无人直升机面阵影像高精度对地定位
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摘要
为提高无人机对地定位精度,必须对系统进行几何标定与补偿。首先进行了直接地理定位实验,检验系统在不经过任何标定时的直接地理定位精度;然后进行了自由网光束法平差实验,以验证无地面控制点时系统的定位精度;最后进行了POS辅助自检校光束法平差,对内方位元素变化、相机畸变、IMU安置角进行标定和补偿,并验证了系统误差补偿后的直接地理定位精度。实验结果表明,未经几何标定的无人直升机直接地理定位的精度可满足应急条件下测绘保障要求;少量地面控制点的辅助下定位精度远优于1∶500比例尺地形图测图的要求,可用于常规测绘生产;系统误差补偿后,直接地理定位精度有明显提升:平面精度提高46.37%,高程精度提高62.49%;系统误差标定和补偿方法正确、有效,无人直升机具有很好的测绘应用前景。
To improve the accuracy of unmanned helicopter, geometry calibration is compulsory. Direct geo-reference experiment is first carried out to verify system's accuracy without any calibration; and then the free network bundle adjustment experiment is undertaken to verify the positioning accuracy of the system without ground control points; finally, a self calibration bundle adjustment is undertaken to calibrate and compensate the camera distortion, interior elements changes, IMU alignment angle. Experimental results show that the unmanned helicopter has high positioning accuracy. The accuracy of direct geo-reference can meet the requirements of emergency mapping, and can be aided by a few ground control points, the positioning accuracy is much better than that of 1∶500 mapping requirements, which can be used for conventional surveying and mapping production. After system error compensation, the direct geo-reference accuracy has improved significantly: the planar accuracy has improved by 46.37% and the height accuracy has improved by 62.49%. The flight test of Songshan calibration field shows that the method of calibration and compensation is correct and effective, and the unmanned helicopter has a good prospect for surveying and mapping applications.
To improve the accuracy of unmanned helicopter, geometry calibration is compulsory. Direct geo-reference experiment is first carried out to verify system's accuracy without any calibration; and then the free network bundle adjustment experiment is undertaken to verify the positioning accuracy of the system without ground control points; finally, a self calibration bundle adjustment is undertaken to calibrate and compensate the camera distortion, interior elements changes, IMU alignment angle. Experimental results show that the unmanned helicopter has high positioning accuracy. The accuracy of direct geo-reference can meet the requirements of emergency mapping, and can be aided by a few ground control points, the positioning accuracy is much better than that of 1∶500 mapping requirements, which can be used for conventional surveying and mapping production. After system error compensation, the direct geo-reference accuracy has improved significantly: the planar accuracy has improved by 46.37% and the height accuracy has improved by 62.49%. The flight test of Songshan calibration field shows that the method of calibration and compensation is correct and effective, and the unmanned helicopter has a good prospect for surveying and mapping applications.
引文
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[14] Wang Donghong. A Study on the Mathematic Model and Algorithm of the Geometric Calibration of Airborne Digital Sensor[D]. Zhengzhou:Information Engineering University, 2011(王冬红.机载数字传感器几何标定的模型与算法研究[D].郑州:信息工程大学,2011)
[15] Geng Zexun,Zhang Baoming,Fan Dazhao. Digital Photogrammetry[M].Beijing:Surveying and Mapping Publishing House,2010(耿则勋,张保明,范大昭.数字摄影测量学[M]. 北京:测绘出版社, 2010)
[16] Liu Jun, Wang Donghong, Wu Yang, et al.Two-step Calibration of IMU Boresight Misalignment Angles[J]. Hydrographic Surveying and Charting,2015, 35(2):33-36(刘军,王冬红,伍洋,等.IMU视轴偏心角的两步法检校[J].海洋测绘,2015, 35(2):33-36)
[17] Yuan Xiuxiao.A New Method for Compatation of the Position and Attitude Error[J].Progress in Natural Science,2008, 18(8):925-926(袁修孝.一种补偿POS定位测姿系统误差的新方法[J].自然科学进展,2008, 18(8):925-926)
[18] Yuan Xiuxiao,Yang Fen,Zhao Qing,et al. Boresight Misalignment Calibration of Integrated DGPS/IMU System[J]. Geomatics and Information Science of Wuhan University, 2006,31(12):1 039-1 043(袁修孝,杨芬,赵青,等.机载POS系统视轴误差检校[J].武汉大学学报·信息科学版,2006,31(12):1 039-1 043)
[19] Xu Miaozhong,Yin Su,Li Zhentao.Aerial Geomatic Calibration Building Technology Research[C].Aisa GIS 2010 International Conference, Taiwan, China,2010(许妙忠,尹粟,李振涛. 航空几何定标场建设技术研究[C]. 2010年亚洲GIS国际会议,中国,台湾,2010)
[20] Zhang Yongsheng.Design and Implementation of Songshan Test Field for High Resolution Remote Sensing and Mapping[J]. Journal of Geomatics Science and Technology,2012, 29(2): 79-82(张永生.高分辨率遥感测绘嵩山实验场的设计与实现——兼论航空航天遥感定位精度与可靠性的基地化验证方法[J]. 测绘科学技术学报, 2012, 29(2): 79-82)
[21] CHZ 3003-2010.Specifications for Office Operation of Low-altitude Digital Aero-photogrammetry [S]. NASG, 2010(CHZ 3003-2010.低空数字航空摄影测量内业规范[S].国家测绘地理信息局,2010)
[22] GBT 23236-2009. Specifications for Aerotriangulation of Digital Aero-photogrammetry[S]. NASG,2009(GBT 23236-2009.数字航空摄影测量空中三角测量规范[S]. 国家测绘地理信息局,2009)
[2] Yu Ying.Research on Key Technologies of UAV Dynamic Photogrammetry[D].Zhengzhou:Information Engineering University, 2014(于英.无人机动态摄影测量若干关键技术研究[D].郑州:信息工程大学,2014)
[3] Xue Wu.The Calibration of UAV Video Geo-Information and Live Processing Technology[D].Zhengzhou:Information Engineering University, 2014(薛武.无人机视频地理信息定标与直播处理方法[D].郑州:信息工程大学,2014)
[4] Remondino F, Barazzetti L, Nex F, et al. UAV Photogrammetry for Mapping and 3D Modeling-Current Status and Future Perspectives [J]. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2011, 38(1): C22
[5] Barazzetti L, Remondino F, Scaioni M, et al. Fully Automatic UAV Image-based Sensor Orientation[C].Proceedings of the 2010 Canadian Geomatics Conference and Symposium of Commission I,Alberta, Canada,2010
[6] Eisenbei? H.UAV Photogrammetry [M].Zurich: ETH, 2009
[7] Guo Fusheng.3D Reconstruciotn from UAV Images[D]. Beijing: Chinese Academy of Sciences, 2013(郭复胜.无人机图像的三维重建方法研究[D].北京:中国科学院大学,2013)
[8] Li Jinpeng, Jiang Ting, Xiao Da. On Diagram-based Three-dimensional Reconstruction of UAV Image[J].Optics and Precision Engineering,2016,24(6):1 501-1 509(李劲澎,姜挺,肖达.基于关系图的无人机影像三维重建[J].光学精密工程,2016,24(6):1 501-1 509)
[9] Wang Zhizhuo. The Principle of Photogrammetry Continuation[M]. Wuhan: Wuhan University Press,2007(王之卓.摄影测量原理续编[M].武汉:武汉大学出版社,2007)
[10] Li Deren, Yuan Xiuxiao. Error Processing and Relia-bility Theory[M]. Wuhan:Wuhan Uiniversity Press,2012(李德仁,袁修孝.误差处理与可靠性理论[M]. 武汉:武汉大学出版社, 2012)
[11] Liu Jun, Guo Changhai, Zhang Li, et al. The Self-calibration of POS Systematic Errors for Airborne Line Array Sensor[J]. Journal of Geomaties Science and Technology, 2013,30(5):489-493(刘军,郭长海,张莉,等.机载线阵CCD相机的POS系统误差自检校[J].测绘科学技术学报,2013,30(5):489-493)
[12] Li Xueyou. IMU/DGPS-supported Photogrammetry-Theory, Approaches and Practice[D]. Zhengzhou:Information Engineering University, 2005(李学友.IMU/DGPS辅助航空摄影测量原理、方法与实践[D].郑州:信息工程大学,2005)
[13] Liu Jun, Wang Donghong, Zhang Yongsheng,et al. IMU/DGPS Supported ADS40 Imagery Direct Georeferencing and Its Error Analysis [J]. Geomatics and Information Science of Wuhan University, 2008,33(11):1 138-1 141(刘军,王冬红,张永生,等.IMU/DGPS辅助ADS40影像直接定位及其精度分析[J].武汉大学学报·信息科学版,2008,33(11):1 138-1 141
[14] Wang Donghong. A Study on the Mathematic Model and Algorithm of the Geometric Calibration of Airborne Digital Sensor[D]. Zhengzhou:Information Engineering University, 2011(王冬红.机载数字传感器几何标定的模型与算法研究[D].郑州:信息工程大学,2011)
[15] Geng Zexun,Zhang Baoming,Fan Dazhao. Digital Photogrammetry[M].Beijing:Surveying and Mapping Publishing House,2010(耿则勋,张保明,范大昭.数字摄影测量学[M]. 北京:测绘出版社, 2010)
[16] Liu Jun, Wang Donghong, Wu Yang, et al.Two-step Calibration of IMU Boresight Misalignment Angles[J]. Hydrographic Surveying and Charting,2015, 35(2):33-36(刘军,王冬红,伍洋,等.IMU视轴偏心角的两步法检校[J].海洋测绘,2015, 35(2):33-36)
[17] Yuan Xiuxiao.A New Method for Compatation of the Position and Attitude Error[J].Progress in Natural Science,2008, 18(8):925-926(袁修孝.一种补偿POS定位测姿系统误差的新方法[J].自然科学进展,2008, 18(8):925-926)
[18] Yuan Xiuxiao,Yang Fen,Zhao Qing,et al. Boresight Misalignment Calibration of Integrated DGPS/IMU System[J]. Geomatics and Information Science of Wuhan University, 2006,31(12):1 039-1 043(袁修孝,杨芬,赵青,等.机载POS系统视轴误差检校[J].武汉大学学报·信息科学版,2006,31(12):1 039-1 043)
[19] Xu Miaozhong,Yin Su,Li Zhentao.Aerial Geomatic Calibration Building Technology Research[C].Aisa GIS 2010 International Conference, Taiwan, China,2010(许妙忠,尹粟,李振涛. 航空几何定标场建设技术研究[C]. 2010年亚洲GIS国际会议,中国,台湾,2010)
[20] Zhang Yongsheng.Design and Implementation of Songshan Test Field for High Resolution Remote Sensing and Mapping[J]. Journal of Geomatics Science and Technology,2012, 29(2): 79-82(张永生.高分辨率遥感测绘嵩山实验场的设计与实现——兼论航空航天遥感定位精度与可靠性的基地化验证方法[J]. 测绘科学技术学报, 2012, 29(2): 79-82)
[21] CHZ 3003-2010.Specifications for Office Operation of Low-altitude Digital Aero-photogrammetry [S]. NASG, 2010(CHZ 3003-2010.低空数字航空摄影测量内业规范[S].国家测绘地理信息局,2010)
[22] GBT 23236-2009. Specifications for Aerotriangulation of Digital Aero-photogrammetry[S]. NASG,2009(GBT 23236-2009.数字航空摄影测量空中三角测量规范[S]. 国家测绘地理信息局,2009)