无人机地形跟随在矿区沉陷监测中的应用  

UAV terrain following technology application in the mining subsidence monitoring research

作　　者：杨绪霆 姚顽强[1] 郑俊良[1] 马柏林[1] 马小辉 YANG Xuting;YA0 Wanqiang;ZHENG Junliang;MA Bolin;MA Xiaohui(College of Geomatics,Xi'an University of Science and Technology,Xi’an 710054,China;Shaanxi Binchang Mengcun Mining Co.,Ltd.,Xianyang 713600,China)

机构地区：[1]西安科技大学测绘科学与技术学院,陕西西安710054 [2]陕西彬长孟村矿业有限公司,陕西咸阳713600

出　　处：《测绘通报》2021年第5期111-115,共5页Bulletin of Surveying and Mapping

基　　金：国家自然科学基金(41977059)。

摘　　要：针对传统无人机矿区开采沉陷监测因地形起伏导致同一航测架次的监测精度相差较大的问题,本文分析了地形变化对影像分辨率、相片重叠度及监测精度的影响,并对无人机加装TOF传感器,对PID控制器进行编码设置,使无人机相对地面保持相同高度飞行,实现了无人机地形跟随监测。试验表明:地形起伏会使传统无人机监测精度降低,本文提出的方法可实现无人机地形跟随航测并保证监测精度;在地形复杂矿区,传统无人机沉陷监测平均精度为65.73 mm,具备地形跟随技术的无人机沉陷监测平均精度达46.59 mm,监测精度得到提高;与实地布设的观测线数据相对比,航测监测的下沉趋势准确,但对地表的细微变化无法捕捉;获取的矿区沉陷范围全面广泛地反映出由于工作面的推进造成的矿区沉陷所影响的区域,可为矿区开采沉陷监测提供参考。This study aims at the problem that the monitoring accuracy of the same aerial survey aircraft varies greatly due to the topographic relief when the traditional UAV conducts subsidence monitoring in mining area. In this paper, the influence of terrain change on the resolution, photo overlap and monitoring accuracy of the shooting image was analyzed. The TOF sensor was installed on the UAV, and the PID controller was coded to maintain the same height and stable flight relative to the ground, thus realizing the UAV terrain following monitoring. The results show that the terrain fluctuation will reduce the monitoring accuracy of the traditional UAV, but the method proposed in this paper can improve its accuracy, so that the UAV can follow the aerial survey and ensure the monitoring accuracy. Meanwhile, in mining areas with complex terrain, the average precision of traditional UAV for subsidence monitoring is 65.73 mm, making the average precision of UAV with terrain following technology for subsidence monitoring reach 46.59 mm, and greatly improving the detection accuracy of UAV. Compared with the observation line data in the field, the results can predict the subsidence trend accurately, but can not accurately capture the subtle changes of the surface. Thus, the obtained subsidence scope can comprehensively and extensively reflect the area affected by the subsidence which caused by the advance of the working face. Therefore, the research results can provide reference for mining subsidence monitoring.

关 键 词：开采沉陷 无人机 地形跟随 TOF传感器 摄影测量 

分 类 号：P23[天文地球—摄影测量与遥感]