无人飞艇低空航测工程试验及空三处理中精细技术研究
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摘要
无人飞艇低空遥感系统,是近几年发展起来的一种先进、高效、高精度的航摄遥感系统,具有与传统航空摄影测量所不具备的优点。然而,由于该技术出现时间较短,成果的应用案例较少,在推广应用方面还存在许多亟待解决的问题,还需要从生产实践中提炼和解决相关技术难题。
无人飞艇在执行低空遥感任务时,由于受其载重小、飞行姿态控制困难等条件的制约,导致获取的航空影像像幅小、每张姿态复杂。这些技术条件的限制给低空遥感数据处理带来了极大的挑战。目前,国内外各种传统摄影测量软件还无法进行全自动空三,完成这样的数据处理。
本文结合作者参与乳山无人飞艇低空测绘的大型工程试验经验,探讨了无人飞艇用于低空遥感测图的生产技术路线和野外布控方法。针对由复杂的地形条件和飞行姿态引起的影像自动匹配困难,难于相对定向的问题,从遥感信息论的角度分析了问题存在的原因,并提出了相应解决问题的对策。以试验室研制的MAP-AT软件为基础,完成了困难区域的航片空三定位工作。同时,通过对山区、林地、水域等不同的困难地形的试验提出了改进MAPT-AT实现精确影像匹配的方法和思路。
Unmanned airship remote sensing system is an advanced, efficient and high precision system which is newly developed. It has many advantages that other systems lack of. But, since it's new, it's not widely known.
The rapid development of unmanned aircraft photogrammetry, has brought new challenges, that is, how to process the images of difficult terrains which are rarely fond in traditional photogrammetry. As unmanned aircraft have features like low height, small images and complicated aerial stances, current auto aerial triangulation software still has problems making exact matches.
This article mainly introduces unmanned airship remote sensing system through Rushan mapping project, and takes MAP-AT as an example, shows and explains the methods and ideas to aim AAT software to process difficult terrains as mountain, forest and water area, and the theories of these methods.
无人飞艇在执行低空遥感任务时,由于受其载重小、飞行姿态控制困难等条件的制约,导致获取的航空影像像幅小、每张姿态复杂。这些技术条件的限制给低空遥感数据处理带来了极大的挑战。目前,国内外各种传统摄影测量软件还无法进行全自动空三,完成这样的数据处理。
本文结合作者参与乳山无人飞艇低空测绘的大型工程试验经验,探讨了无人飞艇用于低空遥感测图的生产技术路线和野外布控方法。针对由复杂的地形条件和飞行姿态引起的影像自动匹配困难,难于相对定向的问题,从遥感信息论的角度分析了问题存在的原因,并提出了相应解决问题的对策。以试验室研制的MAP-AT软件为基础,完成了困难区域的航片空三定位工作。同时,通过对山区、林地、水域等不同的困难地形的试验提出了改进MAPT-AT实现精确影像匹配的方法和思路。
Unmanned airship remote sensing system is an advanced, efficient and high precision system which is newly developed. It has many advantages that other systems lack of. But, since it's new, it's not widely known.
The rapid development of unmanned aircraft photogrammetry, has brought new challenges, that is, how to process the images of difficult terrains which are rarely fond in traditional photogrammetry. As unmanned aircraft have features like low height, small images and complicated aerial stances, current auto aerial triangulation software still has problems making exact matches.
This article mainly introduces unmanned airship remote sensing system through Rushan mapping project, and takes MAP-AT as an example, shows and explains the methods and ideas to aim AAT software to process difficult terrains as mountain, forest and water area, and the theories of these methods.
引文
[1]崔红霞,林宗坚,杨洪,黄晓雯.无人飞艇低空数码影像多视摄影测量[J].光电工程,2008,35(7)：73-78.
[2]林宗坚,宣文玲,孙杰,王东.由小面阵CCD组合构成宽角航空相机[J].测绘科学,2005,30(1)：94-98.
[3]王聪华,林宗坚.UAVRS影像空中三角测量实验研究[J].测绘科学,2007,32(4)：41-43.
[4]张祖勋,杨生春,张剑清等.多基线-数字近景摄影测量[J].地理空间信息,2007,5(1)：1-4.
[5]刘春华.遥感影像的半自动配准[J].测绘遥感与导航定位,2008,32(5)：32-34.
[6]王之卓.摄影测量原理[M].武汉：武汉大学出版社.2007.
[7]崔红霞,林宗坚,孙杰.大重叠度无人机遥感影像的三维建模方法研究[J].测绘科学,2005,30(2)：36-38.
[8]林宗坚,江涛.多帧图像融合提高分辨率的方法研究[J].测绘科学,2005,30(1)：99-101.
[9]申邵洪,赖祖龙,万幼川.基于融合的高分辨率遥感影像变化监测[J].测绘通报,2009,(3)：17-19；23.
[10]张剑清,胡安文.多基线摄影测量前方交会方法及精度分析[J].武汉大学学报·信息科学版,2007,32(10)：847-851.
[11]杨燕初,王生.无人飞艇的研究进展及技术特点.第二届航空学会青年科技论坛文集：158-165.
[12]王艳红,肖彦海.小型无人机姿态系统的变论域模糊控制[J].自动化技术与应用,2008,27(9)：14-17.
[13]王田苗,李晓宇,梁建宏,王松.一种具有通用性的无人飞艇飞行控制系统[J].机器人技术与应用,2008：40-45.
[14]崔红霞,林宗坚,杨洪,黄晓雯.无人飞艇低空数码影像多视摄影测量[J].光电工程,2008,35(7)：73-78.
[15]章毓晋.图像理解与计算机视觉[M].北京：清华大学出版社.2000.
[16]冯文灏.非地形摄影测量[M].北京：测绘出版社,1985.
[17]王聪华,林宗坚.无人飞行器低空遥感影像的半自动匹配方法[J].科学研究月刊,2006,(3)
[18]李德仁,郑肇葆.解析摄影测量学[M].北京：测绘出版社,1992.
[19]袁修孝.GPS辅助空中三角测量原理及应用[M].北京：测绘出版社,2001.
[20]冯文灏.近景摄影测量的基本技术提要[J].测绘科学,2000,25(4)：26-30.
[21]贾建军,舒嵘,王斌永.无人机大面阵CCD相机遥感系统[J].光电工程,2006,33(8)：90-93.
[22]Duran Z, Toz G. Obtaining 3D Information of Historical Monuments by Means of Photogrammetry [C]. The 4th International Symposium "Turkish German Joint Geodetic Days", Berlin,2001.
[23]Pollefeys M. Self-calibration and Metric 3D Reconstruction from Uncalibrated Image Sequences[D]. Belgium:Katholieke University,1999.
[24]Heipke C. A global approach for least squares image matching and surface reconstruction in object space[J]. Photogrammetric Engineering & Remote Sensing,1992, 3(58):317-323.
[25]Gruen A. Adaptive least squares correlation-a powerful image matching technique [J]. South African Journal of Photogrammetry; Remote Sensing and Cartography,1985, 14(3):175-187.
[26]Shashua A. Trilinear functions for visual recognition[c]. Proc. of the European Conference on Computer Vision(ECCV). Stockholm, Sweden:[s.n.],1994:479-484.
[27]Hartley R, Zisserman A. Multiple View Geometry in Computer Vision:Second Edition[M]. London:Cambridge University Press,2003.
[28]Light D. An airborne direct digital imaging system[J]. Photogrammetric Engineering & Remote Sensing,2001,67(11):1299-1305.
[29]Roth G. Automatic correspondences for photogrammetric model building[J]. International Archives of Photogrammetry, Remote Sensing & Spatial Information Sciences,2004,35(B5):713-718.
[30]Fraser, C S. Some thoughts of the emergence of digital close-range photogrammetry[Z]. The Photogrammetric Record,1998.
[31]Axel Grazer. Synchronization of a stereo camera system for auto-zoom in the Rehabilitation Robot FRIEND [Z].
[32]Okutomi M, Kanade T. A Multiple-Baseline Stereo[J]. IEEE PAMI-15,1993: 353-363.
[2]林宗坚,宣文玲,孙杰,王东.由小面阵CCD组合构成宽角航空相机[J].测绘科学,2005,30(1)：94-98.
[3]王聪华,林宗坚.UAVRS影像空中三角测量实验研究[J].测绘科学,2007,32(4)：41-43.
[4]张祖勋,杨生春,张剑清等.多基线-数字近景摄影测量[J].地理空间信息,2007,5(1)：1-4.
[5]刘春华.遥感影像的半自动配准[J].测绘遥感与导航定位,2008,32(5)：32-34.
[6]王之卓.摄影测量原理[M].武汉：武汉大学出版社.2007.
[7]崔红霞,林宗坚,孙杰.大重叠度无人机遥感影像的三维建模方法研究[J].测绘科学,2005,30(2)：36-38.
[8]林宗坚,江涛.多帧图像融合提高分辨率的方法研究[J].测绘科学,2005,30(1)：99-101.
[9]申邵洪,赖祖龙,万幼川.基于融合的高分辨率遥感影像变化监测[J].测绘通报,2009,(3)：17-19；23.
[10]张剑清,胡安文.多基线摄影测量前方交会方法及精度分析[J].武汉大学学报·信息科学版,2007,32(10)：847-851.
[11]杨燕初,王生.无人飞艇的研究进展及技术特点.第二届航空学会青年科技论坛文集：158-165.
[12]王艳红,肖彦海.小型无人机姿态系统的变论域模糊控制[J].自动化技术与应用,2008,27(9)：14-17.
[13]王田苗,李晓宇,梁建宏,王松.一种具有通用性的无人飞艇飞行控制系统[J].机器人技术与应用,2008：40-45.
[14]崔红霞,林宗坚,杨洪,黄晓雯.无人飞艇低空数码影像多视摄影测量[J].光电工程,2008,35(7)：73-78.
[15]章毓晋.图像理解与计算机视觉[M].北京：清华大学出版社.2000.
[16]冯文灏.非地形摄影测量[M].北京：测绘出版社,1985.
[17]王聪华,林宗坚.无人飞行器低空遥感影像的半自动匹配方法[J].科学研究月刊,2006,(3)
[18]李德仁,郑肇葆.解析摄影测量学[M].北京：测绘出版社,1992.
[19]袁修孝.GPS辅助空中三角测量原理及应用[M].北京：测绘出版社,2001.
[20]冯文灏.近景摄影测量的基本技术提要[J].测绘科学,2000,25(4)：26-30.
[21]贾建军,舒嵘,王斌永.无人机大面阵CCD相机遥感系统[J].光电工程,2006,33(8)：90-93.
[22]Duran Z, Toz G. Obtaining 3D Information of Historical Monuments by Means of Photogrammetry [C]. The 4th International Symposium "Turkish German Joint Geodetic Days", Berlin,2001.
[23]Pollefeys M. Self-calibration and Metric 3D Reconstruction from Uncalibrated Image Sequences[D]. Belgium:Katholieke University,1999.
[24]Heipke C. A global approach for least squares image matching and surface reconstruction in object space[J]. Photogrammetric Engineering & Remote Sensing,1992, 3(58):317-323.
[25]Gruen A. Adaptive least squares correlation-a powerful image matching technique [J]. South African Journal of Photogrammetry; Remote Sensing and Cartography,1985, 14(3):175-187.
[26]Shashua A. Trilinear functions for visual recognition[c]. Proc. of the European Conference on Computer Vision(ECCV). Stockholm, Sweden:[s.n.],1994:479-484.
[27]Hartley R, Zisserman A. Multiple View Geometry in Computer Vision:Second Edition[M]. London:Cambridge University Press,2003.
[28]Light D. An airborne direct digital imaging system[J]. Photogrammetric Engineering & Remote Sensing,2001,67(11):1299-1305.
[29]Roth G. Automatic correspondences for photogrammetric model building[J]. International Archives of Photogrammetry, Remote Sensing & Spatial Information Sciences,2004,35(B5):713-718.
[30]Fraser, C S. Some thoughts of the emergence of digital close-range photogrammetry[Z]. The Photogrammetric Record,1998.
[31]Axel Grazer. Synchronization of a stereo camera system for auto-zoom in the Rehabilitation Robot FRIEND [Z].
[32]Okutomi M, Kanade T. A Multiple-Baseline Stereo[J]. IEEE PAMI-15,1993: 353-363.