非常规航摄影像定位方法及精度评定
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摘要
航空摄影测量是获取及更新地理信息的重要手段,是基本比例尺地形图的主要成图方式,已经成为我国基础测绘的通用作业模式。随着科技的发展,摄影测量有了长足的发展。轻小型飞行平台已经应用于航空摄影测量,使其作业形式更加灵活,但也带来了影像姿态不稳定的新问题。本文围绕非常规航摄影像的定向和定位这一主线,针对其排列不规则、姿态变化大引起的新问题,以空中三角测量为基础,深入研究了适用于非常规航摄影像的定向方法,并对其定位精度进行了深入探讨。本文的主要研究内容和创新性成果如下：
(1)改进了非常规航摄影像的模拟方法。为提高处理效率,改进了影像模拟方法,提出以面元为处理单位的反解法对航摄影像进行模拟。首先选取待模拟区域对应的DEM和DOM数据,根据航摄条件设置影像的内外方位元素；其次根据区域的地形特点将影像划分为面元；然后对面元四角的像素进行高程迭代以获取其对应地面点的平面位置,并建立面元与地面格网的近似仿射变换关系；最后基于仿射变换计算面元上所有像素对应的地面平面位置,并在DOM上获取灰度值。对平地和丘陵地的多种摄影条件下的航摄影像模拟结果表明,本文提出的影像模拟方法能够模拟各种摄影条件下的航摄影像,相比逐像素的影像模拟方法,处理效率提高了10倍左右。
(2)分析了航摄影像的匹配精度。通过对模拟的航摄影像进行高精度影像匹配,评价影像匹配的精度。试验结果表明,对影像间几何变形小的影像,匹配精度优于1/6像素；对影像间几何变形较大的影像,匹配精度一般不超过0.4像素。这一统计结果可作为影像自动量测的精度估值以及检验指标。
(3)针对影像间存在大旋角的立体像对,提出了以奇异值分解约束本质矩阵获得未知数初值的严格相对定向方法。首先构建影像间的本质矩阵,采用传统的8点法线性求解本质矩阵元素；其次顾及本质矩阵的秩亏特性,采用奇异值分解方法对本质矩阵进行降秩约束；然后从经约束的本质矩阵元素导出相对定向元素的初始值；最后将初始值带入到基于上下视差的严格相对定向模型进行迭代求解。对模拟影像、常规航摄影像、非常规航摄影像的相对定向试验表明,该方法适用于存在大旋角立体影像对的相对定向,能够满足实际生产重构立体模型的精度需求。
(4)针对存在大旋角、大倾角的影像模型,提出了基于平面旋转的绝对定向方法。方法的核心是根据拟合平面的法向量的旋转关系直接求解三维旋转参数。首先对模型点在像方坐标系和物方坐标系下各自拟合出最佳平面,并计算平面的法向量；然后通过平面法向量的空间旋转关系直接求解绝对定向角元素的初值；最后,将角元素初值连同由经验公式估计的比例系数初值一并代入绝对定向的严格模型进行绝对定向元素的精确求解。对模拟影像、航摄影像、近景影像的试验结果表明,本文方法适用于存在大旋转角的影像模型的绝对定向,定向精度满足实际生产需求。
(5)分析了解析空中三角测量各个环节的误差传播特性,统计了非常规影像定位定向的精度估值。通过对各种摄影条件下的模拟航摄影像区域网的平差处理,给出非常规航摄影像定位精度的估算公式。
Aerial photogrammetry is an important means for acquiring and updating the geographical information, is the main link to realize digital earth, is the main mode of mapping basic scale topographic map, has become a general operating mode of basic surveying and mapping in China. With the development of science and technology, photogrammetry has made significant progress based on the hardware technology. With the application of light-small flying platform, the operation mode has become more flexible, but faced with new challenge of instability posture at the same time. Based on the aerial triangulation, this paper focuses on the orientation of unconventional photogrammetry, investigated deeply the orientation method which is suitable to it, considering the new problem caused by irregular array and the large rotation angle, what is more, deeply exploring it's positioning accuracy. The main research contents and innovative results are as follows:
(1) Improved the fast simulation method of the unconventional aerial images.To enhance the efficiency of processing, this paper improves the image simulation method and proposes an inverse solution with panel as the processing unit to simulate the image. Firstly, select the DEM and DOM data of the corresponding region to be simulated. Then set the interior and exterior orientation elements based on the photographic conditions. Secondly, according to the characteristic of topography, image is divided into panel. And then iterate the elevation with the pixel of four corners of the panel to obtain the plane position of the corresponding ground point, what is more, establish the approximate affine transformation relations between panel and the ground grid and get the gray value from the DOM. Under a variety of photographic conditions, such a plain area and hilly area, according to the results of the simulated aerial images, the proposed method show t can simulate aerial images of all kinds of photographic conditions. Compared to the image simulation method with by pixel, the efficiency of processing is improved by about ten times.
(2) Precision analysis of image matching in aerial photogrammetry. The precision statistics is carried out by the high precision matching of simulated images. The results reveal that when the geometric distortion among images is small, matching precision is better than1/6pixels, whereas matching accuracy is generally not more than0.4pixels. So the statistical results can be used as the precision estimation and checking index of image automatic measurement.
(3) Aimed at the stereopair with large rotation angle, this paper proposes a rigid relative orientation method which uses singular value decomposition to constrain essential matrix in order to obtain the initial value of the unknown. Firstly, build the essential matrix between images, then use the traditional eight point method to linearly solve the elements of the essential matrix; secondly, considering the rank defect of the essential matrix, use singular value decomposition to descend rank in order to constrain essential matrix; then derive the initial value of relative orientation elements from constrained essential matrix; finally bring the initial value into rigid relative orientation model based on vertical parallax to process iteratively. According to the results of experiments, which use the simulated images, conventional aerial images and unconventional images respectively, the proposed relative orientation method can be applied to the large rotation stereopair and meets the precision request of reconstructing stereopair.
(4) Aimed at the image model with big rotation angel, a new absolute orientation based on plane rotation is proposed. According to the rotation relationship between the normal vector of fitted plane to solve the three-dimensional rotation parameters directly is the kernel of this method. Firstly, an optimal plane is fitted according to the coordinates of model points in the image-space coordinate system and the object-space coordinate system respectively, subsequently the normal vector is calculated respectively. Then according to the spatial rotation relationship between the normal vectors, the initial values of angular elements are solved for absolute orientation. Finally, putting the above angular elements together with the scale factor which is calculated by the empirical formula as initial values, optimal solutions of the absolute orientation model in the rigorous model of spatial similarity transformation are obtained using the least square adjustment method. According to the results of experiments, which use the simulated images, real aerial images and close-range images respectively, the proposed absolute orientation method can be applied to the large rotation image model and totally meets the absolute orientation request in photogrammetric production.
(5) To analysis the error propagation characteristics of aerial triangulation in each link and carry out statistics on precision estimation of unconventional image positioning. Through the block adjustment of simulated images in various conditions of photography, the formula of estimation of precision position for the unconventional aerial images is proposed.
(1)改进了非常规航摄影像的模拟方法。为提高处理效率,改进了影像模拟方法,提出以面元为处理单位的反解法对航摄影像进行模拟。首先选取待模拟区域对应的DEM和DOM数据,根据航摄条件设置影像的内外方位元素；其次根据区域的地形特点将影像划分为面元；然后对面元四角的像素进行高程迭代以获取其对应地面点的平面位置,并建立面元与地面格网的近似仿射变换关系；最后基于仿射变换计算面元上所有像素对应的地面平面位置,并在DOM上获取灰度值。对平地和丘陵地的多种摄影条件下的航摄影像模拟结果表明,本文提出的影像模拟方法能够模拟各种摄影条件下的航摄影像,相比逐像素的影像模拟方法,处理效率提高了10倍左右。
(2)分析了航摄影像的匹配精度。通过对模拟的航摄影像进行高精度影像匹配,评价影像匹配的精度。试验结果表明,对影像间几何变形小的影像,匹配精度优于1/6像素；对影像间几何变形较大的影像,匹配精度一般不超过0.4像素。这一统计结果可作为影像自动量测的精度估值以及检验指标。
(3)针对影像间存在大旋角的立体像对,提出了以奇异值分解约束本质矩阵获得未知数初值的严格相对定向方法。首先构建影像间的本质矩阵,采用传统的8点法线性求解本质矩阵元素；其次顾及本质矩阵的秩亏特性,采用奇异值分解方法对本质矩阵进行降秩约束；然后从经约束的本质矩阵元素导出相对定向元素的初始值；最后将初始值带入到基于上下视差的严格相对定向模型进行迭代求解。对模拟影像、常规航摄影像、非常规航摄影像的相对定向试验表明,该方法适用于存在大旋角立体影像对的相对定向,能够满足实际生产重构立体模型的精度需求。
(4)针对存在大旋角、大倾角的影像模型,提出了基于平面旋转的绝对定向方法。方法的核心是根据拟合平面的法向量的旋转关系直接求解三维旋转参数。首先对模型点在像方坐标系和物方坐标系下各自拟合出最佳平面,并计算平面的法向量；然后通过平面法向量的空间旋转关系直接求解绝对定向角元素的初值；最后,将角元素初值连同由经验公式估计的比例系数初值一并代入绝对定向的严格模型进行绝对定向元素的精确求解。对模拟影像、航摄影像、近景影像的试验结果表明,本文方法适用于存在大旋转角的影像模型的绝对定向,定向精度满足实际生产需求。
(5)分析了解析空中三角测量各个环节的误差传播特性,统计了非常规影像定位定向的精度估值。通过对各种摄影条件下的模拟航摄影像区域网的平差处理,给出非常规航摄影像定位精度的估算公式。
Aerial photogrammetry is an important means for acquiring and updating the geographical information, is the main link to realize digital earth, is the main mode of mapping basic scale topographic map, has become a general operating mode of basic surveying and mapping in China. With the development of science and technology, photogrammetry has made significant progress based on the hardware technology. With the application of light-small flying platform, the operation mode has become more flexible, but faced with new challenge of instability posture at the same time. Based on the aerial triangulation, this paper focuses on the orientation of unconventional photogrammetry, investigated deeply the orientation method which is suitable to it, considering the new problem caused by irregular array and the large rotation angle, what is more, deeply exploring it's positioning accuracy. The main research contents and innovative results are as follows:
(1) Improved the fast simulation method of the unconventional aerial images.To enhance the efficiency of processing, this paper improves the image simulation method and proposes an inverse solution with panel as the processing unit to simulate the image. Firstly, select the DEM and DOM data of the corresponding region to be simulated. Then set the interior and exterior orientation elements based on the photographic conditions. Secondly, according to the characteristic of topography, image is divided into panel. And then iterate the elevation with the pixel of four corners of the panel to obtain the plane position of the corresponding ground point, what is more, establish the approximate affine transformation relations between panel and the ground grid and get the gray value from the DOM. Under a variety of photographic conditions, such a plain area and hilly area, according to the results of the simulated aerial images, the proposed method show t can simulate aerial images of all kinds of photographic conditions. Compared to the image simulation method with by pixel, the efficiency of processing is improved by about ten times.
(2) Precision analysis of image matching in aerial photogrammetry. The precision statistics is carried out by the high precision matching of simulated images. The results reveal that when the geometric distortion among images is small, matching precision is better than1/6pixels, whereas matching accuracy is generally not more than0.4pixels. So the statistical results can be used as the precision estimation and checking index of image automatic measurement.
(3) Aimed at the stereopair with large rotation angle, this paper proposes a rigid relative orientation method which uses singular value decomposition to constrain essential matrix in order to obtain the initial value of the unknown. Firstly, build the essential matrix between images, then use the traditional eight point method to linearly solve the elements of the essential matrix; secondly, considering the rank defect of the essential matrix, use singular value decomposition to descend rank in order to constrain essential matrix; then derive the initial value of relative orientation elements from constrained essential matrix; finally bring the initial value into rigid relative orientation model based on vertical parallax to process iteratively. According to the results of experiments, which use the simulated images, conventional aerial images and unconventional images respectively, the proposed relative orientation method can be applied to the large rotation stereopair and meets the precision request of reconstructing stereopair.
(4) Aimed at the image model with big rotation angel, a new absolute orientation based on plane rotation is proposed. According to the rotation relationship between the normal vector of fitted plane to solve the three-dimensional rotation parameters directly is the kernel of this method. Firstly, an optimal plane is fitted according to the coordinates of model points in the image-space coordinate system and the object-space coordinate system respectively, subsequently the normal vector is calculated respectively. Then according to the spatial rotation relationship between the normal vectors, the initial values of angular elements are solved for absolute orientation. Finally, putting the above angular elements together with the scale factor which is calculated by the empirical formula as initial values, optimal solutions of the absolute orientation model in the rigorous model of spatial similarity transformation are obtained using the least square adjustment method. According to the results of experiments, which use the simulated images, real aerial images and close-range images respectively, the proposed absolute orientation method can be applied to the large rotation image model and totally meets the absolute orientation request in photogrammetric production.
(5) To analysis the error propagation characteristics of aerial triangulation in each link and carry out statistics on precision estimation of unconventional image positioning. Through the block adjustment of simulated images in various conditions of photography, the formula of estimation of precision position for the unconventional aerial images is proposed.
引文
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