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基于激光點(diǎn)云數據的無(wú)人駕駛航空器系統空中走廊構建
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北華航天工業(yè)學(xué)院 遙感-導航-地理信息系統集成應用技術(shù)研究室

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河北省教育廳重點(diǎn)項目(ZD2016106)


Construction of aerial corridor for unmanned aircraft systems in low altitude airspace based on point cloud of laser scanner
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Key project of education department of hebei province(ZD2016106)

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    摘要:

    對低空安全和個(gè)人隱私保護進(jìn)行了闡述,提出了一種基于激光點(diǎn)云數據的無(wú)人駕駛航空器空中走廊構建技術(shù)。采用噪聲水平估計模型對數字表面模型的噪聲幅度進(jìn)行估計,應用高斯濾波器對標記的噪聲區域進(jìn)行噪聲抑制。構建經(jīng)驗分解模型,對濾波后的數字表面模型進(jìn)行能量分解,生成固有模態(tài)函數和殘差信號,結合基于坡度的閾值模型,識別非地表目標,生成數字地勢模型。采用數字表面模型和數字地勢模型,對低空空域進(jìn)行空域分層處理,將低空空域劃分為頂層區、安全區和起降區三層空域。采用地理位置數據映射方式,將非地表物體和個(gè)人隱私保護區域,映射到劃分后的各層空域,結合飛行路徑規劃技術(shù),避開(kāi)飛行期間的個(gè)人隱私保護區和限制飛行區。最后,采用可視化技術(shù)實(shí)現低空空域空中走廊的三維構建。實(shí)驗結果表明,該空中走廊的構建方法能夠提高飛行區域地物目標的識別精度,實(shí)現個(gè)人隱私保護,對低空安全產(chǎn)業(yè)發(fā)展具有積極的意義。

    Abstract:

    The low altitude safety and privacy protection were illustrated and the construction of aerial corridor for unmanned aircraft system in low altitude airspace based on point cloud of laser scanner was proposed. The noise amplitude of digital surface model was estimated by noise level model and the Gaussian filter was used to perform the noise suppression for the marked noise area. The empirical model decomposition method was designed to implement the extraction of energy to produce the intrinsic mode functions and the residual signal. Combined with the threshold model based on the slope range, non-ground objects were distinguished, and digital terrain model was constructed. Low altitude airspace was divided into three zones, namely upper zone, safe zone, and takeoff landing zone based on the above digital surface model and digital terrain model. Aimed at nonground objects and privacy protection areas, the geographic datasets were mapped to the divided zones, the privacy protection areas and restriction areas were avoided based on flight path planning technology. Finally, the visualization technology was adopted to perform the three-dimensional construction of aerial corridor in low altitude airspace. The experiments showed the recognition accuracy of the ground objects in flight areas was improved based on the aerial corridor, the privacy protection was achieved, which has positive significance to the development of low altitude safety industry.

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引用本文

馮登超.基于激光點(diǎn)云數據的無(wú)人駕駛航空器系統空中走廊構建計算機測量與控制[J].,2018,26(2):133-141.

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歷史
  • 收稿日期:2017-12-18
  • 最后修改日期:2017-12-18
  • 錄用日期:2017-12-19
  • 在線(xiàn)發(fā)布日期: 2018-03-07
  • 出版日期: 2018-02-25
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