The invention relates to the field of underwater topographic surveying, in particular to a suspended surveying and mapping method for underwater topography, which comprises the following steps: determining a topographic surveying and mapping root point, preparing a non-beacon surveying and mapping function total station, a rotor unmanned aerial vehicle, a measuring rope and a plumb bob, binding one end of the measuring rope on the rotor unmanned aerial vehicle, binding the other end of the measuring rope on the plumb bob, and marking on the measuring rope; suspending the unmanned rotorcraft right above the point to be measured, slowly descending the unmanned rotorcraft, hovering the unmanned rotorcraft when the plumb bob is just in contact with the underwater terrain, determining the three-dimensional position Wi (XWi, YWi and HWi) of the unmanned rotorcraft at the hovering point through the total station with the non-beacon surveying and mapping function, and observing the scale value Si when the surveying rope intersects with the water surface through the telescope of the total station; the three-dimensional position Di (XDi, YDi, HDi) of the point to be measured is calculated, XDi = XWi, YDi = YWi, and HDi = HWi-S, S is the height value from the lowest portion of the plumb bob to the three-dimensional position Wi (XWi, YWi, HWi) of the unmanned rotorcraft, and the water depth of the three-dimensional position Di (XDi, YDi, HDi) of the point to be measured is S-S.
本发明涉及水下地形测量领域,一种水下地形悬空测绘方法,确定地形测绘图根点,备好无觇标测绘功能全站仪,备好旋翼无人机、测绳、垂球,测绳一端绑定在旋翼无人机上,测绳另一端绑定垂球,测绳上有刻度;将旋翼无人机悬空到待测点的正上方,将旋翼无人机缓缓下降,在垂球与水下地形刚接触时,将旋翼无人机悬停,通过无觇标测绘功能全站仪确定悬停点旋翼无人机的三维位置Wi(XWi,YWi,HWi),以全站仪的望远镜察看测绳与水面相交时的刻度值Si;计算待测点的三维位置Di(XDi,YDi,HDi),其中,XDi=XWi,YDi=YWi,HDi=HWi –S,S为垂球最下部到旋翼无人机的三维位置Wi(XWi,YWi,HWi)的高度值,待测点的三维位置Di(XDi,YDi,HDi)水深为S‑S。
Underwater terrain suspended surveying and mapping method
一种水下地形悬空测绘方法
2024-07-12
Patent
Electronic Resource
Chinese
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