Application of 3D information extraction technology of ground obstacles in the flight trajectory planning of UAV airborne geophysical exploration

doi:10.6046/zrzyyg.2021098

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Abstract

UAV airborne geophysical exploration has become an emerging branch of airborne geophysical exploration technology. To obtain high-quality measured data in UAV airborne geophysical exploration, it is necessary to plan UAV flight trajectory according to the application characteristics of airborne geophysical exploration. Focusing on the demand for 3D planning of UAV flight trajectory and autonomous obstacle avoidance, this paper studied the 3D information extraction technology of ground obstacles based on point cloud data of UAV LiDAR and extracted ground points and non-ground points (e.g., transmission towers, power line points, and vegetation points). The construction of terrain information and the 3D reconstruction of transmission towers and power lines will provide important primary data for UAV 3D flight trajectory planning software.

Keywords airborne lidar UAV power line extraction filtering

ZTFLH:

TP79

Corresponding Authors: LI Yu E-mail: 4402744@qq.com;gtzyygliyu@163.com

Issue Date: 14 March 2022

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	Fang WU
	Yu LI
	Dingjian JIN
	Tianqi LI
	Hua GUO
	Qijie ZHANG

Cite this article:

Fang WU,Yu LI,Dingjian JIN, et al. Application of 3D information extraction technology of ground obstacles in the flight trajectory planning of UAV airborne geophysical exploration[J]. Remote Sensing for Natural Resources, 2022, 34(1): 286-292.

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https://www.gtzyyg.com/EN/10.6046/zrzyyg.2021098 OR https://www.gtzyyg.com/EN/Y2022/V34/I1/286

Fig.1 Barrier information extraction flow chart

Fig.2 Schematic diagram of the filtering parameters

Fig.3 Power line space characteristics

Tab.1 Description of the power line point cloud characteristics

Fig.4 Manual editing of non-ground miserror results

Fig.5 Create a 3D survey network using the point cloud terrain information

Fig.6 Schematic diagram of the point cloud data

Fig.7 Point cloud classification results

Fig.8 Power line extraction

Fig.9 Modeling of the 3D corridor of the power line

Tab.2 Power line fitting precision(m)

Fig.10 Example of flight planning 3D measuring network output

Tab.3 Air route flight height-topographical statistics(m)

Fig.11 Flight height and topographical profile of the test area

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