Method and system for determining optimal flight height of unmanned aerial vehicle, electronic device, and medium

1 . A method for controlling a flight height of an unmanned aerial vehicle (UAV), comprising:

obtaining a multi-band crop spectral image of an experimental area in a preset scenario, wherein the preset scenario is a scenario in which flight parameters of the UAV and setting parameters of a spectral camera are unchanged in a flight process of the UAV carrying the spectral camera;

performing data processing on the multi-band crop spectral image, to obtain multi-spectral orthographies of a plurality of sample plots, wherein the experimental area comprises the plurality of sample plots;

calculating a ground resolution of the multi-spectral orthography of each sample plot, simulating and determining a multi-band crop spectral image of each sample plot at a different flight height by a nearest neighbor interpolation method based on the ground resolution of the multi-spectral orthography of each sample plot;

for the multi-band crop spectral image of each sample plot at the different flight height, determining a flight height corresponding to each sample plot by a hypothetical test method;

determining a flight path corresponding to the experimental area based on the flight height corresponding to each sample plot; and

controlling the UAV to fly based on the flight path to obtain a multi-band crop spectral image, wherein the multi-band crop spectral image meets a requirement of extraction accuracy of a phenotypic parameter;

wherein, a plurality of multi-band crop spectral images corresponding to any sample plot are divided into different flight gradients based on a flight height;

for the multi-band crop spectral image of each sample plot at the different flight height, the controlling a flight height corresponding to each sample plot by a hypothetical test method comprises:

for any sample plot, performing at least one hypothetical test operation based on a flight gradient from low to high until that a preset condition is met, wherein two hypothetical test operations correspond to the different flight gradients, an i th hypothetical test operation corresponds to an i th flight gradient, i is greater than or equal to 1 and less than or equal to N, and N is a total number of flight gradients:

the i th hypothetical test operation comprises:

performing the hypothetical test on a multi-band crop spectral image of a marked sample plot at the i th flight gradient, and determining a hypothetical test result corresponding to the marked sample plot at the i th flight gradient, wherein the marked sample plot is any sample plot; and

when the hypothetical test result is less than or equal to a preset threshold, determining a flight height corresponding to an (i−1) th flight gradient as a flight height of the marked sample plot;

wherein, the preset condition comprises that the hypothetical test result is less than or equal to the preset threshold.

2 . The method for controlling a flight height of a UAV according to claim 1 , wherein the performing data processing on the multi-band crop spectral image, to obtain multi-spectral orthographies of a plurality of sample plots specifically comprises:

performing image splicing on a multi-band crop spectral image of the experimental area collected by the spectral camera, to obtain the multi-spectral orthography;

performing spectral correction and reflectivity correction on the multi-spectral orthography to obtain a corrected multi-spectral orthography; and

performing image segmentation on the corrected multi-spectral orthography, to obtain the multi-spectral orthographies of the sample plots.

3 . The method for controlling a flight height of a UAV according to claim 1 , wherein the determining a hypothetical test result corresponding to the marked sample plot at the i th flight gradient specifically comprises:

determining a mean reflectivity spectrum of a first target, wherein the mean reflectivity spectrum of the first target is a mean reflectivity spectrum of multi-band crop spectral images of marked sample plots at the i th flight gradient;

determining a mean reflectivity spectrum of a second target, wherein the mean reflectivity spectrum of the second target is a mean reflectivity spectrum of the multi-band crop spectral images of the marked sample plot when the UAV flies; and

performing the hypothetical test on the mean reflectivity spectrum of the first target and the mean reflectivity spectrum of the second target, and determining the hypothetical test result corresponding to the marked sample plot at the i th flight gradient.

4 . A system for controlling a flight height of a UAV, comprising:

a module for obtaining a multi-band crop spectral image of an experimental area, configured to obtain a multi-band crop spectral image of the experimental area in a preset scenario, wherein the preset scenario is a scenario in which flight parameters of the UAV and setting parameters of a spectral camera are unchanged in a flight process of the UAV carrying the spectral camera;

a module for determining a multi-spectral orthography of a sample plot, configured to perform data processing on the multi-band crop spectral image, to obtain multi-spectral orthographies of a plurality of sample plots, wherein the experimental area comprises the plurality of sample plots;

a module for determining a multi-spectral image of a sample plot at a different flight height, configured to: calculate a ground resolution of the multi-spectral orthography of each sample plot, simulate and determine a multi-band crop spectral image of each sample plot at the different flight height by a nearest neighbor interpolation method based on the ground resolution of the multi-spectral orthography of each sample plot;

a flight height determining module, configured to: determine a flight path corresponding to the experimental area based on the flight height corresponding to each sample plot and, for the multi-band crop spectral image of each sample plot at the different flight height, determine a flight height corresponding to each sample plot by a hypothetical test method; and

a multi-band crop spectral image determining module, configured to control the UAV to fly based on the flight path to obtain a multi-band crop spectral image, wherein the multi-band crop spectral image meets a requirement of extraction accuracy of a phenotypic parameter:

wherein a plurality of multi-band crop spectral images corresponding to any sample plot are divided into different flight gradients based on a flight height;

the flight height determining module is specifically configured to:

for any sample plot, perform at least one hypothetical test operation based on a flight gradient from low to high until that a preset condition is met, wherein two hypothetical test operations correspond to the different flight gradients, an i th hypothetical test operation corresponds to an i th flight gradient, i is greater than or equal to 1 and less than or equal to N, and N is a total number of flight gradients;

the i th hypothetical test operation comprises:

performing the hypothetical test on a multi-band crop spectral image of a marked sample plot at the i th flight gradient, and determining a hypothetical test result corresponding to the marked sample plot at the i th flight gradient, wherein the marked sample plot is any sample plot; and

when the hypothetical test result is less than or equal to a preset threshold, determining a flight height corresponding to an (i−1) th flight gradient as a flight height of the marked sample plot;

wherein, the preset condition comprises that the hypothetical test result is less than or equal to the preset threshold.

5 . An electronic device, comprising a non-transitory memory arrangement, and a processor, wherein the non-transitory memory arrangement is configured to store a computer program, and the processor is configured to run the computer program to enable the electronic device to perform the following steps:

obtaining a multi-band crop spectral image of an experimental area in a preset scenario, wherein the preset scenario is a scenario in which flight parameters of the UAV and setting parameters of a spectral camera are unchanged in a flight process of the UAV carrying the spectral camera;

performing data processing on the multi-band crop spectral image, to obtain multi-spectral orthographies of a plurality of sample plots, wherein the experimental area comprises the plurality of sample plots;

calculating a ground resolution of the multi-spectral orthography of each sample plot, simulating and determining a multi-band crop spectral image of each sample plot at a different flight height by a nearest neighbor interpolation method based on the ground resolution of the multi-spectral orthography of each sample plot;

for the multi-band crop spectral image of each sample plot at the different flight height, determining a flight height corresponding to each sample plot by a hypothetical test method;

determining a flight path corresponding to the experimental area based on the flight height corresponding to each sample plot; and

controlling the UAV to fly based on the flight path to obtain a multi-band crop spectral image, wherein the multi-band crop spectral image meets a requirement of extraction accuracy of a phenotypic parameter;

wherein, a plurality of multi-band crop spectral images corresponding to any sample plot are divided into different flight gradients based on a flight height;

for the multi-band crop spectral image of each sample plot at the different flight height, the determining a flight height corresponding to each sample plot by a hypothetical test method comprises:

for any sample plot, performing at least one hypothetical test operation based on a flight gradient from low to high until that a preset condition is met, wherein two hypothetical test operations correspond to the different flight gradients, an i th hypothetical test operation corresponds to an i th flight gradient, i is greater than or equal to 1 and less than or equal to N, and N is a total number of flight gradients;

the i th hypothetical test operation comprises:

performing the hypothetical test on a multi-band crop spectral image of a marked sample plot at the i th flight gradient, and determining a hypothetical test result corresponding to the marked sample plot at the i th flight gradient, wherein the marked sample plot is any sample plot; and

when the hypothetical test result is less than or equal to a preset threshold, determining a flight height corresponding to an (i−1) th flight gradient as a flight height of the marked sample plot;

wherein, the preset condition comprises that the hypothetical test result is less than or equal to the preset threshold.

6 . The electronic device according to claim 5 , wherein the performing data processing on the multi-band crop spectral image, to obtain multi-spectral orthographies of a plurality of sample plots specifically comprises:

performing image splicing on a multi-band crop spectral image of the experimental area collected by the spectral camera, to obtain the multi-spectral orthography;

performing spectral correction and reflectivity correction on the multi-spectral orthography to obtain a corrected multi-spectral orthography; and

performing image segmentation on the corrected multi-spectral orthography, to obtain the multi-spectral orthographies of the sample plots.

7 . The electronic device according to claim 5 , wherein the determining a hypothetical test result corresponding to the marked sample plot at the i th flight gradient specifically comprises:

determining a mean reflectivity spectrum of a first target, wherein the mean reflectivity spectrum of the first target is a mean reflectivity spectrum of multi-band crop spectral images of marked sample plots at the i th flight gradient;

determining a mean reflectivity spectrum of a second target, wherein the mean reflectivity spectrum of the second target is a mean reflectivity spectrum of the multi-band crop spectral images of the marked sample plot when the UAV flies; and

performing the hypothetical test on the mean reflectivity spectrum of the first target and the mean reflectivity spectrum of the second target, and determining the hypothetical test result corresponding to the marked sample plot at the i th flight gradient.