CN105783874A - Application method for architecture routes in unmanned aerial vehicle aerial photogrammetry - Google Patents

Abstract

The invention discloses an application method for architecture routes in unmanned aerial vehicle aerial photogrammetry. The two architecture routes approximately perpendicular to a mapping air route are added, the number of field work control points is reduced, 60-70% of external control workloads is reduced, the data size is reduced, the processing period is shortened, efficiency is improved, manpower and material resources are saved, and a target can be quickly measured under emergency circumstances.

Description

The application process in framework course line in unmanned plane aerophotogrammetry

Technical field

The present invention relates to field of aerial photography measurement, framework course line in particularly a kind of unmanned plane aerophotogrammetry Application process.

Background technology

When there is accident, it usually needs venue location district is carried out quick information, and it is right to need Some locality or atural object are quickly measured, and carry out the work such as relief goods input, personnel's search and rescue.And nothing The video data of people's function quick obtaining objective area, by these video datas, can quick obtaining objective area Information.Especially unmanned helicopter flight is not affected by geographical conditions, can to high mountain gorge, river grassy marshland, Depopulated zone without road, natural disaster are flown by disaster area, environmental pollution accident district, hazardous area etc..But in emergent feelings Under condition, in these areas usually not ground control point, and traditional aerophotogrammetry mode needs much Control point, face, need to fly hundreds and thousands of boat sheets, and data volume is big, it is oversize to process the cycle, especially cannot meet Under case of emergency, quickly carry out the needs of target measurement.

Summary of the invention

In order to overcome traditional aerophotogrammetry mode field operation control point many, need to fly hundreds and thousands of boat sheets, Data volume is big, it is oversize to process the cycle, it is impossible to meets the defect quickly measured under case of emergency, the invention provides A kind of aeroplane photography method based on unmanned plane, by increasing by two framework course lines, greatly reduces field operation control Point, external control workload decreases 60-70%, and data volume is greatly decreased, and the corresponding process cycle will significantly contract Short, in emergency circumstances target quickly can be measured.

The invention provides a kind of aeroplane photography method based on unmanned plane, step includes: flight-line design, boat are taken the photograph Fly, as control measurement, empty three encryptions, checkpoint measurement；Described flight-line design and aerial flight include increasing by 2 Bar framework course line.Framework course line refers to that photography is surveyed in district, for reducing the laying of picture control point, adds fly some Bar and approximately perpendicular course line, mapping course line.

Described flight-line design includes resolution, mapping scale, towing photographing scale, course line, flying height, ground control System measurement, the scheme of photogrammetric control point surveying and design.

Described picture control measurement includes collecting local C D level control data, carries out Red chief Delicious" apple laying, and carries out Photo control point field operation RTK gathers, and photo control point and check point coordinates process through interior industry, it is thus achieved that three-dimensional geodetic coordinates (X, Y、H)。

Described photo control point includes the flat height in corner, intermediate elevation pass point, it will be apparent that quality testing is made an inventory of.

Described empty three encryptions use INFO program to carry out the most empty three encryptions, and its step includes:

A, control point use whole four angle points and elevation pass point, and photo is added without framework course line, it is thus achieved that a group is reported Accuse；

B, employing control point, corner, photo adds framework course line, it is thus achieved that b group is reported；

C, it is analyzed a group, b group report respectively summing up, provides comparison report.

The measurement of described checkpoint includes using two groups of empty three encryption achievements, carries out stereoplotting type collection inspection Point coordinates；Its coordinate carries out accuracy comparison respectively at field data acquisition control check point coordinates, calculates in some position, elevation Error, provides precision report；

Computing formula:

$\begin{array}{cc}{m}_s=\±\sqrt{\frac{\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\Δs}}_i^2}{n}}& m_h=\±\sqrt{\frac{\underset{i=1}{\overset{n}{\Σ}}{\mathrm{\Δh}}_i^2}{n}}\end{array}$

Present invention have an advantage that

1, only increasing by two framework course lines and just can reduce the external control workload of 60-70%, data volume is greatly decreased, The process cycle significantly shortens；

2, add the aerophotogrammetric efficiency of unmanned plane, save human and material resources；

3, in emergency circumstances target quickly can be measured.

Specific embodiment

By specific examples presented below, the present invention can be apparent from further, but they are not right The restriction of the present invention.

Embodiment 1:

(1) boat flies choosing and test method of equipment

HV-II type unmanned plane, lift-launch guest is used to obtain 645z camera and test.By increasing framework course line, choosing Take a boat to fly project and carried out framework route-proving trial.Field operation all gathers field photo control point (flat high point, elevation Point), and choose 100 culture point check points on the spot, carry out precision and check.

Test index verification mode:

(1) time that the collection of field photo control point is saved；

(2) the empty three encryption calculating achievement accuracy comparisons of interior industry；

(3) stereoplotting quality testing epipole precision over the ground contrasts.

The technical standard performed:

CH/Z 3004-2010 " low latitude digital aerial surveying field operation specification "；

CH/Z 3003-2010 " industry specification in the digital aerial surveying of low latitude "；

CH/Z 3005-2010 " low latitude digital airborne photography specification "；

GB/T 18314-2009 " global positioning system (GPS) specifications of surveys "；

CH/T 2009-2010 " global positioning system real time dynamic measurement (RTK) technical specification "；

GB/T 7930-2008 " industry specification in 1:500 1:1000 1:2000 aerophotogrammetry "；

GB/T 7931-2008 " 1:500 1:1000 1:2000 aerophotogrammetry field operation specification "；

GB/T 23236-2009 " digital aerial surveying aerial triangulation specification "；

CH/T 9008.2-2010 " Fundamental Geographic Information System numeral achievement 1:500 1:1000 1:2000 numeral Elevation model ".

(2) aerial flight: flight-line design, is designed by project on the spot

Test have chosen Ma An island 39.1, Zhongshan city sq-km 1:1000 unmanned plane aerial photography project.

15 course lines of design flight, 13 mapping course lines, 2 framework course lines, form as above schemes every course line 36 Individual baseline, plans to press the flight of 1:1000 scale achievement, and ground resolution is less than 10cm, project flight 540 Boat sheet.Common course line endlap 65-70%, sidelapping average 35%, flying height 450 meters；Control strip row High raising 10%, row is high 500 meters, and endlap reaches 80%.

Boat sheet uses after field operation passed examination.

(3) control to measure and photo control point collection

Collect control data

First collect local C D level control point data, second grade leveling data；Through checking, holding is good, observe bar Part is good.

Chopped-off head controls

Lay E level GPS network and carry out chopped-off head static observation, obtain coordinate transformation parameter, check through check point, essence Degree meets code requirement.

Photo control point, checkpoint data acquisition

Field photo control point, is used CORS technology to set up fixed station (on known point), is gathered by rover station Photo control point three-dimensional coordinate.Code requirement is pressed in coordinate collection, uses spider centering leveling, measures before and after observation not Equidirectional antenna high (3 directions, 6 values, meter is to mm position) averaged, observes 4 times, every time Reopening GNSS receiver, coordinate is averaged, and plane, elevation are looked into mutually and met code requirement.Check ground Object point uses 2 meters of high hand rods to be acquired, and gathers 2 times, ensures that bubble is in level during collection, uses Fixed solution, asks for 2 meansigma methodss.

Before operation, known point is tested, poor qualified after just can carry out data acquisition.Record flat high point, Elevational point and atural object check point coordinates and thorn point diagram.

Photo control point 56, the most flat high point 8, elevational point 48 have been laid in this test, acquire ground quality testing Epipole 100

(4) empty three encryptions of interior industry

Empty three encryptions of common aerial survey

Framework course line does not participate in empty three, and photo control point chooses the flat high point in corner and two ends, course line elevational point, carries out sky Three encryptions, resolving.

Instrument uses full digital photogrammetric work station, measures and calculates the empty three encipheror Match-AT of employing, Data adjustment Models is bundle block adjustment.56 photo control points all participate in adjustment and resolve.

Through resolving, middle error is: mx=± 0.156m, my=± 0.151m, mh=± 0.149m.

Empty three encryptions in framework course line

Framework course line participates in empty three, and photo control point chooses the flat high point in corner, carries out empty three encryptions, resolves.Through resolving, in Error is: mx=± 0.152m, my=± 0.173m, mh=± 0.164m.

Pass point accuracy assessment

By error in two kinds of Pass point planes, height accuracies being carried out Statistical Comparison, find pass point essence There is not significant change in degree, all within code requirement, does not reduce, on mapping without impact.

The empty three encryption required precisions of 1:1000 specification, middle error is: mp=± 0.35m, mh=± 0.28m.

(5) photogrammetric office work mapping

Use both of which, relatively carry out aerial survey solid collection, to field data acquisition to after empty three encryptions respectively Check point, carries out interior industry coordinate collection, contrasts with field operation coordinate, and Calculation Plane, mean square error of height.Draw Conclusion.

Through field operation culture point is carried out twice collection of interior industry, precision is as follows:

(1) common course line: middle error is: mp=± 0.281m, mh=± 0.183m.

(2) framework course line: middle error is: mp=± 0.276m, mh=± 0.192m.

It is satisfied by specification required precision.

The empty three encryption required precisions of 1:1000 specification, middle error is: mp=± 0.60m, mh=± 0.40m.

(6) experiment conclusion

(1) field operation boat is taken the photograph because increasing framework course line, and boat flies increase time statistics

Field operation uses a sortie to take off, and the used time is 82 minutes, because increasing by two framework course lines, increases the time It is about 10 minutes, the flight time is not had much affect.

(2) data that external locus of control framework course line is provided without, gather the time used

The most individually it is acquired, it is contemplated that the time is about 10 minutes.

(3) photo control point acquisition time impact

Field data acquisition photo control point 56, all uses 4 observation of spider, uses 1 NSS fixed station, 3 RTK Rover station, acquires 1 day time (9 hours working times), average about 30 minutes each some position used times.If only Calculate 4 flat high point acquisition times, use 1 NSS fixed station, 2 RTK rover, then perfect condition 1 Hour complete, calculate owing to path problem amounted to 4 hours by 2 hours.The field data acquisition time was down to by 27 hours 2 hours, time cost was substantially reduced.

(3) interior industry Pass point plane, height accuracy contrast conclusion

By empty three encryption accuracy comparisons, two ways, without the biggest change, is satisfied by code requirement.

(4) atural object check point accuracy comparison is evaluated

By to 100 atural object check point accuracy comparisons, two ways, without the biggest change, is satisfied by specification and wants Ask.

(5) framework route-proving trial result is summed up

By Experimental Comparison, boat is taken the photograph employing increases framework course line, substantially increases field photo control point acquisition time, Internally empty three encryptions of industry, culture point solid acquisition precision contrast statistics, precision, will not be because of subtracting without significant change Lacking external control and reduce mapping accuracy, the method is worthy to be popularized and applies by company.

Claims (6)

1. an aeroplane photography method based on unmanned plane, its step includes: flight-line design, aerial flight, as control Measure, sky three is encrypted, checkpoint is measured；It is characterized in that described flight-line design and aerial flight include increasing by 2 Bar framework course line.

2. aeroplane photography method as claimed in claim 1, it is characterised in that described flight-line design includes resolution, one-tenth Drawing scale, towing photographing scale, course line, flying height, ground control survey, the scheme of photogrammetric control point surveying and design.

3. as claimed in claim 1 aeroplane photography method, it is characterised in that described picture control measurements include collecting locality C D Level control data, carries out Red chief Delicious" apple laying, and carries out the collection of photo control point field operation RTK, photo control point and inspection Point coordinates processes through interior industry, it is thus achieved that three-dimensional geodetic coordinates (X, Y, H).

4. as claimed in claim 3 aeroplane photography method, it is characterised in that described photo control point include the flat height in corner, in Between elevation pass point, it will be apparent that quality testing is made an inventory of.

5. aeroplane photography method as claimed in claim 1, it is characterised in that described empty three encryptions use INFO programs to carry out The most empty three encryptions, its step includes:

A, control point use whole four angle points and elevation pass point, and photo is added without framework course line, it is thus achieved that a group is reported；

B, employing control point, corner, photo adds framework course line, it is thus achieved that b group is reported；

C, it is analyzed a group, b group report respectively summing up, provides comparison report.

6. aeroplane photography method as claimed in claim 1, it is characterised in that the measurement of described checkpoint includes using two groups Empty three encryption achievements, carry out stereoplotting type collection check point coordinates；Its coordinate is examined respectively at field data acquisition control Make an inventory of coordinate and carry out accuracy comparison, calculate some position, mean square error of height, provide precision report.