RAPTOR‐UAV: Real‐time particle tracking in rivers using an unmanned aerial vehicle

机译：Raptor-UAV：使用无人驾驶飞行器的河流实时粒子跟踪

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Abstract >River system measurement and mapping using UAVs is both lean and agile, with the added advantage of increased safety for the surveying crew. A common parameter of fluvial geomorphological studies is the flow velocity, which is a major driver of sediment behavior. Advances in fluid mechanics now include metrics describing the presence and interaction of coherent structures within a flow field and along its boundaries. These metrics have proven to be useful in studying the complex turbulent flows but require time‐resolved flow field data, which is normally unavailable in geomorphological studies. Contactless UAV‐based velocity measurement provides a new source of velocity field data for measurements of extreme hydrological events at a safe distance, and could allow for measurements of inaccessible areas. Recent works have successfully applied large‐scale particle image velocimetry (LSPIV) using UAVs in rivers, focusing predominantly on surficial flow estimation by tracking intensity differences between georeferenced images. The objective of this work is to introduce a methodology for UAV based real‐time particle tracking in rivers (RAPTOR) in a case study along a short test reach of the Brigach River in the German Black Forest. This methodology allows for large‐scale particle tracking velocimetry (LSPTV) using a combination of floating, infrared light‐emitting particles and a programmable embedded color vision sensor in order to simultaneously detect and track the positions of objects. The main advantage of this approach is its ability to rapidly collect and process the position data, which can be done in real time. The disadvantages are that the method requires the use of specialized light‐emitting particles, which in some cases cannot be retrieved from the investigation area, and that the method returns velocity data in unscaled units of px/s. This work introduces the RAPTOR system with its hardware, data processing workflow, and provides an example of unscaled velocity field estimation using the proposed method. First experiences with the method show that the tracking rate of 50?Hz allows for position estimation with sub‐pixel accuracy, even considering UAV self‐motion. A comparison of the unscaled tracks after Savitzky–Golay filtering shows that although the time‐averaged velocities remain virtually the same, the filter reduces the standard deviation by more than 40% and the maxima by 20%. Copyright ? 2017 John Wiley & Sons, Ltd. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><abstract xmlns =“http://www.wiley.com/namespaces/wiley”type =“main”xml：lang =“en”> <title type =“main”>抽象</ title> >河流系统使用无人机的测量和映射均为精益和敏捷，增加了测量机组人员的安全性的额外优势。河流地貌研究的常见参数是流速，是沉积物行为的主要驱动器。流体力学的进步现在包括描述流场内和沿其边界内相干结构的存在和相互作用的度量。这些指标已经证明是有用的在研究复杂的湍流流动，但需要时间分辨的流场数据，通常在地貌研究中不可用。非接触式UAV基速度测量为极端水文事件的测量提供了一种新的速度场数据来源，可以允许测量无法访问的区域。最近的作品已经使用河流中的无人机成功地应用了大规模的粒子图像VELOCIMETRY（LSPIV），主要通过跟踪地理位置图像之间的强度差异来聚焦在表格流估计上。这项工作的目的是在河流（猛禽）中为河流（猛禽）中基于无人机的实时粒子跟踪的方法，以便沿着德国黑森林的短暂测试到达。该方法允许使用浮动，红外发光颗粒和可编程嵌入的颜色视觉传感器的组合来进行大规模粒子跟踪速度（LSPTV），以便同时检测和跟踪物体的位置。这种方法的主要优点是其能够快速收集和处理位置数据，可以实时完成。缺点是该方法需要使用专用的发光粒子，这在某些情况下无法从研究区域检索，并且该方法在PX / s的未划分单元中返回速度数据。这项工作介绍了猛禽系统的硬件，数据处理工作流程，并使用该方法提供未扫描速度场估计的示例。第一次与方法的经验表明，50ΩHz的跟踪速率允许以子像素精度的位置估计，甚至考虑UAV自动运动。 Savitzky-Golay滤波后未划分的轨道的比较表明，尽管时间平均速度几乎相同，但过滤器将标准偏差降低了40％以上，最大值为20％。版权？ 2017年John Wiley＆amp; SONS，LTD。</ p> </ abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-22319/'>《Earth Surface Processes and Landforms: The journal of the British Geomorphological Research Group》</a> <b style="margin: 0 2px;">|</b><span>2017年第14期</span><b style="margin: 0 2px;">|</b><span>共8页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Thumser Philipp&option=202" target="_blank" rel="nofollow">Thumser Philipp;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Haas Christian&option=202" target="_blank" rel="nofollow">Haas Christian;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Tuhtan Jeffrey A.&option=202" target="_blank" rel="nofollow">Tuhtan Jeffrey A.;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Fuentes‐Pérez Juan Francisco&option=202" target="_blank" rel="nofollow">Fuentes‐Pérez Juan Francisco;</a> <a href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=Toming Gert&option=202" target="_blank" rel="nofollow">Toming Gert;</a> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> <p>I AM HYDRO GmbH ‐ Investigation and Monitoring of HydrosystemsM?rtishofweg 2 78112 St. Georgen Germany;</p> <p>I AM HYDRO GmbH ‐ Investigation and Monitoring of HydrosystemsM?rtishofweg 2 78112 St. Georgen Germany;</p> <p>Centre for BioroboticsTallinn University of TechnologyTallinn Estonia;</p> <p>Centre for BioroboticsTallinn University of TechnologyTallinn Estonia;</p> <p>Centre for BioroboticsTallinn University of TechnologyTallinn Estonia;</p> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/163.html" title="地球物理学">地球物理学;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=UAV&option=203" rel="nofollow">UAV;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=LSPIV&option=203" rel="nofollow">LSPIV;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=PIV&option=203" rel="nofollow">PIV;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=drone&option=203" rel="nofollow">drone;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=velocimetry&option=203" rel="nofollow">velocimetry;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=river&option=203" rel="nofollow">river;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=particle tracking&option=203" rel="nofollow">particle tracking;</a> </p> <div class="translation"> 机译：UAV;LPIV;PIV;无人机;速度;河流;粒子跟踪; 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