CN104964673B - It is a kind of can positioning and orientation close range photogrammetric system and measuring method - Google Patents
It is a kind of can positioning and orientation close range photogrammetric system and measuring method Download PDFInfo
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- CN104964673B CN104964673B CN201510413968.1A CN201510413968A CN104964673B CN 104964673 B CN104964673 B CN 104964673B CN 201510413968 A CN201510413968 A CN 201510413968A CN 104964673 B CN104964673 B CN 104964673B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/12—Interpretation of pictures by comparison of two or more pictures of the same area the pictures being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention discloses it is a kind of can positioning and orientation close range photogrammetric system and measuring method, belong to Surveying Science and Technology field, be specifically related to photogrammetric technology.The system carries out real-time tracking positioning using the prism on camera and the total powerstation being erected in whole-visible area to system, and system is carried out to determine appearance in real time using the vertical circle of on the left of the horizontal limb below bottom of camera head and phase or right side side.By setting up prism, horizontal limb, vertical circle and the relational model of camera, positioning and orientation data are transformed into image center, so as to while using photogrammetric technology filmed image, obtain the information such as position and the posture of camera.The present invention utilizes the photogrammetric algorithm of many baselines of high inclination-angle, the exterior orientation line element and angle element initial value provided with reference to positioning and orientation system, the quick efficiency and accuracy for resolving high inclination-angle, many baseline close-range photogrammetries, improving Image Matching is realized, the precision of data processing is improved.
Description
Technical field
The present invention relates to it is a kind of can positioning and orientation close range photogrammetric system and measuring method, belong to Surveying and mapping and skill
Art field, is specifically related to photogrammetric technology.The system utilizes the prism on camera and is erected in whole-visible area
Total powerstation carries out real-time tracking positioning to system, utilizes the horizontal limb below bottom of camera head and camera left/right side
Vertical circle to system carry out determine appearance in real time.By setting up prism, horizontal limb, vertical circle and the relational model of camera,
Positioning and orientation data are transformed into image center, so as to while using photogrammetric technology filmed image, obtain camera
The information such as position and posture.
Background technology
The information (image) of the photogrammetric means acquisition testee for being research and utilization photography or remote sensing, by analysis,
Processing, determines shape, the size and location of testee, and judge the subject of its property.Photogrammetric the characteristics of is not contact
Measurand, gathers the geological information and physical message of measurand, not area-limited, measurement tasks and information are obtained indirectly
Take and carry out respectively；Measurement tasks are largely carried out indoors；Mechanization and automaticity are high.
Be used as a branch of photogrammetry --- close-range photogrammetry the deformation observation of building, dynamic monitoring,
Played an important role in the work such as historical relic's protection.Compared with the mapping means such as 3 D laser scanning, traditional-handwork measurement, close shot
Photogrammetric equipment cost is cheap, the field data acquisition time is short, data volume is small, and these advantages cause close-shot photography measure technique in text
Application in the field such as thing mapping, archaeology, tunnel, bridge, machinery, ocean will more and more extensively, by digital photogrammetry technology
It is integrated with RS (remote sensing), GPS, GIS progress, achieve good effect in the practice such as urban planning, historical relic's protection, underground engineering
Really.
It is photogrammetric progressively to have developed into the full digital photogrammetric stage.At present, the application of digital photogrammetry is very
Extensively, can be with the shape, size and kinematic parameter of certain precision determination object.Development and microprocessor with computer technology
Extensive use, close-shot photography measure technique just develops towards the direction of automation.
A photogrammetric big feature is exactly that to survey and draw the field operation cycle short, and operating speed is fast, and labor intensity is greatly lowered.But
Compared to field operation, photogrammetric interior industry workload is larger, in addition to needing to a large amount of Extraction of Image characteristic points and matching, in addition it is also necessary to
Resolve the elements of exterior orientation and unknown point geographical coordinates of image.
And with extensive use of the ordinary digital camera in close-range photogrammetry, digital photogrammetry of today is with passing
The close-range photogrammetry of the single Baseline Stereo, mark of system is compared and there has been very big difference.It is traditional it is photogrammetric it is mostly be simulation
" binocular of people ", the stereogram constituted by a baseline, two images, i.e. " single Baseline Stereo ".It is this to be based on operation
Simulation, the analytic photogrammetry of the visual stereopsis of member must be according to required precisions, it is considered to distant view, the close shot of subject,
It is more complicated to design photographic base, convergent angle.And if in units of a stereogram, being difficult to as aerophotogrammetry
Equally, handled by a photographing region.During particularly huger, special to this bodily form body in house target, it is difficult to
Shot and follow-up data processing.And the direct linear transformation of non-metric camera is generally pressed in the processing to single Baseline Stereo
Carry out, each picture adds the workload of field operation at least needing 6 control points.If being desirable with existing non-measurement
Digital camera, reduces field operation control point, carries out self-calibration block adjustment, improves the reliability of precision and matching, then needs pair
Traditional algorithm is improved, near using many baselines of short baseline, wide-angle, multi-vision visual, i.e. high inclination-angle in close-range photogrammetry
Scape photogrammetric survey method.
It is photogrammetric for quick, the accurate resolving many baselines of high inclination-angle, it is desirable to provide exterior orientation line element and angle element just
Value, i.e., provide position and the attitude information of image center by positioning and orientation system.It is photogrammetric using many baselines of high inclination-angle
Mathematical modeling, each takes the photograph the photo that several certain degrees of overlapping are clapped object at station, may make up many image group sequences of many baselines, carry
The efficiency and reliability of high Image Matching, generate high-precision building threedimensional model.
Now for can positioning and orientation Digital Photogrammetric System be concentrated mainly on aerophotogrammetry, ground moving photography survey
In amount system (MMS).Either the positioning and orientation system in aerial survey or MMS, is all the high precision position of IMU/DGPS combinations
With attitude measurement system (position and orientation system, POS).POS system, which is utilized, to be filled aboard
GPS and to set GPS on one or more base stations on the ground synchronous and continuously observe gps satellite letter
Number, precision positioning mainly positions (DGPS) technology using differential GPS, and attitude measurement mainly uses inertial measuring unit IMU
To sense the acceleration of aircraft or other carriers, by integral operation, the information such as the speed and posture of carrier are obtained.Therefore, POS
Product form include navigation processing computer (PCS), Inertial Measurement Unit (IMU), odometer (DMI), navigation information integrate
Display software and navigation data are closely integrated software etc..
It is same by camera and positioning and orientation system take into consideration be the production of Lai Ka companies TS15 imaging total stations.TS15
Total powerstation assume that the camera of 5,000,000 pixels on traditional total powerstation, be sighted using camera combination automation, super search
Etc. function so that image measurement has freed naked eyes and aimed at the cumbersome of measurement.Obtained simultaneously by using the built-in camera of total powerstation
Target object stereogram, is completed photogrammetric.Target object stereogram is being obtained using built-in camera, according to phase owner
Relation between optical axis and total powerstation collimation axis, and total powerstation take the photograph station information and attitude information in each shooting measurement,
6 elements of exterior orientation of every photo can be obtained, so as to be carried out in the case of Pillarless caving photogrammetric.
At present can positioning and orientation Digital Photogrammetric System be mainly various advanced and expensive measuring instrument is carried out it is integrated,
Complexity is constituted, data processing difficulty is big, and precision improves more difficult.
POS system is positioned using GPS, but gps data output frequency is low, under high dynamic environment reliability compared with
Difference, and " cycle slip " phenomenon can be produced；Carry out determining appearance using IMU, but IMU attitude parameter error can be increased over time and fast
Speed accumulation.Though combination can learn from other's strong points to offset one's weaknesses to a certain extent, the degree of accuracy is improved, if being used in close-range photogrammetry,
Precision, which is still difficult to meet, to be required.For example, the precision index of the NV-LINS800GPS/INS integrated navigation systems of normal domestic
For：Position 2m, speed 0.03m/s, are sidewindered and 0.05 ° of pitching, 0.1 ° of driftage, time 20ns；The three-dimensional shadow of LD2000 systems photography
As measurement error with apart from related, with the increase of distance, error gradually increases, during such as photo distance 20m, stereopsis measure
Error is 0.063m, during photo distance 40m, and stereopsis measurement error has then reached 0.252m；And precision is higher at present
POS/AV 510, after tight data processing, positional precision is up to 0.05m, and orientation angle precision is 20 " -30 ".It can be seen that,
Using can positioning and orientation POS system assisted tomography measurement, in the case of without ground control point, fraction can be reached
The required precision of chi map mapping, if but require higher ground close-range photogrammetry for house, building equally accurate, then also
Need to improve.
Also, the computation model of GPS/IMU combinations is complicated.GPS/IMU data processing mainly has Three models：Loose coupling
Conjunction, close coupling and hypercompact coupling, this also represent different precision and level.Loose coupling is simplest integrated mode.Herein
GPS and IMU receivers each work independently under pattern, outgoing position and velocity information, then by combination Kalman filter respectively
(using measurement error as state) optimizes processing, provides optimal result, and feeds back to IMU and is modified, this grade
Combination is the combination based on Position And Velocity, and at least there are 4 satellites can just obtain GPS navigation information, so as to filtering
Device is updated.If GPS solves its position and speed using the Kalman filter of oneself in addition, this combination is led
The series connection of wave filter is caused, makes integrated navigation observation noise time correlation, Kalman filter observation noise is unsatisfactory for for white noise
Basic demand, wave filter may be made unstable when serious.Close coupling improves the algorithm of loose coupling, but to software and hardware requirement compared with
Height, realizes that difficulty is larger.Hypercompact coupled modes are more complicated combinations relative to loose coupling and close coupling, are even related to
Internal code ring carrier wave loop circuit is rearranged, in terms of structure or algorithm compared with loosening, tighten coupling it is all complicated.
And the TS15 imaging total stations of Leica companies production, it is to provide angle and site location information by total powerstation, passes through
The relation of collimation axis and primary optical axis, extrapolates the elements of exterior orientation of every photo, and then the geographical coordinates of target point is solved
Calculate.TS15 total powerstation camera major parameters are：5000000 pixels, focal length 21mm.Therefore TS15 limitation is that device is not enough not
Flexibly, resolution of lens is low, precision is not high.
It is equally important that either GPS/IMU composition positioning and orientation system, or total powerstation and camera combination,
Costly, data processing model is also complex for the price of apparatus, is that follow-up data processing brings no small work
Measure.
And single Baseline Stereo method of traditional close-range photogrammetry is the simulation based on the visual stereopsis of operator, parsing
It is photogrammetric must be according to required precision, it is considered to distant view, the close shot of subject, design photographic base, convergent angle are relatively multiple
It is miscellaneous.And if in units of a stereogram, be difficult to as aerophotogrammetry, handled by a photographing region.
Therefore when testee body is more special (building such as relatively large house or high tower), then be difficult shot and
Follow-up data processing.And to the processing of single Baseline Stereo, generally carried out by the direct linear transformation of non-metric camera, each
Picture adds the workload of field operation at least needing 6 control points.
The content of the invention
Present invention seek to address that above-mentioned problems of the prior art, improve close-range photogrammetry efficiency and precision, letter
Change data processing model, it is cost-effective.
Traditional close-range photogrammetry is higher to photographing request, it is necessary to which vertical target is shot, otherwise in unknown elements of exterior orientation
In the case of initial value, the resolving of normal equation can not converge on correct result；And a number of control is needed in data handling
Point.To improve the efficiency of close-range photogrammetry, further reduce field process amount, improve precision, it is necessary to instrument and equipment and solution
Calculation method is improved.However, being still at present regrettably a huge market vacancy in this respect.The present invention will be adopted
With most practical, short-cut method composition positioning and orientation system, with state-of-the-art high inclination-angle, the photogrammetric algorithm process number of many baselines
According to providing new highly efficient process for photogrammetric data acquisition and processing (DAP).
It is photogrammetric by the progress of substantial amounts of field operation control point, so that solution seeks the elements of exterior orientation of photo, it is traditional photography
The method of measurement.Not only the cycle is long for this work pattern, and due to rely on ground control point, it is necessary to spend substantial amounts of manpower and
Material resources.Positioning and orientation technology is introduced into photogrammetric field, the ground control point needed for can making photogrammetric encryption is largely reduced,
Even realize without ground control photogrammetric, greatly reduce field process amount, reduce production cost.The present invention's determines
Position attitude determination system includes：The prism on camera top, bottom of camera and the horizontal limb in left side and vertical circle.I.e. using mounted in phase
Prism on machine is positioned in real time with the total powerstation being erected in whole-visible area to system, using under bottom of camera head
The horizontal limb of side and the vertical circle of camera left/right side carry out determining appearance in real time to system.
It can be seen that, it is of the invention either compared to GPS/IMU positioning and orientations system or Leica TS15 imaging total stations
Positioning and orientation system flexibly, conveniently, cost it is relatively low.And in precision aspect, either camera precision, total station survey precision be still
Reading scale precision, is greatly improved.
Meanwhile, for the spatial distribution that adapts to subject is discontinuous, the situation that is broken, blocks, in close-range photogrammetry
Introduce new measurement mechanism, data acquiring mode and image algorithm --- many baseline digital close-range photogrammetries of high inclination-angle.The party
Method utilizes existing ordinary digital camera, breaks through the requirement of the direct linear transformation of traditional non-metric camera, reduces control point
Demand, directly calculates feature point coordinates on testee using photogrammetric self-inspection block adjustment.Based on many bases of high inclination-angle
Line digital close range photogrammetry, can need not carry out core line arrangement in Image Matching, without producing core line image, while raising
The reliability matched somebody with somebody, can easily carry out digital close range photogrammetry.
The beneficial effect of measuring system of the present invention is：
(1) the system separates the collection of image information and processing, is to devise a set of up short that is applied to survey first
The positioning and orientation system of amount.It is combined using prism, horizontal limb, vertical circle and the camera commonly used in measurement, formation can
The close range photogrammetric system of positioning and orientation.Compared to common POS system, the positioning and orientation system on MMS on the market at present,
Cost of the present invention is low, precision is high, easy for installation, simple to operate, strong adaptability.
(2) by setting up prism, horizontal limb, vertical circle and the relational model of camera, by positioning and orientation data conversion
To image center, so as to while using photogrammetric technology filmed image, obtain the information such as position and the posture of camera, i.e.,
Elements of exterior orientation initial value, solves the problems, such as the resolving of high inclination-angle photography.
(3) on camera style, the limitation of traditional photography measurement is broken through, using high inclination-angle, many baseline digital up shorts
The method of measurement.This method changes traditional close-range photogrammetry general principle, and station is taken the photograph to object two weights of bat for two by tradition
Folded photo generation model becomes to take the photograph station by multiple, each takes the photograph the photo that several certain degrees of overlapping are clapped object at station, constitutes big
Inclination angle, many image group sequences of many baselines, generate high accuracy three-dimensional model.
The present invention sets up a set of positioning and orientation system suitable for close-range photogrammetry by using the equipment commonly used in measurement
System, and the corresponding relational model of device is set up, obtain elements of exterior orientation initial value while image is gathered.Compared to current city
Common positioning and orientation system on face, can cost of implementation be low, precision is high, easy for installation, simple to operate, adaptable excellent
Gesture.Meanwhile, on camera style, the limitation of traditional photography measurement is broken through, using high inclination-angle, many baseline digital close-range photogrammetries
Method, the information provided using positioning and orientation system, solve the problems, such as high inclination-angle photography resolving.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The embodiment of the present invention is shown in detail by following examples and its accompanying drawing.Many places of the present invention are only to making improved portion
Divide and be described, and other undeclared parts can be realized by the state of the art, that is, undeclared part passes through now
There is technology realization, herein without describing in detail.
Brief description of the drawings
Accompanying drawing described herein is used for providing a further understanding of the present invention, constitutes the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not constitute inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is positioning and orientation close range photogrammetric system schematic diagram.
Fig. 2 is positioning and orientation close range photogrammetric system structure chart.
Fig. 3 for can positioning and orientation close-range photogrammetry data acquisition and process chart.
Fig. 4 is photogrammetric elements of exterior orientation schematic diagram.
Fig. 5 is many baseline digital close-range photogrammetry schematic diagrames of high inclination-angle.
In figure, prism -1, camera -2, vertical circle -3, vertical circle support -4, head -5, horizontal limb -6,
Tripod -7.
Embodiment
The technology implementation process to the present invention is described further with reference to the accompanying drawings and examples.
Embodiment 1：
The present embodiment mainly introduces the composition of positioning and orientation close range photogrammetric system.
With reference to accompanying drawing 1-2, it is a kind of can positioning and orientation close range photogrammetric system, including prism 1, camera 2, vertical circle
3rd, head 5, horizontal limb 6, it is characterised in that：Prism 1 is installed on the top of camera 2, and vertical circle 3 is installed on a left side for camera 2
Side or right side, the lower section of camera 2 connection head 5, the lower section of head 5 connection horizontal limb 6, and vertical circle 3 passes through perpendicularity
Disc carrier 4 is connected with head 5.
Further, it is above-mentioned can the close range photogrammetric system of positioning and orientation also include tripod 7, the horizontal limb
6 are connected to tripod 7 by connector.
Further, above-mentioned tripod 7 that can be in the close range photogrammetric system of positioning and orientation is measurement tripod, should
Measurement tripod is threaded locking member.
Further, the connection of horizontal limb 6 and tripod 7 is realized by following structure and mode：The level
Scale 6 is used for the centrally disposed external screw thread connector combined closely with the height of horizontal limb 6 in side for connecting tripod 7, outer spiral shell
Line connector length is 12-20mm, a diameter of 15-30mm, depth of thread 2-3mm；The connector is integrally cylindrical, comprising
Stub end and small head end, stub end have the space for accommodating the external screw thread connector, with internal thread, internal thread and external screw thread
The external screw thread of connector matches；Small head end has external screw thread；Described connector, stub end is used to connect external screw thread connection
Head, small head end is connected with the threaded fastener on the tripod 7.
Further, the center of prism 1, the center of camera 2, the center of horizontal limb 6, connector center in the vertical direction
It is coaxial.
Further, it is described can positioning and orientation close range photogrammetric system also include matching used total powerstation, whole station
Instrument is set up in the whole-visible area of prism 1.
Further, it is described can the close range photogrammetric system of positioning and orientation also include computer, reception for data,
Storage, processing and analysis, computer are connected with total powerstation, camera 2 by wired or wireless way.
Embodiment 2：
The present embodiment is carried out on the basis of foregoing embodiment 1, and main introduce uses positioning in embodiment 1
Determine the method that appearance close range photogrammetric system carries out positioning and orientation.
The present invention provide it is a kind of can positioning and orientation close-range photogrammetry data acquisition and processing method, in up short
Real-time, accurate position and attitude information are provided as reference for platform in the implementation of measurement, as exterior orientation line element
Included with the initial value of angle element in photogrammetric resolving, to accelerate convergence rate, improve precision.
In terms of image capturing mode and data processing model, " many baseline digital close-range photogrammetries of high inclination-angle " side is introduced
Method.Using existing ordinary digital camera, station photographs multiple images are taken the photograph each, using orthogonal or rotate many baselines and hand over to taking the photograph
Shadow come ensure to all images carry out " disposed of in its entirety ".The many baseline digital close-range photogrammetries of high inclination-angle change traditional close shot and taken the photograph
The general principle of shadow measurement, takes the photograph station to object two overlapping photographs generation models of bat for two by tradition, is improved to be taken the photograph by multiple
Stand, each take the photograph station and clap object several any angles and the photo with certain degree of overlapping, constitute high inclination-angle, many baselines many
Image group sequence, generates high accuracy three-dimensional model.
Accompanying drawing 3 for can positioning and orientation close-range photogrammetry data acquisition and process chart.
Accompanying drawing 4 is photogrammetric elements of exterior orientation schematic diagram, also known as the outer orientation element of photo, is to determine photographic light flux in thing
The master data of square geometrical relationship, for characterizing photographic light flux in the locus of photography moment, including photo centre is a certain
D coordinates value in rectangular coordinate system in space, i.e. exterior orientation line element, and determine three angles of photographic light flux dimensional orientation
Orientation element, totally 6 data.3 angular orientation elements therein, the corner system that Chang Yin is used it is different and with the different lists of elements
Show, when using the corner system using y-axis as main shaft, be expressed as angle of pitch ω, course angle κ and photo rotation drift angleAttitude determination system
Horizontal and vertical scale camera when determining photography respectively angle of pitch ω and course angle κ, and revolve drift angleBegin in shooting process
It is 0 eventually.
Accompanying drawing 5 is many baseline digital close-range photogrammetry schematic diagrames of high inclination-angle.
With reference to accompanying drawing 3-5, the method and step of positioning and orientation of the present invention is as follows：
Step (1)：Positioning and orientation close range photogrammetric system is built.Specifically include, the placement of prism 1, horizontal limb 6
With the installation of vertical circle 3, the connection between the placement of tripod 7, and supporting total powerstation, computer etc..It can position
The close range photogrammetric system of appearance is used for position and the attitude information for obtaining photographic platform, so that when obtaining photogrammetric resolving
Exterior orientation line element and angle element initial value.Wherein, positioner is the prism 1 for being placed in the top of camera 2, and it is installation to determine appearance device
Horizontal limb 6 and left side of camera or the vertical circle on right side 3 in the lower section of 2 bottom head of camera 5.
Positioning and orientation close range photogrammetric system installs prism on camera top based on camera, logical by being erected at
Total powerstation depending in the range of determines three-dimensional coordinate (X of the prism under fixed bottom boundary coordinate systemL, YL, ZL).Using mounted in camera bottom
Horizontal limb below portion's head determines the course angle κ of camera, and camera angle of pitch ω is determined by the vertical circle of right side of camera.
Wherein horizontal limb is fixed between head and foot stool, is not horizontally rotated with head and camera；Vertical circle passes through support and cloud
Platform is connected, and scale center is connected with image center, and therefore, vertical circle horizontally rotates with camera, but out of plumb is rotated.
Step (2)：Set up mounted cast.Specific is the foundation of positioning and orientation platform model.By setting up prism, level
Positioning and orientation data can be transformed into image center by the relational model of scale, vertical circle and camera, so as to utilize photography
While e measurement technology filmed image, the information, i.e. elements of exterior orientation such as position and the posture of camera are obtained.
The course angle κ and angle of pitch ω of camera can be directly determined using positioning and orientation system, due to rotation drift angleAll the time it is set to
0 °, therefore exterior orientation angle element can be determined directly by horizontal and vertical scale.According to Fig. 1 positioning and orientation close-range photogrammetries system
System schematic diagram, calculates the transformation model from prism centers coordinate to exterior orientation line element：It is assumed that prism centers are in camera coordinates system
Coordinate be (u, v, w), be referred to as eccentric vector, coordinate of the prism centers under object coordinates system is (XL, YL, ZL), then line element
(XS, YS, ZS) coordinate is：
Wherein, R is the spin matrix that exterior orientation angle element is constituted：
Step (3)：Mounted cast calibration and camera calibration.Wherein, mounted cast calibration includes position relationship calibration and appearance
State angle calibration, camera calibration includes the extraction of principal point coordinate, master away from extraction, the correction of photo photogrammetric distortion.
Camera calibration model can be using phase machine examinations such as direct linear transformation, self-calibration bundle adjustment and Tsai two-step methods
School/scaling method., can be perfect to aberration model progress during calibration, the not only radial distortion to camera lens is modified, together
When will likely exist not to the heart distortion and thin lens distortion be added in lens error correction model unify resolving.Finally so that
Whole calibration process is complete and comprehensive, improves stated accuracy.
Step (4)：Field operation image information, the acquisition for controlling point coordinates.Specifically be two parts, a part for high inclination-angle,
Many photogrammetric image capturings of baseline, another part is field operation control point survey.
High inclination-angle, many baseline photogrammetric survey methods are：Object is subjected to subregion first, according to the shooting bar taken the photograph on station
Part, absorbs multiple superimposed images of each subregion respectively.Understood with reference to accompanying drawing 5, this method changes traditional close-range photogrammetry base
Present principles, take the photograph station to two overlapping photographs generation models changes of object bat to take the photograph station by multiple for two by tradition, each take the photograph station pair
Object claps the photo of several certain degrees of overlapping, constitutes high inclination-angle, many image group sequences of many baselines, generates high accuracy three-dimensional
Model.One, space point is improved to by a plurality of light from the one o'clock photogrammetric fundamentum by two crossovers meetings in space
Intersection is formed.
Traditional close-range photogrammetry is higher to photographing request, it is necessary to which vertical target is shot, otherwise in unknown elements of exterior orientation
In the case of initial value, the resolving of normal equation can not converge on correct result.And resolving many baseline digital up shorts of high inclination-angle
During measurement, position, attitude information that positioning and orientation system provided exactly are make use of as the initial value of elements of exterior orientation so that
Vertical target thing is no longer required for during shooting, can be shot by the way of any anglec of rotation, i.e., it is so-called " to incline greatly
Photograph at angle ".
Step (5)：Image information is extracted.Specifically include three parts：Picture point information extraction, control point information extraction, inspection
Make an inventory of information extraction.
Step (6)：Multi-baseline image matching.In Image Matching, because up short deformation is larger, conventional list is utilized
Baseline Stereo Matching technology can not meet the reliability and accuracy of matching.And in many baselines of high inclination-angle are photogrammetric, pass through
The combination of short baseline and many images, not only can be with Rapid matching, and can improve matching precision.And just because of in image
Core line arrangement can need not be carried out in matching, without producing core line image, while the reliability of matching is improved, therefore can be very convenient
Ground carries out digital close range photogrammetry.
Step (7)：Elements of exterior orientation, fixed point coordinate initial value are obtained.Specifically (foreign side's bit line is inputted comprising location information
Element initial value), determine appearance information input (exterior orientation angle element initial value).
Step (8)：Self-calibration bundle adjustment.
Step (9)：The output of point to be located result, three-dimensional model are created.Described three-dimensional model is created as the three-dimensional mould of object
The establishment of type.
Step (10)：Precision analysis, achievement inspection.
The present invention is that prior art is improved, therefore prior art has been used for reference in implementation process, as space is limited, not right
Prior art part is described in detail；Every NM technology segment of the invention, can be realized using prior art.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (4)
1. it is a kind of can positioning and orientation close range photogrammetric system, including prism (1), camera (2), vertical circle (3), head
(5), horizontal limb (6), it is characterised in that：Prism (1) is installed on the top of camera (2), and vertical circle (3) is installed on camera
(2) connection horizontal limb (6) below connection head (5), head (5) below left side or right side, camera (2), and vertically
Scale (3) is connected by vertical circle support (4) with head (5)；It is described can the close range photogrammetric system of positioning and orientation also wrap
Tripod (7) is included, the horizontal limb (6) is connected to tripod (7) by connector, and the tripod (7) is threaded lock
Tight part；Centrally disposed highly combined closely with horizontal limb (6) side that the horizontal limb (6) is used to connect tripod (7)
External screw thread connector, external screw thread connector length be 12-20mm, a diameter of 15-30mm, depth of thread 2-3mm；The connection
Part is integrally cylindrical, and comprising stub end and small head end, stub end has the space for accommodating the external screw thread connector, with interior
Screw thread, the external screw thread of internal thread and external screw thread connector matches；Small head end has external screw thread；Described connector, stub end
For connecting external screw thread connector, small head end is connected with the threaded fastener on the tripod (7)；Prism (1) center
It is coaxial with camera (2) center, horizontal limb (6) center, connector center in the vertical direction；It is described can positioning and orientation close shot
Digital Photogrammetric System also includes matching used total powerstation, and the reception for data, storage, processing and the calculating analyzed
Machine, total powerstation is set up in the whole-visible area of prism (1), and computer is connected with total powerstation, camera (2) by wired or wireless way
Connect；The camera is non-measuring digital camera.
2. described in a kind of usage right requirement 1 can positioning and orientation close range photogrammetric system method, it is characterised in that：It is fixed
Position method for determining posture step is as follows：
Step (1)：Can positioning and orientation close range photogrammetric system build；Placement, horizontal limb (6) including prism (1) and hang down
The installation of straight scale (3), the connection between the placement of tripod (7), and supporting total powerstation, computer；Wherein, positioning dress
The prism (1) for being placed in camera (2) top is set to, it is to be installed on the levelness below camera (2) bottom head (5) to determine appearance device
Disk (6) and left side of camera or the vertical circle on right side (3)；
Step (2)：Set up mounted cast；Specific is the foundation of positioning and orientation platform model；By setting up prism, levelness
Positioning and orientation data are transformed into image center by the relational model of disk, vertical circle and camera, so as to utilize photogrammetric skill
While art filmed image, position and attitude information, the i.e. elements of exterior orientation of camera are obtained；
Step (3)：Mounted cast calibration and camera calibration；Wherein, mounted cast calibration includes position relationship calibration and attitude angle
Calibration, camera calibration includes the extraction of principal point coordinate, master away from extraction, the correction of photo photogrammetric distortion；
Step (4)：Field operation image information, the acquisition for controlling point coordinates；It is specifically two parts, a part is high inclination-angle, many bases
The photogrammetric image capturing of line, another part is field operation control point survey；
Step (5)：Image information is extracted；Specifically include three parts：Picture point information extraction, control point information extraction, checkpoint
Information extraction；
Step (6)：Multi-baseline image matching；
Step (7)：Elements of exterior orientation, fixed point coordinate initial value are obtained；Specifically comprising location information input, to determine appearance information defeated
Enter；
Step (8)：Self-calibration bundle adjustment；
Step (9)：The output of point to be located result, three-dimensional model are created；Described three-dimensional model is created as object threedimensional model
Create；
Step (10)：Precision analysis, achievement inspection.
3. positioning and orientation method according to claim 2, it is characterised in that：Step (2) center line element (XS, YS, ZS) coordinate
For：
Wherein, R is the spin matrix that exterior orientation angle element is constituted：
In formula, κ is the course angle of camera, and ω is the angle of pitch of camera,For rotation drift angle, (u, v, w) is that prism centers are sat in camera
Mark the coordinate of system, (XL, YL, ZL) it is coordinate of the prism centers under object coordinates system.
4. positioning and orientation method according to claim 2, it is characterised in that：High inclination-angle, the photography of many baselines are surveyed in step (4)
Amount method is：Object is subjected to subregion first, according to the shooting condition taken the photograph on station, multiple for absorbing each subregion respectively are overlapping
Image, each takes the photograph the photo that several certain degrees of overlapping are clapped object at station, constitutes high inclination-angle, many image group sequences of many baselines.
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