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CN118936428A - Water depth measurement device and method based on drone technology - Google Patents

Water depth measurement device and method based on drone technology Download PDF

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Publication number
CN118936428A
CN118936428A CN202411241157.3A CN202411241157A CN118936428A CN 118936428 A CN118936428 A CN 118936428A CN 202411241157 A CN202411241157 A CN 202411241157A CN 118936428 A CN118936428 A CN 118936428A
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China
Prior art keywords
water
measurement
sounding
data
measuring
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CN202411241157.3A
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Inventor
刘正军
王留召
杨建兴
张赓
马强
刘博文
朱红贤
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Chinese Academy of Surveying and Mapping
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Chinese Academy of Surveying and Mapping
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Priority to CN202411241157.3A priority Critical patent/CN118936428A/en
Publication of CN118936428A publication Critical patent/CN118936428A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
    • G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/40—Control within particular dimensions
    • G05D1/46—Control of position or course in three dimensions
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
    • Y02A90/30—Assessment of water resources

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Hydrology & Water Resources (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a water depth measuring device and method based on unmanned aerial vehicle technology, comprising a depth measuring hammer, a measuring rope, a buoy, a swing damper, a depth measuring control module and an unmanned aerial vehicle platform, wherein the depth measuring hammer is arranged at the lower end of the measuring rope, the upper end of the measuring rope is arranged at the bottom of the buoy, the depth measuring control module is arranged at the bottom of the unmanned aerial vehicle platform, and the bottom of the depth measuring control module is connected with the top of the buoy through a traction rope; the swing damper is tied on the measuring rope; the unmanned aerial vehicle platform is equipped with high accuracy GNSS positioning system, gesture stabilising arrangement and flight control module, sounding control module includes main control module, GNSS/IMU module, tension sensor, time synchronization module, data record module and off-line device. According to the invention, through the introduction of unmanned aerial vehicle technology, an unmanned aerial vehicle hanging sounding hammer sounding system is constructed, so that the efficient, accurate and safe water depth measurement is realized, and the unmanned aerial vehicle hanging sounding hammer sounding system has the advantages of simplicity and convenience in operation, high measurement accuracy, strong adaptability and the like.

Description

Unmanned plane technology-based water depth measuring device and method
Technical Field
The invention relates to a water depth measuring device and method based on unmanned plane technology, and belongs to the technical field of traffic safety detection.
Background
In the fields of water conservancy, ocean, geological exploration and the like, water depth measurement is an extremely important basic work. The traditional water depth measuring method is mostly dependent on ship carrying depth measuring equipment or manually throwing depth measuring hammers, and the method has the defects of high operation cost, low efficiency, large influence by environmental factors and the like. For example, in difficult areas such as shallow water areas, manual RTK measurement, sounding rods and the like are mainly adopted for completing, so that the labor intensity of the operation is high. Especially in complex waters, shoals or difficult to reach areas (e.g. where some water bottom is soft with silt, or where weeds are present), personnel and vessels cannot enter and are difficult to perform, resulting in limited application of conventional water depth measurement methods.
The current water depth measurement field has the following problems: (1) The traditional water depth measuring method, such as using a large ship to carry depth measuring equipment, has high purchase and maintenance cost and needs professional operators, thus greatly increasing the total cost of operation. (2) The ship has limited sailing speed and is greatly influenced by water conditions (such as water flow and wind waves), so that the measuring speed is slow. In particular in complex waters or shoal areas, the mobility of the ship is limited, further reducing the efficiency of the operation. (3) In areas such as marshes, wetlands, shallow water areas or steep coastlines, the water depth measurement of these areas is a problem because of complex terrain, large water depth variations or the presence of obstacles, which are difficult for the vessel to access or safely operate. (4) In the traditional manual casting sounding hammer or diving measurement method, because workers need to enter a water area or a dangerous area, risks such as drowning and collision are faced. The safety risk is increased significantly especially in severe weather or in unstable water conditions. (5) Conventional methods may be disturbed by various factors (e.g. currents, waves, vessel sway) resulting in errors in the measured data. In addition, manual operations may introduce human error, affecting the accuracy and reliability of the data. (6) While significant advances have been made in the field of unmanned aerial vehicle technology, applications in water depth measurement have also been relatively lagging. The existing unmanned aerial vehicle sounding system often has the problems of high equipment cost, limited sounding capacity, complex operation, insufficient data processing capacity and the like, and is difficult to meet actual demands. In summary, the current water depth measurement field has a plurality of technical problems such as high operation cost, low efficiency, poor environmental adaptability, high safety risk, and data precision and reliability problems.
The invention provides a water depth measuring device and method based on unmanned plane technology.
Disclosure of Invention
In order to solve the problems, the invention provides the water depth measuring device and the water depth measuring method based on the unmanned aerial vehicle technology, which can construct a hanging sounding hammer sounding system of the unmanned aerial vehicle through the introduction of the unmanned aerial vehicle technology, and realize high-efficiency, accurate and safe water depth measurement.
The technical scheme adopted for solving the technical problems is as follows:
In a first aspect, the embodiment of the invention provides a water depth measuring device based on unmanned aerial vehicle technology, which comprises a depth measuring hammer, a measuring rope, a buoy, a swing damper, a depth measuring control module and an unmanned aerial vehicle platform, wherein the depth measuring hammer is arranged at the lower end of the measuring rope, the upper end of the measuring rope is arranged at the bottom of the buoy, the depth measuring control module is arranged at the bottom of the unmanned aerial vehicle platform, and the bottom of the depth measuring control module is connected with the top of the buoy through a traction rope; the swing damper is tied on the measuring rope and is used for reducing the swing amplitude and the return time of the sounding hammer caused by the movement of the unmanned aerial vehicle and environmental factors;
the unmanned aerial vehicle platform is provided with a high-precision GNSS positioning system, a gesture stabilizing device and a flight control module, the gesture stabilizing device and the high-precision GNSS positioning system ensure stability and accuracy in the flight process of the unmanned aerial vehicle, and the flight control module is responsible for flight track planning and stable control of the unmanned aerial vehicle;
The sounding control module comprises a main control module, a GNSS/IMU module, a tension sensor, a time synchronization module, a data recording module and a wire-off device, wherein the main control module is respectively connected with the GNSS/IMU module, the tension sensor, the data recording module, the wire-off device and the unmanned aerial vehicle platform, the time synchronization module is respectively connected with the main control module, the GNSS/IMU module and the tension sensor, and the GNSS/IMU module is connected with the high-precision GNSS positioning system.
As a possible implementation manner of this embodiment, the GNSS/IMU module performs differential and integrated navigation calculation on the GNSS and IMU raw data acquired by the unmanned aerial vehicle by using a shore-based GNSS ground base station, so as to obtain a high-precision carrier motion track and gesture; the main control module performs filtering processing on tension data mutation caused by buoyancy when the sounding hammer enters water and tension data measured by the tension sensor at the moment when the tension data return to zero when the sounding hammer touches the bottom, water bottom Gao Chengdian and water depth data are obtained through calculation, meanwhile, the obtained sounding hammer touching water and bottom touching time are converted into the same time reference through the time synchronization module, and finally underwater topography results are generated according to the water depth measurement data.
As a possible implementation manner of this embodiment, the process of calculating the water bottom Gao Chengdian and the water depth data by the main control module is:
Let the cable tie-down base point position P of the measuring cable deviate from the GNSS antenna phase center coordinate as (Deltax, deltay, deltaz), the distance from the lower end of the sounding hammer to the tie-down base point position P as H, let the coordinate of the GNSS antenna phase center in the WGS84 space rectangular coordinate system as (X 0,y0,z0) when the sounding hammer touches water or bottoms out, the attitude measurement value of the carrier coordinate system as measured by the GNSS/IMU module as (R, P, H), the coordinate of the tie-down base point position P in the WGS84 space rectangular coordinate system as (X 0,Y0,Z0) as follows:
In the formula, For inertial platform coordinate system to local horizontal reference coordinate system transformation matrix,B and L are latitude and longitude respectively, which are the conversion matrix from the local horizontal reference coordinate system to the WGS84 space rectangular coordinate system;
the coordinates (X 1,Y1,Z1) of Gao Chengdian in the WGS84 space rectangular coordinate system when the sounding hammer touches water or bottoms out are:
Because the unmanned plane vertically moves from top to bottom during water depth measurement, the measured water depth value H is the difference between the elevation of the sounding hammer when touching water and the elevation of the sounding hammer when touching the bottom:
H＝Z When touching water -Z When bottom touching (3)
and continuously measuring other measuring points to obtain water bottom Gao Chengdian and water depth data of all the measuring points.
As a possible implementation manner of this embodiment, the main control module filters, corrects and calculates the related data of the depth measuring hammer according to the tensile force changes of the depth measuring hammer in water and at the moment of bottoming, so as to obtain accurate water depth information;
The buoy is tied on the measuring rope, can float on the water surface after falling off, and is used for positioning and recovering the sounding hammer after falling off;
the tension sensor is used for accurately measuring the change of the tension of the sounding hammer;
The GNSS/IMU module performs differential and combined navigation calculation on GNSS and IMU original data acquired by the unmanned aerial vehicle by using shore-based GNSS ground base station data to acquire a motion track of the unmanned aerial vehicle carrier, wherein the motion track of the unmanned aerial vehicle carrier comprises position and gesture information of the unmanned aerial vehicle;
the time synchronization module is used for mainly performing time alignment on the time acquired by the GNSS/IMU module and the tension sensor data measured by the main control module so as to obtain the position of the unmanned aerial vehicle when the sounding hammer enters water or bottoms out;
The data recording module stores the tension sensor data obtained during measurement, the track data recorded by the GNSS/IMU and the data of the measurement time in real time so as to facilitate later data analysis;
the wire-off device is arranged near the traction rope, and when the measuring hammer is clamped by an underwater object, the measuring hammer is judged to have accidents according to the tension data and the wire-off treatment is carried out on the traction rope.
As a possible implementation manner of this embodiment, the specific manner in which the flight control module plans the flight trajectory of the unmanned aerial vehicle includes five route generation manners of a section scanning route, an equidistant line scanning route, a uniformly distributed route based on Voronoi polygons, a manual planning route, and a route imported through KML files.
As a possible implementation manner of the embodiment, in the process of generating a section scanning route, determining the starting, passing and ending positions of the measured route, automatically generating a series of waypoints according to the flying height and measuring point interval set by a user, and automatically executing the measuring action at each waypoint;
In the equidistant line scanning route generation process, determining the boundary of a measurement area, and automatically generating a series of parallel routes according to the interval of the measuring lines, the interval of the measuring points and the flying height set by a user;
In the course of generating a route based on Voronoi polygons, generating a Voronoi diagram according to preset measuring points, wherein each polygon corresponds to one measuring point, and generating evenly distributed waypoints in the polygons;
When a manual planning generating route mode is adopted, the position of the waypoint is manually specified according to specific measurement requirements and regional characteristics;
When importing the route through the KML file, the route is designed in other software and exported into KML format, and the files in the formats are read and the corresponding route is automatically generated.
As a possible implementation of this embodiment, the measuring rope comprises a sounding rope with a gauge of 6mm, 8mm or 10 mm.
In a second aspect, the method for measuring water depth based on unmanned aerial vehicle technology provided by the embodiment of the invention comprises the following steps:
step 1, planning a route of the unmanned aerial vehicle for water depth measurement;
Step 2, executing a water depth measurement task according to the planned route, and acquiring measurement data;
and 3, calculating water bottom height Cheng Dian and water depth data according to the measured data, and generating underwater topography results.
As a possible implementation manner of this embodiment, in step 1, the method for planning the route of the unmanned aerial vehicle for water depth measurement includes:
Generating a section scanning route: determining the starting, passing and ending positions of the measured route, automatically generating a series of waypoints according to the flying height and measuring point interval set by a user, and automatically executing the measuring action at each waypoint;
generating equidistant line scanning route: determining the boundary of a measurement area, and automatically generating a series of parallel airlines according to the interval of the measuring lines, the interval of the measuring points and the flying height set by a user;
Generating a route based on Voronoi polygons, generating a Voronoi graph according to preset measuring points, wherein each polygon corresponds to one measuring point, and generating evenly distributed navigation points in the polygons;
generating a manual planning route: manually designating the position of the waypoint according to specific measurement requirements and regional characteristics;
importing the route through a KML file: and designing the route in other software, exporting the route into a KML format, reading a file in the KML format, and automatically generating a corresponding route.
As a possible implementation manner of this embodiment, the step 2 includes the following steps:
A series of initializations and checks are performed: when a task starts, checking the flight control state of the unmanned aerial vehicle, if other tasks are found to be running, stopping starting a new task, checking whether the task contains effective waypoints, and if the task does not have the waypoints, the task is not started;
after formally starting execution of the task, marking the starting point of the task, and recovering to the position of last interruption according to the need; at this time, the task state is updated in progress, and a timer is started to periodically update the flight data collected during the task;
In the task execution process, the unmanned aerial vehicle flies to each preset waypoint in sequence, and flight states are monitored among each waypoint to ensure that the unmanned aerial vehicle executes according to a plan; when the unmanned aerial vehicle reaches a certain waypoint, hovering for a few seconds to keep the suspended sounding hammer stable; if the task is manually stopped in the process, immediately stopping the task and performing safe processing;
Monitoring and analyzing the data of the tension sensor every time the unmanned aerial vehicle reaches a waypoint; if the tension value is detected to be lower than a preset threshold value, judging possible abnormal conditions, immediately stopping the task when the abnormality occurs, and indicating the unmanned aerial vehicle to return; otherwise, controlling the unmanned aerial vehicle accelerator to start a descending process, continuously analyzing tension data in the descending process, and judging whether the sounding hammer bottoms out or not; when the tensile force reaches a set threshold value, the sounding hammer is considered to touch the bottom, and further descent of the unmanned aerial vehicle is stopped; in the descending process, the height of the unmanned aerial vehicle is monitored, and the unmanned aerial vehicle is ensured not to be lower than the height above the preset water surface, so that the unmanned aerial vehicle is prevented from touching the water surface; after determining that the sounding hammer has bottomed, the unmanned aerial vehicle hovers for a moment to stabilize the position, and then starts to ascend until returning to a preset flight height;
Measuring each waypoint in this way until the task ends; if the task sets a landing point, the unmanned aerial vehicle flies to the landing point and lands automatically; if no landing site is specified, the unmanned opportunity directly returns to the take-off position; after the whole task is finished, the task state is cleared, and the user is informed that the task is finished.
As a possible implementation manner of this embodiment, the step 3 includes the following steps:
Filtering the tension data measured by a tension sensor at the moment of the sudden change of the tension data caused by buoyancy when the depth measuring hammer enters water and the return of the tension data to zero when the depth measuring hammer touches the bottom;
calculating to obtain water bottom Gao Chengdian and water depth data;
And converting the obtained water contact time and bottoming time of the hammer into the same time reference through a time synchronization module, and finally generating underwater topography results according to water depth measurement data.
As a possible implementation manner of this embodiment, the specific process of calculating the water bottom Gao Chengdian and the water depth data is:
Let the cable tie-down base point position P of the measuring cable deviate from the GNSS antenna phase center coordinate as (Deltax, deltay, deltaz), the distance from the lower end of the sounding hammer to the tie-down base point position P as H, let the coordinate of the GNSS antenna phase center in the WGS84 space rectangular coordinate system as (X 0,y0,z0) when the sounding hammer touches water or bottoms out, the attitude measurement value of the carrier coordinate system as measured by the GNSS/IMU module as (R, P, H), the coordinate of the tie-down base point position P in the WGS84 space rectangular coordinate system as (X 0,Y0,Z0) as follows:
In the formula, For inertial platform coordinate system to local horizontal reference coordinate system transformation matrix,B and L are latitude and longitude respectively, which are the conversion matrix from the local horizontal reference coordinate system to the WGS84 space rectangular coordinate system;
the coordinates (X 1,Y1,Z1) of Gao Chengdian in the WGS84 space rectangular coordinate system when the sounding hammer touches water or bottoms out are:
Because the unmanned plane vertically moves from top to bottom during water depth measurement, the measured water depth value H is the difference between the elevation of the sounding hammer when touching water and the elevation of the sounding hammer when touching the bottom:
H＝Z When touching water -Z When bottom touching (3)
and continuously measuring other measuring points to obtain water bottom Gao Chengdian and water depth data of all the measuring points.
The technical scheme of the embodiment of the invention has the following beneficial effects:
according to the invention, through the introduction of unmanned aerial vehicle technology, an unmanned aerial vehicle hanging sounding hammer sounding system is constructed, so that the efficient, accurate and safe water depth measurement is realized, and the unmanned aerial vehicle hanging sounding hammer sounding system has the advantages of simplicity and convenience in operation, high measurement accuracy, strong adaptability and the like.
According to the invention, the unmanned plane reaches the measurement area quickly, so that the measurement efficiency is improved, the investment of manpower and material resources is reduced, and the measurement period is shortened; according to the invention, through the high-precision sensor and the data processing system, the accuracy and the reliability of a measurement result are ensured, and the accuracy of water depth measurement is improved; the unmanned plane provided by the invention is flexible in flight, is not limited by the conditions of terrains and water areas, is suitable for measuring the water depth of various complex environments, and enhances the adaptability; the unmanned aerial vehicle hanging sounding hammer sounding system can finish the measurement work without personnel entering a dangerous area, improves the operation safety, reduces the safety risk, has obvious technical advantages and application prospects, and can bring revolutionary changes to the water depth measurement work in the fields of water conservancy, ocean, geological exploration and the like.
Drawings
FIG. 1 is a schematic diagram illustrating a water depth measurement device based on unmanned aerial vehicle technology, according to an exemplary embodiment;
FIG. 2 is a schematic diagram of a sounding control module shown according to an example embodiment;
FIG. 3 is a flow chart illustrating a method of water depth measurement based on unmanned aerial vehicle technology, according to an exemplary embodiment;
FIG. 4 is a flowchart illustrating an implementation of a sounding positioning process, according to an example embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
In order to clearly illustrate the technical features of the present solution, the present invention will be described in detail below with reference to the following detailed description and the accompanying drawings. The following disclosure provides many different embodiments, or examples, for implementing different structures of the invention. In order to simplify the present disclosure, components and arrangements of specific examples are described below. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. It should be noted that the components illustrated in the figures are not necessarily drawn to scale. Descriptions of well-known components and processing techniques and processes are omitted so as to not unnecessarily obscure the present invention.
As shown in fig. 1, the water depth measuring device based on the unmanned aerial vehicle technology provided by the embodiment of the invention comprises a depth measuring hammer 1, a measuring rope 2, a buoy 3, a swinging damper 7, a depth measuring control module 4 and an unmanned aerial vehicle platform 5, wherein the depth measuring hammer 1 is arranged at the lower end of the measuring rope 2, the upper end of the measuring rope 2 is arranged at the bottom of the buoy 3, the depth measuring control module 4 is arranged at the bottom of the unmanned aerial vehicle platform 5, and the bottom of the depth measuring control module 4 is connected with the top of the buoy 3 through a traction rope 6; the swing damper 7 is tied on the measuring rope and is used for reducing the swing amplitude and the return time of the sounding hammer caused by the movement of the unmanned aerial vehicle and environmental factors;
The unmanned aerial vehicle platform selects a multi-rotor unmanned aerial vehicle which is suitable for carrying heavy objects and has good stability as a carrier, a high-precision GNSS positioning system, a gesture stabilizing device and a flight control module are provided, the gesture stabilizing device and the high-precision GNSS positioning system ensure the stability and the accuracy of the unmanned aerial vehicle in the flight process, and the flight control module is responsible for the flight track planning and the stable control of the unmanned aerial vehicle;
The invention carries the sounding hammer to accurately measure the water depth by the unmanned plane, and has the advantages of simple operation, high measurement precision, strong adaptability and the like.
The unmanned aerial vehicle hangs the sounding hammer and surveys dark system can plan reasonable flight route and measurement point location according to the district condition, and unmanned aerial vehicle reaches the target point position after, begins to descend, and when measuring the hammer and contact the surface of water, the pulling force can produce the change, and when measuring the hammer and contact the bottom of water, the pulling force is close zero value, finishes when the point measurement, and pulling force data whole journey record.
And combining with unmanned aerial vehicle RTK positioning data, and analyzing the tensile force data to obtain the water bottom elevation and water depth data of the to-be-measured point.
Because the topography is changeable under the water in shallow water area, consider in case the weight is blocked, probably lead to unmanned aerial vehicle unable dislocation and cause great equipment loss, the system increases automatic off-line device, when unexpected, guarantee unmanned aerial vehicle and equipment safety.
Regarding the thinking of the influence of the environment on the measurement result, the measuring line is not normally in a vertical state during actual operation under the influence of swing and wind force, but the measuring line can be in a vertical state when the unmanned aerial vehicle is stationary and the wind is smaller, the measuring line can be rapidly stationary under the damping of water after the heavy hammer is put into water, the influence of wind is smaller when the guy wire is very thin and very light, the line length is generally 5-10 m, the plane deviation of the heavy hammer is not large, and the influence on the accuracy of underwater topography data is not large. Thus, this effect is temporarily disregarded.
As shown in fig. 2, the sounding control module includes a main control module, a GNSS/IMU module, a tension sensor, a time synchronization module, a data recording module and a line-off device, where the main control module is connected with the GNSS/IMU module, the tension sensor, the data recording module, the line-off device and the unmanned aerial vehicle platform, and the time synchronization module is connected with the main control module, the GNSS/IMU module and the tension sensor, and the GNSS/IMU module is connected with the high-precision GNSS positioning system. The sounding control module integrates time synchronization, data recording, a main control module and the like into the same board card, and uniformly designs layout and produces. The main control module comprises a singlechip or a micro control circuit, and the interface of the main control module is mainly connected with a GNSS/IMU module interface (or a GNSS/IMU data interface provided by an unmanned aerial vehicle), a tension data interface, a wire-off device interface, an unmanned aerial vehicle flight control module communication interface and a power interface. The GNSS/IMU module interface is connected with a feeder port connected with the GNSS antenna, and can provide real-time high-precision position and attitude information of the unmanned aerial vehicle.
The main control module filters, corrects and calculates according to the tensile force change of the sounding hammer in water and at the moment of bottoming, and relevant data of the sounding hammer to obtain accurate water depth information.
The tension sensor can accurately measure the change of the tension, the measurement error is less than 0.15%, the tension change when the depth measuring hammer enters water and the tension approaches zero when the depth measuring hammer reaches the water bottom, and the accurate detection can be completely performed in time.
The time synchronization module is used for mainly performing time alignment on the time acquired by the GNSS/IMU module and the tension sensor data measured by the main control module so as to obtain the position of the unmanned aerial vehicle when the sounding hammer enters water or bottoms out.
The data recording module stores the tension sensor data obtained during measurement, the track data recorded by the GNSS/IMU and the data of the measurement time in real time so as to facilitate later data analysis.
The wire-off device is arranged near the traction rope, and when the measuring hammer is clamped by an underwater object, the measuring hammer is judged to have accidents according to the tension data and the wire-off treatment is carried out on the traction rope.
The depth measuring hammer can be a portable and firm depth measuring hammer.
The buoy is a small buoy which is tied on the measuring rope and can float on the water surface after falling off and is used for positioning and recovering the sounding hammer after falling off.
The invention can also support route planning, measurement real-time data visualization, data recording and storage and the like, and can display the measurement result in a chart form, thereby being convenient for the analysis and application of users.
As a possible implementation manner of this embodiment, the GNSS/IMU module performs differential and combined navigation calculation on the GNSS and IMU raw data acquired by the unmanned aerial vehicle by using a shore-based GNSS ground base station, so as to obtain a high-precision carrier motion track and a gesture, including position and gesture information, and if the unmanned aerial vehicle body has a GNSS/IMU positioning and gesture determining module, then the high-precision motion track data can be accessed through an unmanned aerial vehicle communication interface. The main control module performs filtering processing on tension data mutation caused by buoyancy when the sounding hammer enters water and tension data measured by a tension sensor at the moment when the tension data return to zero when the sounding hammer touches the bottom, calculates to obtain water bottom Gao Chengdian and water depth data, converts the obtained sounding hammer touching water and bottom touching time into the same time reference (generally GNSS time) through the time synchronization module, and finally generates underwater topography results according to the water depth measurement data.
As a possible implementation manner of this embodiment, the process of calculating the water bottom Gao Chengdian and the water depth data by the main control module is:
Let the cable tie-down base point position P of the measuring rope deviate from the GNSS antenna phase center coordinate as (Deltax, deltay, deltaz), the distance from the lower end of the sounding hammer to the tie-down base point position P is H, namely the length of H comprises the sounding hammer length, the measuring rope length, the buoy height and the haulage rope length, and let the coordinate of the GNSS antenna phase center in the WGS84 space rectangular coordinate system when the sounding hammer touches water or bottoms out as (X 0,y0,z0), the carrier coordinate system posture measured value measured by the GNSS/IMU module as (R, P, H), the coordinate (X 0,Y0,Z0) of the tie-down base point position P in the WGS84 space rectangular coordinate system is:
In the formula, For inertial platform coordinate system to local horizontal reference coordinate system transformation matrix,B and L are latitude and longitude respectively, which are the conversion matrix from the local horizontal reference coordinate system to the WGS84 space rectangular coordinate system;
Coordinates (X 1,Y1,Z1) of the water surface (when the sounding hammer touches water) or the water bottom (when the sounding hammer touches the bottom) Gao Chengdian in the WGS84 space rectangular coordinate system are:
Specifically, the coordinates (X When touching water ,Y When touching water ,Z When touching water ) of the water surface (when touching water) Gao Chengdian in the WGS84 space rectangular coordinate system are:
The coordinates (X When bottom touching ,Y When bottom touching ,Z When bottom touching ) of the water bottom (bottoming) Gao Chengdian in the WGS84 space rectangular coordinate system are:
because the unmanned plane vertically moves from top to bottom during water depth measurement, the change of the plane coordinates is small and can be ignored, and the measured water depth value H is the difference between the elevation of the sounding hammer when the sounding hammer touches water and the elevation of the sounding hammer when the sounding hammer touches the bottom:
H＝Z When touching water -Z When bottom touching (3)
and continuously measuring other measuring points to obtain water bottom Gao Chengdian and water depth data of all the measuring points.
As a possible implementation manner of this embodiment, the specific manner in which the flight control module plans the flight trajectory of the unmanned aerial vehicle includes five route generation manners of a section scanning route, an equidistant line scanning route, a uniformly distributed route based on Voronoi polygons, a manual planning route, and a route imported through KML files;
In the section scanning route generation process, determining the starting, passing and ending positions of the measured route, automatically generating a series of waypoints according to the flying height and measuring point interval set by a user, and automatically executing measurement actions at each waypoint, wherein the section scanning route is suitable for river section underwater topography measurement;
In the generation process of equidistant line scanning route, determining the boundary of a measurement area, and automatically generating a series of parallel routes according to the interval of the measuring lines, the interval of the measuring points and the flying height set by a user, wherein the equidistant line scanning route is suitable for the underwater topography measurement of a planar area;
In the course of generating the route based on the Voronoi polygon, generating a Voronoi graph according to a preset measuring point, wherein each polygon corresponds to one measuring point, and generating evenly distributed navigation points in the polygons, the route based on the Voronoi polygon can ensure that the route is evenly distributed in the whole area, so that the sampling of the measuring points is more even, and the method is applicable to tasks requiring high-precision and even data distribution and is applicable to underwater topography measurement of a planar area;
When a manual planning generating route mode is adopted, the position of the waypoint is manually specified according to specific measurement requirements and regional characteristics, the manual planning generating route mode has highest flexibility, and is suitable for special task scenes needing accurate control;
when the route is imported through the KML file, the route is designed in other software and exported into a KML format, the files in the formats are read, and the corresponding route is automatically generated.
Route generation is a key logic part in the application, responsible for planning how the drone should move during the execution of tasks, to ensure effective coverage of the measurement area and acquisition of the required data. When generating the route, the flying height, the speed, the distance between the waypoints and other parameters of the unmanned aerial vehicle are considered, so that the route is ensured to meet the measurement requirement, and the safe and efficient execution of the flying can be ensured. After the route is generated, the system stores the route data for use in the execution of the subsequent tasks.
As a possible implementation of this embodiment, the measuring rope comprises a sounding rope with a gauge of 6mm, 8mm or 10 mm.
As shown in fig. 3, the water depth measuring method based on the unmanned aerial vehicle technology provided by the embodiment of the invention comprises the following steps:
step 1, planning a route of the unmanned aerial vehicle for water depth measurement;
Step 2, executing a water depth measurement task according to the planned route, and acquiring measurement data;
and 3, calculating water bottom height Cheng Dian and water depth data according to the measured data, and generating underwater topography results.
As a possible implementation manner of this embodiment, in step 1, the manner of planning the route of the unmanned aerial vehicle for performing the water depth measurement includes the following optional manners:
Generating a section scanning route: determining the starting, passing and ending positions of the measured route, automatically generating a series of waypoints according to the flying height and measuring point interval set by a user, and automatically executing the measuring action at each waypoint;
generating equidistant line scanning route: determining the boundary of a measurement area, and automatically generating a series of parallel airlines according to the interval of the measuring lines, the interval of the measuring points and the flying height set by a user;
Generating a route based on Voronoi polygons, generating a Voronoi graph according to preset measuring points, wherein each polygon corresponds to one measuring point, and generating evenly distributed navigation points in the polygons;
generating a manual planning route: manually designating the position of the waypoint according to specific measurement requirements and regional characteristics;
importing the route through a KML file: and designing the route in other software, exporting the route into a KML format, reading a file in the KML format, and automatically generating a corresponding route.
The section scanning route is suitable for river section underwater topography measurement; the equidistant line scanning route is suitable for underwater topography measurement of a planar area; the airlines based on the Voronoi polygons can ensure that the airlines are uniformly distributed in the whole area, so that the sampling of the measuring points is more uniform, the method is suitable for tasks requiring high-precision and uniform data distribution, and is suitable for underwater topography measurement in planar areas; the manual planning generating route mode has the highest flexibility and is suitable for special task scenes needing accurate control; the manner of importing the route through the KML file enables a user to conduct more complex planning in an external tool, and the result is directly applied to the unmanned aerial vehicle task.
Route generation is a key logic part in the application, responsible for planning how the drone should move during the execution of tasks, to ensure effective coverage of the measurement area and acquisition of the required data. When generating the route, the flying height, the speed, the distance between the waypoints and other parameters of the unmanned aerial vehicle are considered, so that the route is ensured to meet the measurement requirement, and the safe and efficient execution of the flying can be ensured. After the route is generated, the system stores the route data for use in the execution of the subsequent tasks.
As a possible implementation manner of this embodiment, the step 2 includes the following steps:
A series of initializations and checks are performed: when a task starts, checking the flight control state of the unmanned aerial vehicle, if other tasks are found to be running, stopping starting a new task, checking whether the task contains effective waypoints, and if the task does not have the waypoints, the task is not started;
After formally starting execution of the task, marking the starting point of the task, and recovering to the position of last interruption according to the need; at this point, the task status is updated in progress and a timer is started to periodically update the flight data collected during the task, which will be used to monitor the progress of the task in real time;
In the task execution process, the unmanned aerial vehicle flies to each preset waypoint in sequence, and flight states are monitored among each waypoint to ensure that the unmanned aerial vehicle executes according to a plan; when the unmanned aerial vehicle reaches a certain waypoint, hovering for a few seconds to keep the suspended sounding hammer stable; if the task is manually stopped in the process, immediately stopping the task and performing safe processing;
Monitoring and analyzing the data of the tension sensor every time the unmanned aerial vehicle reaches a waypoint; if the tension value is detected to be lower than a preset threshold value, judging possible abnormal conditions, immediately stopping the task when the abnormality occurs, and indicating the unmanned aerial vehicle to return; otherwise, controlling the unmanned aerial vehicle accelerator to start a descending process, continuously analyzing tension data in the descending process, and judging whether the sounding hammer bottoms out or not; when the tensile force reaches a set threshold value, the sounding hammer is considered to touch the bottom, and further descent of the unmanned aerial vehicle is stopped; in the descending process, the height of the unmanned aerial vehicle is monitored, and the unmanned aerial vehicle is ensured not to be lower than the height above the preset water surface, so that the unmanned aerial vehicle is prevented from touching the water surface; after determining that the sounding hammer has bottomed, the unmanned aerial vehicle hovers for a moment to stabilize the position, and then starts to ascend until returning to a preset flight height;
Measuring each waypoint in this way until the task ends; if the task sets a landing point, the unmanned aerial vehicle flies to the landing point and lands automatically; if no landing site is specified, the unmanned opportunity directly returns to the take-off position; after the whole task is finished, the task state is cleaned, the user is informed that the task is finished, and meanwhile, the timer is also cancelled when the task is finished, and the updating and recording of the data are stopped.
The whole water depth measuring task process fully considers the safety in task execution and the real-time monitoring of data, and ensures that an unmanned aerial vehicle can safely and accurately complete the task.
As a possible implementation manner of this embodiment, the step 3 includes the following steps:
Filtering the tension data measured by a tension sensor at the moment of the sudden change of the tension data caused by buoyancy when the depth measuring hammer enters water and the return of the tension data to zero when the depth measuring hammer touches the bottom;
calculating to obtain water bottom Gao Chengdian and water depth data;
And converting the obtained water contact time and bottoming time of the hammer into the same time reference through a time synchronization module, and finally generating underwater topography results according to water depth measurement data.
As a possible implementation manner of this embodiment, as shown in fig. 4, the specific process of calculating the water bottom Gao Chengdian and the water depth data is:
Let the cable tie-down base point position P of the measuring rope deviate from the GNSS antenna phase center coordinate as (Deltax, deltay, deltaz), the distance from the lower end of the sounding hammer to the tie-down base point position P is H, namely the length of H comprises the sounding hammer length, the measuring rope length, the buoy height and the haulage rope length, and let the coordinate of the GNSS antenna phase center in the WGS84 space rectangular coordinate system when the sounding hammer touches water or bottoms out as (X 0,y0,z0), the carrier coordinate system posture measured value measured by the GNSS/IMU module as (R, P, H), the coordinate (X 0,Y0,Z0) of the tie-down base point position P in the WGS84 space rectangular coordinate system is:
In the formula, For inertial platform coordinate system to local horizontal reference coordinate system transformation matrix,B and L are latitude and longitude respectively, which are the conversion matrix from the local horizontal reference coordinate system to the WGS84 space rectangular coordinate system;
Coordinates (X 1,Y1,Z1) of the water surface (when the sounding hammer touches water) or the water bottom (when the sounding hammer touches the bottom) Gao Chengdian in the WGS84 space rectangular coordinate system are:
Specifically, the coordinates (X When touching water ,Y When touching water ,Z When touching water ) of the water surface (when touching water) Gao Chengdian in the WGS84 space rectangular coordinate system are:
The coordinates (X When bottom touching ,Y When bottom touching ,Z When bottom touching ) of the water bottom (bottoming) Gao Chengdian in the WGS84 space rectangular coordinate system are:
because the unmanned plane vertically moves from top to bottom during water depth measurement, the change of the plane coordinates is small and can be ignored, and the measured water depth value H is the difference between the elevation of the sounding hammer when the sounding hammer touches water and the elevation of the sounding hammer when the sounding hammer touches the bottom:
H＝Z When touching water -Z When bottom touching (3)
and continuously measuring other measuring points to obtain water bottom Gao Chengdian and water depth data of all the measuring points.
The invention carries the sounding hammer to accurately measure the water depth by the unmanned plane, and has the advantages of simple operation, high measurement precision, strong adaptability and the like.
The unmanned aerial vehicle hangs the sounding hammer and surveys dark system can plan reasonable flight route and measurement point location according to the district condition, and unmanned aerial vehicle reaches the target point position after, begins to descend, and when measuring the hammer and contact the surface of water, the pulling force can produce the change, and when measuring the hammer and contact the bottom of water, the pulling force is close zero value, finishes when the point measurement, and pulling force data whole journey record.
And combining with unmanned aerial vehicle RTK positioning data, and analyzing the tensile force data to obtain the water bottom elevation and water depth data of the to-be-measured point.
Because the topography is changeable under the water in shallow water area, consider in case the weight is blocked, probably lead to unmanned aerial vehicle unable dislocation and cause great equipment loss, the system increases automatic off-line device, when unexpected, guarantee unmanned aerial vehicle and equipment safety.
Regarding the thinking of the influence of the environment on the measurement result, the measuring line is not in a vertical state in actual operation under the influence of swing and wind force, the measuring line can be quickly stationary under the damping of water after the heavy hammer is put into water, the influence of wind on the measuring line is small due to the fact that the measuring line is thin and light, the line length is generally 5-10 m, the plane deviation of the heavy hammer is small, and the influence on the accuracy of underwater topography data is small. Thus, this effect is temporarily disregarded.
Compared with the traditional method, the invention has the following advantages:
the measurement efficiency is improved: the unmanned aerial vehicle reaches the measuring region fast, reduces manpower and materials input, shortens measuring cycle.
And (3) improving measurement accuracy: the accuracy and the reliability of the measurement result are ensured by the high-precision sensor and the data processing system.
And the adaptability is enhanced: the unmanned plane is flexible in flight, is not limited by the conditions of terrains and water areas, and is suitable for measuring the water depth of various complex environments.
The safety risk is reduced: personnel can finish measurement work without entering a dangerous area, and the operation safety is improved.
In conclusion, the unmanned aerial vehicle hanging sounding hammer sounding system has remarkable technical advantages and application prospects, and revolutionary changes are brought to water depth measurement work in the fields of water conservancy, ocean, geological exploration and the like.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (10)

1.一种基于无人机技术的水深测量装置，其特征在于，包括测深锤、测量绳、浮标、摆动阻尼器、测深控制模块和无人机平台，所述测深锤设置在测量绳下端，所述测量绳的上端设置在浮标底部，所述测深控制模块设置在无人机平台底部，所述测深控制模块底部与浮标的顶部通过牵引绳连接；所述摆动阻尼器系于测量绳上，用于降低无人机运动和环境因素引起的测深锤摆动幅度及回稳时间；1. A water depth measuring device based on drone technology, characterized in that it comprises a sounding hammer, a measuring rope, a buoy, a swing damper, a sounding control module and a drone platform, wherein the sounding hammer is arranged at the lower end of the measuring rope, the upper end of the measuring rope is arranged at the bottom of the buoy, the sounding control module is arranged at the bottom of the drone platform, and the bottom of the sounding control module is connected to the top of the buoy through a traction rope; the swing damper is tied to the measuring rope to reduce the swing amplitude and stabilization time of the sounding hammer caused by the movement of the drone and environmental factors; 所述无人机平台配备高精度GNSS定位系统、姿态稳定装置和飞行控制模块，姿态稳定装置与高精度GNSS定位系统确保无人机飞行过程中的稳定性和精确性，飞行控制模块负责无人机的飞行轨迹规划和稳定控制；The UAV platform is equipped with a high-precision GNSS positioning system, an attitude stabilization device and a flight control module. The attitude stabilization device and the high-precision GNSS positioning system ensure the stability and accuracy of the UAV during flight. The flight control module is responsible for the flight trajectory planning and stable control of the UAV. 所述测深控制模块包括主控模块、GNSS/IMU模块、拉力传感器、时间同步模块、数据记录模块和脱线装置，所述主控模块分别与GNSS/IMU模块、拉力传感器、数据记录模块、脱线装置和无人机平台连接，所述时间同步模块分别与主控模块、GNSS/IMU模块和拉力传感器连接，所述GNSS/IMU模块与高精度GNSS定位系统连接。The depth sounding control module includes a main control module, a GNSS/IMU module, a tension sensor, a time synchronization module, a data recording module and an offline device. The main control module is respectively connected to the GNSS/IMU module, the tension sensor, the data recording module, the offline device and the UAV platform. The time synchronization module is respectively connected to the main control module, the GNSS/IMU module and the tension sensor. The GNSS/IMU module is connected to a high-precision GNSS positioning system. 2.根据权利要求1所述的基于无人机技术的水深测量装置，其特征在于，所述GNSS/IMU模块利用岸基GNSS地面基站，将无人机获取的GNSS和IMU原始数据进行差分和组合导航计算，获得高精度载体运动轨迹和姿态；所述主控模块对测深锤入水时因浮力导致的拉力数据突变和触底时拉力数据归零时刻的拉力传感器测量拉力数据进行滤波处理，计算得到水底高程点和水深数据，同时将获得测锤触水和触底时间通过时间同步模块转换为同一时间基准，最后根据水深测量数据生成水下地形成果。2. According to the depth measurement device based on drone technology in claim 1, it is characterized in that the GNSS/IMU module uses the shore-based GNSS ground base station to perform differential and combined navigation calculations on the GNSS and IMU raw data obtained by the drone to obtain high-precision carrier motion trajectory and posture; the main control module filters the tension data measured by the tension sensor at the moment when the tension data suddenly changes due to buoyancy when the sounding hammer enters the water and the tension data returns to zero when touching the bottom, calculates the bottom elevation point and water depth data, and at the same time converts the obtained water-touching and bottom-touching times of the sounding hammer into the same time reference through the time synchronization module, and finally generates underwater terrain results according to the water depth measurement data. 3.根据权利要求2所述的基于无人机技术的水深测量装置，其特征在于，所述主控模块计算得到水底高程点和水深数据的过程为：3. The water depth measurement device based on drone technology according to claim 2 is characterized in that the process of the main control module calculating the water bottom elevation point and water depth data is: 设测量绳的缆绳系留基点位置P与GNSS天线相位中心坐标偏移为(Δx,Δy,Δz)，测深锤下端到系留基点位置P的距离为h，并设当测深锤触水时或触底时GNSS天线相位中心在WGS84空间直角坐标系的坐标为(x0,y0,z0),GNSS/IMU模块测得的载体坐标系姿态测量值为(R,P,H)，系留基点位置P在WGS84空间直角坐标系中的坐标(X0,Y0,Z0)为：Assume that the coordinate offset between the mooring base point position P of the measuring rope and the phase center of the GNSS antenna is (Δx, Δy, Δz), the distance from the lower end of the sounding hammer to the mooring base point position P is h, and the coordinates of the GNSS antenna phase center in the WGS84 space rectangular coordinate system when the sounding hammer touches the water or touches the bottom are (x 0 ,y 0 ,z 0 ), the carrier coordinate system attitude measurement value measured by the GNSS/IMU module is (R,P,H), and the coordinates of the mooring base point position P in the WGS84 space rectangular coordinate system (X 0 ,Y 0 ,Z 0 ) are: 式中，为惯性平台坐标系到当地水平参考坐标系转换矩阵，为当地水平参考坐标系到WGS84空间直角坐标系的转换矩阵，B和L分别为纬度和经度；In the formula, is the transformation matrix from the inertial platform coordinate system to the local horizontal reference coordinate system, is the transformation matrix from the local horizontal reference coordinate system to the WGS84 spatial rectangular coordinate system, where B and L are latitude and longitude respectively; 测深锤触水时或触底时的高程点在WGS84空间直角坐标系中的坐标(X1,Y1,Z1)为：The coordinates (X 1 , Y 1 , Z 1 ) of the elevation point when the sounding hammer touches the water or the bottom in the WGS84 spatial rectangular coordinate system are: 由于无人机水深测量时自上向下做垂直运动，此时测量的水深值H为测深锤触水时高程与测深锤触底时高程之差：Since the drone moves vertically from top to bottom when measuring water depth, the water depth value H measured at this time is the difference between the elevation when the sounding hammer touches the water and the elevation when the sounding hammer touches the bottom: H＝Z触水时-Z触底时 (3)H = Z when it touches the water - Z when it touches the bottom (3) 对其它测点进行连续测量，获得所有测点的得到水底高程点和水深数据。Continuously measure other measuring points to obtain the bottom elevation points and water depth data of all measuring points. 4.根据权利要求1-3任意一项所述的基于无人机技术的水深测量装置，其特征在于，所述飞行控制模块规划无人机的飞行轨迹的具体方式包括断面扫描航线、等间距线扫描航线、基于Voronoi多边形的均匀分布航线、手动规划航线，以及通过KML文件导入的航线五种航线生成方式。4. The depth measurement device based on drone technology according to any one of claims 1-3 is characterized in that the specific method in which the flight control module plans the flight trajectory of the drone includes five route generation methods: cross-sectional scanning route, equidistant line scanning route, uniformly distributed route based on Voronoi polygons, manually planned route, and route imported through KML file. 5.根据权利要求4所述的基于无人机技术的水深测量装置，其特征在于，在断面扫描航线生成过程中，确定测量的航线起始、途经和结束位置，并根据用户设置的飞行高度、测点间隔自动生成一系列航点，在每个航点可以自行执行测量动作；5. The depth measurement device based on drone technology according to claim 4 is characterized in that, in the process of generating the cross-sectional scanning route, the starting, passing and ending positions of the measured route are determined, and a series of waypoints are automatically generated according to the flight altitude and measuring point interval set by the user, and the measurement action can be automatically performed at each waypoint; 在等间距线扫描航线生成过程中，先确定测量区域的边界，并根据用户设置的测线间隔、测点间距和飞行高度，自动生成一系列平行的航线；In the process of generating equidistant line scan routes, the boundaries of the measurement area are first determined, and a series of parallel routes are automatically generated according to the measurement line interval, measurement point spacing and flight altitude set by the user; 在基于Voronoi多边形的航线生成过程中，根据预设的测量点生成Voronoi图，每个多边形对应一个测量点，并在这些多边形内生成均匀分布的航点；In the process of route generation based on Voronoi polygons, a Voronoi diagram is generated according to the preset measurement points, each polygon corresponds to a measurement point, and evenly distributed waypoints are generated within these polygons; 采用手动规划生成航线方式时，根据具体的测量需求和区域特点，手动指定航点的位置；When manually planning and generating routes, the locations of waypoints are manually specified according to specific measurement requirements and regional characteristics; 通过KML文件导入航线时，在其他软件中设计航线并导出为KML格式，读取这些格式的文件并自动生成对应的航线。When importing routes via KML files, design routes in other software and export them to KML format, read files in these formats and automatically generate corresponding routes. 6.一种基于无人机技术的水深测量方法，其特征在于，包括以下步骤：6. A water depth measurement method based on drone technology, characterized in that it includes the following steps: 步骤1，规划无人机进行水深测量的航线；Step 1, planning the route for the drone to conduct water depth measurement; 步骤2，根据规划的航线执行水深测量任务，获取测量数据；Step 2, perform the water depth measurement task according to the planned route and obtain measurement data; 步骤3，根据测量数据计算水底高程点和水深数据，并生成水下地形成果。Step 3: Calculate the bottom elevation points and water depth data based on the measured data and generate underwater terrain results. 7.根据权利要求6所述的基于无人机技术的水深测量方法，其特征在于，在步骤1中，所述规划无人机进行水深测量的航线的方式包括：7. The method for depth measurement based on drone technology according to claim 6 is characterized in that, in step 1, the method for planning the route of the drone for depth measurement comprises: 生成断面扫描航线：确定测量的航线起始、途经和结束位置，并根据用户设置的飞行高度、测点间隔自动生成一系列航点，在每个航点可以自行执行测量动作；Generate cross-section scanning route: determine the starting, passing and ending positions of the measurement route, and automatically generate a series of waypoints according to the flight altitude and measurement point interval set by the user. The measurement action can be performed automatically at each waypoint; 生成等间距线扫描航线：确定测量区域的边界，并根据用户设置的测线间隔、测点间距和飞行高度，自动生成一系列平行的航线；Generate equidistant line scan routes: Determine the boundaries of the measurement area and automatically generate a series of parallel routes based on the line interval, point spacing and flight altitude set by the user; 生成基于Voronoi多边形的航线，根据预设的测量点生成Voronoi图，每个多边形对应一个测量点，并在这些多边形内生成均匀分布的航点；Generate a route based on Voronoi polygons. Generate a Voronoi diagram based on the preset measurement points. Each polygon corresponds to a measurement point, and evenly distributed waypoints are generated within these polygons. 生成手动规划航线：根据具体的测量需求和区域特点，手动指定航点的位置；Generate manually planned routes: manually specify the location of waypoints according to specific measurement requirements and regional characteristics; 通过KML文件导入航线：在其他软件中设计航线并导出为KML格式，读取KML格式的文件并自动生成对应的航线。Import routes via KML files: Design routes in other software and export them to KML format, read KML files and automatically generate corresponding routes. 8.根据权利要求6所述的基于无人机技术的水深测量方法，其特征在于，所述步骤2，包括以下步骤：8. The method for water depth measurement based on drone technology according to claim 6, characterized in that the step 2 comprises the following steps: 进行一系列的初始化和检查：任务开始时，检查无人机的飞行控制状态，如果发现当前已经有其他任务在进行则终止新任务的启动，检查任务是否包含有效的航点，如果没有航点，任务将不会启动；Perform a series of initialization and checks: At the start of a mission, check the flight control status of the drone. If it is found that there are other missions in progress, terminate the launch of the new mission. Check whether the mission contains valid waypoints. If there are no waypoints, the mission will not start. 任务正式开始执行后，标记任务的起始点，并根据需要恢复到上一次中断的位置；此时，任务状态被更新为进行中，并且启动一个定时器，以定期更新任务过程中收集到的飞行数据；After the mission officially begins execution, the starting point of the mission is marked and restored to the last interrupted position as needed; at this time, the mission status is updated to in progress, and a timer is started to regularly update the flight data collected during the mission; 任务执行过程中，无人机依次飞往每一个预设的航点，在每个航点之间，监控飞行状态，确保无人机按计划执行；当无人机到达某个航点后，悬停几秒钟，使吊挂的测深锤保持稳定；如果任务在此过程中被手动中止，则立刻停止任务，并进行安全处理；During the mission, the drone flies to each preset waypoint in turn. Between each waypoint, the flight status is monitored to ensure that the drone is executed as planned. When the drone reaches a waypoint, it hovers for a few seconds to keep the suspended sounding hammer stable. If the mission is manually terminated during this process, the mission is stopped immediately and safety procedures are carried out. 每当无人机到达一个航点时，监测并分析拉力传感器的数据；如果检测到拉力值低于预设的阈值，将判断可能出现的异常情况，出现异常时将立即中止任务，指示无人机返航；否则，控制无人机油门开始下降过程，下降过程中持续分析拉力数据，判断测深锤是否已经触底；当拉力达到设定的阈值时，认为测深锤触底，并停止无人机的进一步下降；下降过程中，监控无人机的高度并确保不会低于预定的水面以上高度，以避免触碰到水面；在确定测深锤已经触底后，无人机悬停片刻以稳定位置，然后开始上升，直至返回到预设的飞行高度；Whenever the UAV reaches a waypoint, the data of the tension sensor is monitored and analyzed; if the tension value is detected to be lower than the preset threshold, it will determine the possible abnormal situation. If an abnormality occurs, the mission will be terminated immediately and the UAV will be instructed to return; otherwise, the UAV throttle is controlled to start the descent process, and the tension data is continuously analyzed during the descent process to determine whether the sounding hammer has touched the bottom; when the tension reaches the set threshold, the sounding hammer is considered to have touched the bottom, and the UAV is stopped from further descent; during the descent process, the height of the UAV is monitored to ensure that it does not fall below the predetermined height above the water surface to avoid touching the water surface; after determining that the sounding hammer has touched the bottom, the UAV hovers for a moment to stabilize its position, and then begins to rise until it returns to the preset flight altitude; 如此测定各个航点直到任务结束；如果任务设定了着陆点，无人机会飞向着陆点并进行自动着陆；如果没有指定着陆点，无人机会直接返航到起飞位置；整个任务结束后，清理任务状态，并通知用户任务已经完成。In this way, each waypoint is determined until the mission is completed; if a landing point is set for the mission, the drone will fly to the landing point and land automatically; if no landing point is specified, the drone will return directly to the take-off position; after the entire mission is completed, the mission status is cleared and the user is notified that the mission has been completed. 9.根据权利要求6-8任意一项所述的基于无人机技术的水深测量方法，其特征在于，所述步骤3，包括以下步骤：9. The method for water depth measurement based on drone technology according to any one of claims 6 to 8, characterized in that step 3 comprises the following steps: 对测深锤入水时因浮力导致的拉力数据突变和触底时拉力数据归零时刻的拉力传感器测量拉力数据进行滤波处理；Filter the tension data measured by the tension sensor when the tension data suddenly changes due to buoyancy when the sounding hammer enters the water and returns to zero when the tension data touches the bottom; 计算得到水底高程点和水深数据；Calculate the water bottom elevation point and water depth data; 将获得测锤触水和触底时间通过时间同步模块转换为同一时间基准，最后根据水深测量数据生成水下地形成果。The time when the hammer hits the water and the bottom is converted into the same time reference through the time synchronization module, and finally the underwater topography results are generated based on the water depth measurement data. 10.根据权利要求9所述的基于无人机技术的水深测量方法，其特征在于，所述计算得到水底高程点和水深数据的具体过程为：10. The water depth measurement method based on drone technology according to claim 9 is characterized in that the specific process of calculating the water bottom elevation point and water depth data is: 设测量绳的缆绳系留基点位置P与GNSS天线相位中心坐标偏移为(Δx,Δy,Δz)，测深锤下端到系留基点位置P的距离为h，并设当测深锤触水时或触底时GNSS天线相位中心在WGS84空间直角坐标系的坐标为(x0,y0,z0),GNSS/IMU模块测得的载体坐标系姿态测量值为(R,P,H)，系留基点位置P在WGS84空间直角坐标系中的坐标(X0,Y0,Z0)为：Assume that the coordinate offset between the mooring base point position P of the measuring rope and the phase center of the GNSS antenna is (Δx, Δy, Δz), the distance from the lower end of the sounding hammer to the mooring base point position P is h, and the coordinates of the GNSS antenna phase center in the WGS84 space rectangular coordinate system when the sounding hammer touches the water or touches the bottom are (x 0 ,y 0 ,z 0 ), the carrier coordinate system attitude measurement value measured by the GNSS/IMU module is (R,P,H), and the coordinates of the mooring base point position P in the WGS84 space rectangular coordinate system (X 0 ,Y 0 ,Z 0 ) are: 式中，为惯性平台坐标系到当地水平参考坐标系转换矩阵，为当地水平参考坐标系到WGS84空间直角坐标系的转换矩阵，B和L分别为纬度和经度；In the formula, is the transformation matrix from the inertial platform coordinate system to the local horizontal reference coordinate system, is the transformation matrix from the local horizontal reference coordinate system to the WGS84 spatial rectangular coordinate system, where B and L are latitude and longitude respectively; 测深锤触水时或触底时的高程点在WGS84空间直角坐标系中的坐标(X1,Y1,Z1)为：The coordinates (X 1 , Y 1 , Z 1 ) of the elevation point when the sounding hammer touches the water or the bottom in the WGS84 spatial rectangular coordinate system are: 由于无人机水深测量时自上向下做垂直运动，此时测量的水深值H为测深锤触水时高程与测深锤触底时高程之差：Since the drone moves vertically from top to bottom when measuring water depth, the water depth value H measured at this time is the difference between the elevation when the sounding hammer touches the water and the elevation when the sounding hammer touches the bottom: H＝Z触水时-Z触底时 (3)H = Z when it touches the water - Z when it touches the bottom (3) 对其它测点进行连续测量，获得所有测点的得到水底高程点和水深数据。Continuously measure other measuring points to obtain the bottom elevation points and water depth data of all measuring points.
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