复杂地势下轻小型无人机LiDAR自主航线设计  

Design of LiDAR autonomous route for light and small drones under complex terrain

作　　者：陈玥 李英成[1,2,3] 李兵 刘晓龙[1,2,3] CHEN Yue;LI Yingcheng;LI Bing;LIU Xiaolong(ChinevSe Academy of Surveying and Mapping,Beijing 100036,China;Key Laboratory for Aerial Remote Sensing Technology,Ministry of Natural Resources,Beijing 100039,China;Beijing Engineering Research Center of Low Altitude Remote Sensing Data Processing,Beijing 100039,China;Beijing Institute of Surveying and Mapping,Beijing 100038,China)

机构地区：[1]中国测绘科学研究院,北京100036 [2]自然资源部航空遥感技术重点实验室,北京100039 [3]北京市低空遥感数据处理工程技术研究中心,北京100039 [4]北京市测绘设计研究院,北京100038

出　　处：《测绘科学》2021年第3期104-109,132,共7页Science of Surveying and Mapping

基　　金：国家重点研发计划项目(2016YFE0205300)。

摘　　要：针对现有的LiDAR航线设计软件绝大多数针对大中型无人机,主要依靠飞行人员根据实际经验敷设航线,少数采用传统摄影测量改变基线长度的方式实现复杂地势下LiDAR航线自动敷设,但高地势地区航线较密,飞行成本高,有局限性,目前能实现轻小型无人机载LiDAR航线自主敷设的软件很少等问题,参照轻小型机载LiDAR的特点,该文提出一种复杂地势下基于DEM改变航高的航线设计方法。以延庆某山区进行试验。结果表明:该方法适当放宽分区高差限制,综合考虑地形信息、飞机性能等要素,使得单条航带点云密度得到保证,提高航线规划效率,节约飞行时间。将考虑DEM与未考虑DEM两种方式对比,确保重叠度,满足工程点云密度,便于后期数据处理。At present,there are few software that can realize the autonomous route laying to acquire LiDAR data of light and small UAVs.mostof the existing LiDAR route design software is for large and medium-sized UAVs.It mainly relies on pilots to lay the route based on actual experience.the method that use traditional photogrammetry to change the baseline length to realize LiDAR route design of light and small UAVs are few.And laying of LiDAR routes under complex terrain,but the routes in high terrain areas are dense.The flight cost is high and has limitations.Based on the above problems,this paper develops a route design method based on DEM to change the altitude in the complex terrain with reference to the characteristics of light and small airborne LiDAR,which is realized by VC++programming.Taking a mountainous area in Yanqing as an example,the test results show that the method appropriately relaxes the regional height difference and comprehensively considers the terrain information and aircraft performance,which ensures the cloud density of a single flight point point,improves the route planning efficiency and saves flight time.The DEM will be considered in comparison with the DEM without consideration,ensuring the degree of overlap,meeting the cloud density of the engineering point,and facilitating the later data processing.

关 键 词：多周期回波(MTA) 数字高程模型 机载LIDAR 自主航线设计 点密度 重叠度 

分 类 号：P237[天文地球—摄影测量与遥感]