)m and (5.46±0.26)m, respectively, through the topographic profile data extracted by DEM. Such vertical displacement parameters are difficult to obtain directly by traditional remote sensing images, which shows the great application prospect of UAV photogrammetry technology in the quantitative study of active tectonics.     

基于无人机倾斜摄影的建筑物三维建模尝试

近年来随着科学技术水平的不断提高，航天航空技术、网络通信技术、计算机技术和信息技术呈现飞速发展，遥感数据获取能力得到了有效提升，形成了以多源（多平台、多角度、多传感器）、高分辨率（光谱、时间、空间、辐射）为特点的高效、多样、快速的空天地一体化数据获取手段。本文以拓普康猎鹰8号八旋翼无人机平台为例，通过分析该平台获取的低空摄影测量数据，利用Smart3D软件对建筑物进行建模，为智慧城市的三维系统建设提供有力的技术保障。