CN102589518B - Remote-sensing aerial surveying elevation fitting method - Google Patents

Abstract

The invention relates to the technical field of power engineering survey, in particular to a remote-sensing aerial surveying elevation fitting method. The remote-sensing aerial surveying elevation fitting method comprises the following steps: setting a field surveyed monitoring point, surveying three-dimensional coordinate data of the monitoring point by using a field surveying instrument, and determining a field surveyed elevation surface; surveying a large-scale topographic map, extracting three-dimensional coordinate data of the large-scale topographic map; in combination with a data value of the field surveyed elevation surface, performing elevation fitting on the three-dimensional coordinate data of the large-scale topographic map by using a polynomial fitting model, and working out an elevation correcting value of each point in the large-scale topographic maps; and correcting the elevation data of the large-scale topographic map by a triangular planar fitting method to the field surveyed elevation surface so as to obtain the elevation value of each point in the large-scale topographic map. Through the adoption of the remote-sensing aerial surveying elevation fitting method, the elevation precision of the large-scale topographic map is effectively improved, thus meeting a requirement on the precision of the surveyed elevation of the large-scale topographic map in survey specifications.

Description

Remote-sensing aerial surveying elevation fitting method

Technical field

The present invention relates to Electric Power Engineering Reconnaissance technical field, belong to Surveying Science and Technology field, specifically a kind of remote-sensing aerial surveying elevation fitting method.

Background technology

Remote sensing aerial survey is mainly used in Real-time Obtaining high precision landform diagram data.At present, remote sensing aerial survey stabilized platform, the elevation of measuring by photogrammetric office work is large with the vertical error that adopts the field operation surveying instruments such as total powerstation to survey, can not meet the requirement of large scale topographical map specifications of surveys, especially in the each exploration of the power engineering stage, use remote sensing airborne survey method, map surveying vertical accuracy is low, does not also have feasible method to address this problem at present.

Summary of the invention

The object of this invention is to provide a kind of elevation by remote sensing aerial survey and process, meet large scale topographical map in specifications of surveys and measure the remote-sensing aerial surveying elevation fitting method that vertical accuracy requires.

For achieving the above object, a kind of remote-sensing aerial surveying elevation fitting method of the present invention's design, comprises following steps:

The first step: field operation actual measurement check point is set, adopts the three-dimensional coordinate data of field operation surveying instrument actual measurement check point, determine field operation actual measurement elevation face;

Second step: adopt remote sensing aerial survey stabilized platform, measure large scale topographical map, extract the three-dimensional coordinate data of large scale topographical map;

The 3rd step: in conjunction with field operation actual measurement elevation face data value, adopt fitting of a polynomial model to carry out height fitting to the three-dimensional coordinate data in large scale topographical map, ask for the elevation modified value of each point in large scale topographical map, adopt the step of the height fitting of fitting of a polynomial model to the three-dimensional coordinate data in large scale topographical map to be:

Survey any point A(x, y in district if field operation actual measurement detects) elevation modified value ξ and plane coordinate system have following relation:

ξ=f ₁(x,y)+ε ①,

In formula: f ₁(x, y) for for elevation modified value ξ trend surface, ε is residual error, establishes:

f ₁(x,y)=a ₀+a ₁x+a ₂y+a ₃xy+a ₄x ²+a ₅y ²+a ₆x ²y+a ₇y ²x+a ₈x ³+a ₉y ³+……②，

Field operation actual measurement detects to survey in district n point, obtains matrix form below:

ξ=AX+ ε 3., formula 3. in:

$\mathrm{\ξ}=\left[\begin{array}{c}{\mathrm{\ξ}}_1\\ {\mathrm{\ξ}}_2\\ {\mathrm{\ξ}}_3\\ ...\\ {\mathrm{\ξ}}_n\end{array}\right];X=\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\\ ...\\ a_n\end{array}\right];\mathrm{\ϵ}=\left[\begin{array}{c}{\mathrm{\ϵ}}_1\\ {\mathrm{\ϵ}}_2\\ {\mathrm{\ϵ}}_3\\ ...\\ {\mathrm{\ϵ}}_n\end{array}\right];A=\left[\begin{array}{ccccc}1& X_1& Y_1& X_1{Y}_1& ...\\ 1& X_2& Y_2& X_2{Y}_2& ...\\ 1& X_3& Y_3& X_3{Y}_3& ...\\ ...& ...& ...& ...& ...\\ 1& X_n& Y_n& X_n{Y}_n& ...\end{array}\right],$

Under the criterion of least square, try to achieve the solution of vectorial X, 2. generation gets back in formula, interpolation go out each point in large scale topographical map elevation modified value;

The 4th step: in conjunction with the elevation modified value of each point in large scale topographical map, adopt the method for the planar matching of triangle to revise the altitude figures of large scale topographical map, be adapted on field operation actual measurement elevation face, draw the height value of each point in large scale topographical map, the concrete steps of the method for the planar matching of triangle are, internally industry spot elevation structure De Laonei network of triangle, for the field operation check point that drops on the interior industry point triangulation network, in utilizing, industry point TIN resolves the interior industry elevation of eyeball position, and this elevation and field operation actual measurement elevation are compared and calculate elevation difference; For the field operation check point outside the interior industry point triangulation network, calculate the elevation difference on triangulation network summit as the elevation difference of the field operation check point outside the interior industry point triangulation network, guarantee that each field operation eyeball all has elevation difference; All field operation eyeballs are carried out to elevation difference counting statistics, be used for analyzing interior industry point measurement precision;

The field operation eyeball structure triangulation network, for matching, is determined to matching triangle elevation difference plane, and three summits of each plane triangle for matching are all containing Fitting height difference, and the elevation difference on three summits forms a Fitting height difference plane, according to the coordinate of each triangular apex and Fitting height difference, the elevation difference of interior industry each point in the Fitting Calculation delta-shaped region, the mathematical formulae of the planar matching of triangle is: establish fieldwork check point three-dimensional coordinate and be respectively M1 (X1, Y1, h1), M2 (X2, Y2, h2), M3 (X3, Y3, h3), M1, M2, in the space plane of M3, arbitrary known point is P point, h1, h2, h3 is respectively M1, M2, the elevation difference of M3, and M1, M2, M3 triangle is a space plane, HM1, HM2, HM3 is respectively fieldwork elevation, corresponding HM1 ', HM2 ', HM3 ' is respectively photogrammetric office work and resolves elevation, h1=HM1-HM1 ', h2=HM2-HM2 ', h3=HM3-HM3 ', interior industry point P ' is fitted to P point, at M1, M2, in the space plane of M3, elevation is HP, high difference is h,

HP=HP '+h 4.,

First solve the vector on three Zhong Liangtiao limits, limit of 3 formations of actual measurement check point:

$\underset{M_1{M}_2}{\→}=(X_2-X_1,Y_2-Y_1,h_2-h_1)$

$\underset{M_1{M}_3}{\→}=(X_3-X_1,Y_3-Y_1,h_3-h_1)$

The normal vector that can be obtained plane equation by above-mentioned two vectors is:

$m=\underset{M_1{M}_2}{\→}\×\underset{M_1{M}_3}{\→}=(A,B,C)$ ⑤

In formula:

A=(Y ₂-Y ₁)(h ₃-h ₁)-(Y ₃-Y ₁)(h ₂-h _l)

B=(h ₂-h ₁)(X ₃-X ₁)-(X ₂-X ₁)(h ₃-h ₁)

C=(X ₂-X ₁)(Y ₃-Y ₁)-(X3-X ₁)(Y ₂-Y ₁)

For any point in plane, 6.

A(X _P-X ₁)+B(Y _P-Y ₁)+C(h-h ₁)=0

, $h=\frac{{\mathrm{AX}}_1+{\mathrm{BY}}_1+{\mathrm{Ch}}_1-{\mathrm{AX}}_p-{\mathrm{BY}}_p}{C}$ ⑦

X1 to X in above-mentioned formula _pthe corresponding coordinate Y1 to Y that measures of value _p,

Y1 to Y _pthe corresponding coordinate X1 to X that measures of value _p,

Therefore, will be 7. formula substitution 4. formula try to achieve P point height value.

In the first step of technique scheme, adopt the leg-of-mutton method of De Laonei to determine field operation actual measurement elevation face.

The present invention adopts a small amount of field operation measurement point of actual measurement to carry out altitude figures matching to remote sensing photogrammetric office work spot elevation, effectively improve the vertical accuracy of large scale topographical map, meet large scale topographical map in specifications of surveys and measure vertical accuracy requirement, can be widely used in large scale topographical map mapping, be applicable to the survey and design of each design phase of power engineering, greatly widened the range of application of remote sensing.

Brief description of the drawings

Fig. 1 is method flow diagram of the present invention;

Fig. 2 is that the present invention utilizes computer software to realize the process flow diagram of planar matching;

Fig. 3 is the process flow diagram that the present invention calculates interior industry point height corrected value;

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail:

Consult shown in Fig. 1, remote-sensing aerial surveying elevation fitting method, comprises following steps:

The first step: field operation actual measurement check point is set, adopts the three-dimensional coordinate data of field operation surveying instrument actual measurement check point, determine field operation actual measurement elevation face;

Second step: adopt remote sensing aerial survey stabilized platform, measure large scale topographical map, extract the three-dimensional coordinate data of large scale topographical map;

The 3rd step: in conjunction with field operation actual measurement elevation face data value, adopt the height fitting of fitting of a polynomial model to the three-dimensional coordinate data in large scale topographical map, ask for the elevation modified value of each point in large scale topographical map;

The 4th step: in conjunction with the elevation modified value of each point in large scale topographical map, adopt the method for the planar matching of triangle to revise the altitude figures of large scale topographical map, be adapted on field operation actual measurement elevation face, draw the height value of each point in large scale topographical map.

Particularly, adopt fitting of a polynomial model to carry out height fitting:

In She Ce district, the elevation modified value ξ of any point A (x, y) and planimetric coordinates have following relation:

ξ=f ₁(x,y)+ε ①

In formula: f ₁(x, y) is the trend surface of elevation modified value ξ; ε is residual error.

If: f ₁(x, y)=a ₀+ a ₁x+a ₂y+a ₃xy+a ₄x ²+ a ₅y ²+ a ₆x ²y+a ₇y ²x+a ₈x ³+ a ₉y ³+ ... 2.

Field operation actual measurement detects to survey in district n point, obtains matrix form below:

ξ=AX+ ε 3., formula 3. in:

$\mathrm{\ξ}=\left[\begin{array}{c}{\mathrm{\ξ}}_1\\ {\mathrm{\ξ}}_2\\ {\mathrm{\ξ}}_3\\ ...\\ {\mathrm{\ξ}}_n\end{array}\right];X=\left[\begin{array}{c}{a}_0\\ a_1\\ a_2\\ ...\\ a_n\end{array}\right];\mathrm{\ϵ}=\left[\begin{array}{c}{\mathrm{\ϵ}}_1\\ {\mathrm{\ϵ}}_2\\ {\mathrm{\ϵ}}_3\\ ...\\ {\mathrm{\ϵ}}_n\end{array}\right];A=\left[\begin{array}{ccccc}1& X_1& Y_1& X_1{Y}_1& ...\\ 1& X_2& Y_2& X_2{Y}_2& ...\\ 1& X_3& Y_3& X_3{Y}_3& ...\\ ...& ...& ...& ...& ...\\ 1& X_n& Y_n& X_n{Y}_n& ...\end{array}\right],$

Under the criterion of least square, try to achieve the solution of vectorial X, 2. generation gets back in formula, just can interpolation goes out the elevation modified value of unknown point, in 2. formula, if get once item of the unknown, claims plane fitting; Get quadratic term, claim again surface fitting; Get cubic term, claim cubic polynomial matching, by that analogy.

Altitude figures disposal route:

Utilize field operation actual measurement spot elevation to carry out matching correction to remote sensing aerial survey altitude figures, the altitude figures that remote sensing aerial survey is obtained adopts the method for the planar matching of triangle to revise, correct on field operation actual measurement elevation face, field operation actual measurement elevation face adopts De Laonei triangle to determine.Need to lay the check point of some to carrying out the region of height fitting, the triangulation network (triangulation network that De Laonei triangle forms) that check point forms will surround whole survey district.Concrete approximating method is as follows:

The internally industry spot elevation structure triangulation network (TIN, De Laonei triangle), for the field operation check point that drops on the interior industry point triangulation network, in utilizing, industry point TIN resolves the interior industry elevation of eyeball position, and this elevation and field operation actual measurement elevation are compared and calculate elevation difference; For the field operation check point outside the interior industry point triangulation network, calculate the elevation difference on triangulation network summit as the elevation difference of the field operation check point outside the interior industry point triangulation network, guarantee that each field operation eyeball all has elevation difference; ; All eyeballs are carried out to difference counting statistics output; To field operation check point (for match point) the structure triangulation network, determine matching triangle elevation difference plane, three summits of each plane triangle for matching are all containing Fitting height difference, and these three differences have formed a Fitting height difference plane; According to the coordinate of each triangular apex and Fitting height difference, the elevation difference of interior industry each point in the Fitting Calculation delta-shaped region.

Computing formula is as follows:

If fieldwork check point three-dimensional coordinate is respectively M1 (X1, Y1, h1), M2 (X2, Y2, h2), M3 (X3, Y3, h3), h1, h2, h3 are respectively the elevation difference of M1, M2, M3, and M1, M2, M3 triangle are a space plane, HM1, HM2, HM3 are respectively fieldwork elevation, corresponding HM1 ', HM2 ', HM3 '

Be respectively photogrammetric office work and resolve elevation,,

h1=HM1-HM1′

h2=HM2-HM2′

h3=HM3-HM3′

Interior industry point P ' is fitted to P point (in the space plane of M1, M2, M3, elevation is HP), and high difference is h,

HP=HP′+h ①

M1, M2 on space plane, 3 of M3 are known, and in plane, P point XP, YP are known, ask its elevation difference h value.Calculation method is exactly by three known some M1, the three-dimensional coordinate of M2, M3, obtains the plane equation that three points form, and utilizes the planimetric coordinates that plane equation is ordered according to P to ask its elevation difference.

First solve the vector on three Zhong Liangtiao limits, limit of 3 formations of actual measurement check point:

$\underset{M_1{M}_2}{\→}=(X_2-X_1,Y_2-Y_1,h_2-h_1)$

$\underset{M_1{M}_3}{\→}=(X_3-X_1,Y_3-Y_1,h_3-h_1)$

The normal vector that can be obtained plane equation by above-mentioned two vectors is:

$n=\underset{M_1{M}_2}{\→}\×\underset{M_1{M}_3}{\→}=(A,B,C)$ ②

In formula:

A=(Y ₂-Y ₁)(h ₃-h ₁)-(Y ₃-Y ₁)(h ₂-h ₁)

B=(h ₂-h ₁)(X ₃-X ₁)-(X ₂-X ₁)(h ₃-h ₁)

C=(x ₂-X ₁)(Y ₃-Y ₁)-(X3-X ₁)(Y ₂-Y ₁)

For any point in plane, 3.

A(XP-X1)+B(YP-Y1)+C(h-h1)=0

, $h=\frac{{\mathrm{AX}}_1+{\mathrm{BY}}_1+{\mathrm{Ch}}_1-{\mathrm{AX}}_p-{\mathrm{BY}}_p}{C}$ ④

X1 to X in above-mentioned formula _pthe corresponding coordinate Y1 to Y that measures of value _p,

Y1 to Y _pthe corresponding coordinate X1 to X that measures of value _p

State the corresponding coordinate Y that measures of X value in formula,

The corresponding coordinate X that measures of Y value,

Therefore, will be 4. formula substitution 1. formula try to achieve P point height value.

The planar matching step of elevation:

1) build the triangulation network according to JX4 photogrammetric office work spot elevation, solve the photogrammetric office work height value of corresponding field check point.

2) calculate the high difference of each check point according to photogrammetric office work height value, analyze distribution of the difference, carry out accuracy assessment before matching, determine approximating method.

3) solve the height value (high difference) of each photogrammetric office work spot elevation in the match point triangulation network.

4) carry out accuracy assessment after matching, determine whether again to lay match point according to evaluation result and carry out matching again.After matching, accuracy assessment result should meet code requirement.

Planar elevation matching is designed to computer software programs, easy to use, to consult shown in Fig. 2, the function that program realizes is as follows:

The input of field operation Fitting height point data;

Utilize photogrammetric office work data configuration to survey district's digital terrain model (DTM), calculate the elevation of field operation match point position in interior industry DTM, calculate and preserve the difference of this elevation and field operation measurement elevation;

According to field operation measurement point structure field operation measurement point DTM, utilize field operation DTM and field operation point height difference to calculate the elevation modified value of interior industry point.

Program realizes and comprises two key algorithms, and the one, in utilizing, industry point DTM and field operation match point are carried out elevation comparison, calculate the elevation difference of field operation match point; Another is to utilize to calculate the field operation match point elevation difference obtaining, and constructs the difference DTM of field operation match point, and utilizes the elevation difference of industry point in difference DTM calculating.In utilizing, industry point DTM calculated difference has adopted interpolation algorithm, for the arbitrary triangle in interior industry point DTM, in its delta-shaped region, arbitrary planimetric position all can be according to its height value of triangular apex interpolation, program provides the several different methods of calculating elevation difference, user can utilize program automatically to carry out interpolation calculation, also can input by hand the elevation difference in a certain region, can also utilize interior industry point and field operation point to carry out directly mating and calculate height value, calculate field operation match point elevation difference.

Calculating field operation match point elevation difference is the key of height fitting program, the elevation correction value of interior industry spot elevation depends on the field operation match point elevation difference of calculating, difference is calculated the method that program is calculated automatically and manual input engages that adopted, after difference has been calculated, user can check the edlin of going forward side by side to the difference of calculating, because if certain triangle in interior industry point DTM can not truly reflect that in delta-shaped region, elevation distributes, utilize the elevation difference of program interpolation calculation inaccurate, in this case, user can adopt the method for manual input difference and adopt the method for interior field operation point coupling is that field operation point calculates elevation difference, routine data treatment scheme can be consulted Fig. 1.

Industry point height corrected value in calculating: obtaining after the elevation difference of field operation match point, structure match point difference DTM, " difference DTM " is the concept of having used digital terrain model, utilize the field operation match point structure triangulation network, each triangle in net is made up of match point, match point not only has the altitude figures of actual measurement, also has the difference of elevation value information of previous calculations, these three differences have been determined a triangle difference region, difference in region is thought and is uniformly distributed, utilize each equally distributed triangle difference region interpolation to calculate the elevation correction value of interior industry spot elevation, the elevation of industry measurement point in revising, concrete flow chart of data processing can be consulted shown in Fig. 3.

By the realization of height fitting calculation procedure, greatly alleviate the workload of interior industry point height data fitting correction, adopt the mode that program is calculated automatically and manual input engages to carry out the matching of interior industry point height, fully take into account the actual conditions of height fitting, in the engineering application in process of the test, obtained good effect.

The content not being described in detail in this instructions belongs to the known prior art of professional and technical personnel in the field.

Claims (2)

1. a remote-sensing aerial surveying elevation fitting method, is characterized in that comprising following steps:

The first step: field operation actual measurement check point is set, adopts the three-dimensional coordinate data of field operation surveying instrument actual measurement check point, determine field operation actual measurement elevation face;

Second step: adopt remote sensing aerial survey stabilized platform, measure large scale topographical map, extract the three-dimensional coordinate data of large scale topographical map;

The 3rd step: in conjunction with field operation actual measurement elevation face data value, adopt fitting of a polynomial model to carry out height fitting to the three-dimensional coordinate data in large scale topographical map, ask for the elevation modified value of each point in large scale topographical map, adopt the step of the height fitting of fitting of a polynomial model to the three-dimensional coordinate data in large scale topographical map to be:

Survey any point A(x, y in district if field operation actual measurement detects) elevation modified value ζ and plane coordinate system have following relation:

ζ＝f ₁(x,y)+ ε ①，

In formula: f ₁(x, y) is the trend surface of elevation modified value ζ, and ε is residual error, establishes:

f ₁(x,y)＝a ₀+a ₁x+a ₂y+a ₃xy+a ₄ x ²+a ₅y ²+a ₆x ²y+a ₇y ²x+a ₈x ³+a ₉y ³+......

②，

Field operation actual measurement detects to survey in district n point, obtains matrix form below:

ζ=AX+ ε 3., formula 3. in:

Under the criterion of least square, try to achieve the solution of vectorial X, 2. generation gets back in formula, and interpolation goes out the elevation modified value of each point in large scale topographical map;

The 4th step: in conjunction with the elevation modified value of each point in large scale topographical map, adopt the method for the planar matching of triangle to revise the altitude figures of large scale topographical map, be adapted on field operation actual measurement elevation face, draw the height value of each point in large scale topographical map, the concrete steps of the method for the planar matching of triangle are, internally industry spot elevation structure De Laonei network of triangle, for the field operation check point that drops on the interior industry point triangulation network, in utilizing, industry point TIN resolves the interior industry elevation of eyeball position, and this elevation and field operation actual measurement elevation are compared and calculate elevation difference; For the field operation check point outside the interior industry point triangulation network, calculate the elevation difference on triangulation network summit as the elevation difference of the field operation check point outside the interior industry point triangulation network, guarantee that each field operation eyeball all has elevation difference; All field operation eyeballs are carried out to elevation difference counting statistics, be used for analyzing interior industry point measurement precision;

The field operation eyeball structure triangulation network, for matching, is determined to matching triangle elevation difference plane, and three summits of each plane triangle for matching are all containing Fitting height difference, and the elevation difference on three summits forms a Fitting height difference plane; According to the coordinate of each triangular apex and Fitting height difference, the elevation difference of interior industry each point in the Fitting Calculation delta-shaped region; The mathematical formulae of the planar matching of triangle is: set fieldwork check point three-dimensional coordinate and be respectively M ₁(X ₁, Y ₁, h ₁), M ₂(X ₂, Y ₂, h ₂), M ₃(X ₃, Y ₃, h ₃), M ₁, M ₂, M ₃space plane in arbitrary known point be P point, h ₁, h ₂, h ₃be respectively M ₁, M ₂, M ₃elevation difference, and M ₁, M ₂, M ₃triangle is a space plane, HM ₁, HM ₂, HM ₃be respectively fieldwork elevation, corresponding HM _{1 '}, HM _{2 '}, HM _{3 '}be respectively photogrammetric office work and resolve elevation, h ₁=HM ₁-HM _{1 '}, h ₂=HM ₂-HM _{2 '}, h ₃=HM ₃-HM _{3 '}, interior industry point P ' is fitted to P point, at M ₁, M ₂, M ₃space plane in, elevation is H _p, high difference is h,

H _p=H _{p '}+ h 4.,

First solve the vector on three Zhong Liangtiao limits, limit of 3 formations of actual measurement check point:

The normal vector that can be obtained plane equation by above-mentioned two vectors is:

⑤

In formula:

A=(Y ₂-Y ₁)(h ₃-h ₁)-(Y ₃-Y ₁)(h ₂-h ₁)

B=(h ₂-h ₁)(X ₃-X ₁)-(X ₂-X ₁)(h ₃-h ₁)

C=(X ₂-X ₁)(Y ₃-Y ₁)-(X ₃-X ₁)(Y ₂-Y ₁)

For any point in plane, 6.

A(X _P-X ₁)+B(Y _P-Y ₁)+C(h-h1)=0

, 7.

The X of above-mentioned formula in 7. ₁, Xp the respectively corresponding coordinate Y that measures of value ₁, Yp,

Y ₁, Yp the respectively corresponding coordinate X that measures of value ₁, Xp,

Therefore, will be 7. formula substitution 4. formula try to achieve P point height value.

2. remote-sensing aerial surveying elevation fitting method according to claim 1, is characterized in that: in the first step, adopt the leg-of-mutton method of De Laonei to determine field operation actual measurement elevation face.