CN105973203A - Differential GNSS application method in unmanned aerial vehicle aerial photography - Google Patents
Differential GNSS application method in unmanned aerial vehicle aerial photography Download PDFInfo
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- CN105973203A CN105973203A CN201610220037.4A CN201610220037A CN105973203A CN 105973203 A CN105973203 A CN 105973203A CN 201610220037 A CN201610220037 A CN 201610220037A CN 105973203 A CN105973203 A CN 105973203A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a differential GNSS application method in unmanned aerial vehicle (UAV) aerial photography, wherein the method comprises the following steps: according to result requirements, performing flight strip design, and calculating technical parameters required for UAV aerial photography; setting navigation parameters of a UAV autopilot; making a UAV navigation GPS fly according to a set path, and carrying out aerial photography according to designed exposure parameters; examining, checking and accepting the aerial photography data; according to specification requirements, measuring field control points; and preparing a topographic map, DEM and DOM data. The effective way for improving the field work efficiency comprises reduction of the workload of the photo control measurement; the way for reducing field control point workload comprises providing of air triangle measurement of additional auxiliary conditions; and one of the auxiliary condition ways comprises improvement of the positioning accuracy of navigation GPS and GPS assisted air triangle measurement.
Description
Technical field
The invention belongs to survey and draw aeroplane photography field, particularly relate to difference GNSS application side in a kind of unmanned plane aeroplane photography
Method.
Background technology
Tradition unmanned plane aerophotogrammetry, is taken the photograph or GPS One-Point Location gross navigation by manual remote control operation flight boat,
Flight needs to manipulate hands remote control, and photo camera site is not in place, easily does over again or makes troubles follow-up work.Aerial surveying camera interior
The element of orientation mainly uses physical method calibrating at laboratory, and the elements of exterior orientation of photo then relies primarily on aerial triangulation
Solution indirect with large number of ground control point is asked.Workload is big, and especially remote, thickly forested mountains are had inconvenient traffic, worked together extremely difficult, waste
A large amount of human and material resources.
Summary of the invention
In order to solve above-mentioned technical problem, it is an object of the invention to be researched and developed by difference GNSS technical patent, solve:
GPS auxiliary beam method block adjustment, measures observation as the additional non-photographic in block adjustment, replacing in the air or
Reduce ground control method to carry out block adjustment.Reduce external locus of control quantity, improve work efficiency.
To achieve the above object, present invention employs following technical scheme:
Difference GNSS application process in a kind of unmanned plane aeroplane photography, unmanned plane aerial photography system is by ground system, flight
Platform, digital remote sensing image obtain system, data process four part compositions；Wherein: ground system includes for transporting microlight-type
The vehicle of aircraft；Flying platform includes unmanned plane aircraft, autopilot, communication system；Digital remote sensing image obtains system and includes electricity
Source, GPS independent navigation and boat take the photograph management system, aerial digital camera (digital aviation photographing unit), miniature Stable Platform System,
Control and record system；Data handling system includes that sky three is measured, just penetrated correction, stereoplotting；
Difference GNSS application process in unmanned plane aeroplane photography, specifically includes following steps:
1) require to carry out air strips design according to achievement, calculate the technical parameter required for unmanned plane aeroplane photography；
2) unmanned plane autopilot is carried out navigational parameter setting；
3) Navigation of Pilotless Aircraft GPS is according to the route flight arranged, and carries out boat take the photograph according to design exposure parameter；
4) boat is taken the photograph data to inspect for acceptance；
5) field control point survey is carried out according to code requirement
6) topography, DEM, DOM data creating.
1. aerophotogrammetry core technology
A) aerophotogrammetric core technology is aerial triangulation；
B) principle of aerial triangulation is the ground photo control point coordinate by limited quantity, is obtained by AES
The attitude of each of aeroplane photography gained boat sheet；
C) carry out topography mapping on the performance basis of empty three encryptions, DEM DOM makes；
D) wherein ground control-point survey, needs to put into substantial amounts of human and material resources and carries out field measurement operation, simultaneously
Also by the image of weather；The workload reducing field control point survey is to improve unmanned plane aerophotogrammetry working performance
Maximally effective approach；
2. improve field work efficiency effective way
1) effective way improving field work efficiency is to reduce the workload of control survey of aerial photograph；
2) approach of the workload reducing control point, field is just to provide the subsidiary conditions that aerial triangulation is extra；
3) one of subsidiary conditions approach is to improve the positioning precision of navigation GPS, carries out GPS and assists aerial triangulation；
3. navigation level GPS and difference GNSS
1) precision of rank GPS of navigating, normal 10 meters of precision grades；
2) precision of difference GNSS, is normally meter level, is processed by differential technique and reaches a millimeter rank；
4. install the effect after difference GNSS additional
3) workload of 60-70% is reduced
In GNSS positions, there are three fractional errors: one is the error that receiver is publicly-owned, such as: satellite clock error, ephemeris are by mistake
Difference etc.；Two is propagation delay error, such as: ionospheric error, tropospheric error etc.；Three is the mistake that each receiver user is intrinsic
Difference, such as internal noise, channel delay, multipath effect etc..In order to reduce the impact on accuracy of observation of these errors, use difference more
Divide location technology.
Differential technique (being formerly referred to as DGPS, Differential GPS, should be referred to as now DGNSS) is exactly at a survey station
Two targets are observed value and ask poor；Or at two survey stations, one target is observed, observation is asked poor；Or at one
Survey station asks poor between twice observed quantity of a target.The purpose of difference is to eliminate common error, improves positioning precision.
Unmanned plane difference GNSS a: GNSS receiver is placed on base station observation, according to accurate coordinates known to base station, meter
Calculate and there is a difference between the pseudo-distance of the base station distance to satellite and the observation of the existence reference receiver due to error
Value, this difference (corrected value) is sent in real time by base station, and unmanned plane receiver is while carrying out GNSS observation, also
Receive the correction of base station, and be modified positioning result eliminating common error.Differential technique is completely eliminated above-mentioned
Part I error, the major part of Part II error can be eliminated, but Part III error cannot be eliminated.Due to this technology
Positioning precision can be improved be widely used.
Difference GNSS is divided into single base station difference, the regional area difference of many base stations and GPS wide area differential GPS three types.From
Signal message used by difference, can be divided into code phase and carrier phase.
Difference GNSS location can be divided three classes according to the information mode that difference GNSS base station sends, it may be assumed that differential position,
Pseudo range difference and phase difference.The operation principle of this three classes differential mode is roughly the same, is all to be sent correction by base station, by
Subscriber station receives and corrects its measurement result, to obtain accurate positioning result.Except that, send correction
Particular content is different, and its Differential positioning precision is the most different.Unmanned plane difference GNSS uses phase difference technology.
By Differential GPS Technology, use GPS auxiliary empty three, obtain in real time when camera is taken pictures in elements of exterior orientation (Xs,
Ys, Zs) three line elements, ignore angle element, measure observation as the additional non-photographic in block adjustment, to take in the air
Generation or reduce ground control method to carry out block adjustment.Reach to reduce field operation and control workload, especially mountain woods friendship
Logical constant area, can increase substantially work efficiency.
Software is resolved including unmanned plane GPS receiver equipment, ground GPS base station, in real time/post-flight data transmission log.
Add unmanned plane, ground GPS controls and receives device, and data transmission resolves software section.
Compared with prior art, the invention has the beneficial effects as follows:
1, reduce field operation to control to measure workload, at most can reduce 70-80%, time-consuming, improve efficiency, improve economy
Remarkable benefit.
2, improve navigation and positioning accuracy, from 2-10 rice left and right Point-positioning Precision, bring up to centimeter-level positioning precision (3-
5cm), effectively promote photo camera site precision, improve photographic quality.
Detailed description of the invention
The present invention provides the specific embodiment of difference GNSS application process, unmanned plane aerial photography in a kind of unmanned plane aeroplane photography
System is processed four parts formed by ground system, flying platform, digital remote sensing image acquisition system, data；Wherein: ground is
System includes the vehicle for transporting ultra light aircraft；Flying platform includes unmanned plane aircraft, autopilot, communication system；Digital distant
Sense image acquisition system includes that power supply, GPS independent navigation and boat take the photograph management system, aerial digital camera (take a picture by digital aviation
Machine), miniature Stable Platform System, control and record system；Data handling system includes that sky three is measured, just penetrated correction, three-dimensional survey
Figure；
Difference GNSS application process in unmanned plane aeroplane photography, specifically includes following steps:
7) require to carry out air strips design according to achievement, calculate the technical parameter required for unmanned plane aeroplane photography；
8) unmanned plane autopilot is carried out navigational parameter setting；
9) Navigation of Pilotless Aircraft GPS is according to the route flight arranged, and carries out boat take the photograph according to design exposure parameter；
10) boat is taken the photograph data to inspect for acceptance；
11) field control point survey is carried out according to code requirement
12) topography, DEM, DOM data creating.
Difference GNSS (DGPS) is exactly the difference GNSS standard station first with known accurate three-dimensional coordinate, tries to achieve pseudorange and repaiies
Positive quantity or position correction amount, then this correction is sent in real time or afterwards user's (GNSS navigator, receptor), to user
Measurement data be modified, to improve GNSS positioning precision.
Difference GNSS location can be divided three classes according to the information mode that difference GNSS base station sends, it may be assumed that differential position,
Pseudo range difference and phase difference.
Difference GNSS (DGNSS) is that additional (difference) revises signal outside normal GNSS, and this corrects signal and improves
The precision of GNSS.
The operation principle of this three classes differential mode is identical, is the most all to be sent correction by base station, subscriber station connects
Receive and its measurement result corrected, to obtain accurate positioning result.Except that, send the particular content of correction
Different, its Differential positioning precision is the most different.
Just can carry out three-dimensional localization after GPS 4 satellites of observation being arranged on base station, calculate base station
Coordinate.Owing to there is orbit error, clocking error, SA impact, atmospheric effect, multipath effect and other errors, calculate
Coordinate be different with the known coordinate of base station, there is error.Base station utilizes Data-Link to be sent out by this correction
Go, subscriber station receive, and the subscriber station coordinate resolving it corrects.
User coordinates after the correction finally obtained has eliminated the common error of base station and subscriber station, such as satellite rail
Road error, SA impact, atmospheric effect etc., improve positioning precision.Above prerequisite be base station and subscriber station observation same
The situation of group satellite.Position difference is applicable to user and base station spacing situation within 100km.
Pseudo range difference principle pseudo range difference is a kind of technology that current purposes is the widest.Almost all of commercial differential GPS connects
Receipts machine (or GNSS compatible receiver) all uses this technology.The RTCM SC-104 that International Maritime radio committee is recommended is also
Have employed this technology.
Its distance to visible satellite to be tried to achieve by receiver on base station, and the distance that this is calculated with containing wrong
The measured value of difference is compared.A α-βfilter is utilized by this differential filtering and to obtain its deviation.Then by all satellites
Range error is transferred to user, and user utilizes this range error to correct the pseudorange of measurement.Finally, the puppet after user utilizes correction
Away from solving position own, so that it may eliminate common error, improve positioning precision.
Similar to differential position, two station common error can be offset by pseudo range difference, but along with user is to base station distance
Increasing and occur in that again systematic error, this error is all indelible by any calculus of finite differences.Between user and base station away from
Decisive influence is had to precision.
The static base line measurement that carrier phase difference principle geodetic type receiver utilizes GNSS satellite carrier phase to carry out obtains
Obtained the highest precision (10-6～10-8).But in order to reliably solve phase ambiguity, it is desirable to little one or two of static observation
Time or longer time.Thus limit the application in engineer operation.Then the method seeking quickly measurement is arisen at the historic moment.Example
As, use the quick approximation technique of integer ambiguity (FARA) to make baseline observation time shorten to 5 minutes, use Quasi dynamic (stop
And go), come and go and repeat to set station (re-occupation) and dynamic (kinematic) improves GNSS working performance.These skills
The application of art GPS, GNSS measurement accurate to promotion has played facilitation.But, these operating types above-mentioned are all to carry out afterwards
Data process, it is impossible to submit in real time achievement to and evaluate quality of achievement in real time, are difficult to avoid the occurrence of that postmortem is defective causes
Do over again phenomenon.
Differential GPS, the appearance of difference GNSS, can give the position of carrier in real time, and precision is meter level, meets pilotage, water
The requirement of the engineerings such as lower measurement.The technology such as differential position, pseudo range difference, pseudo range difference smoothing pseudorange have been successfully used to various work
In industry.The thing followed is more accurate measurement technology carrier phase difference technology.
Carrier phase difference technology is also called RTK technology (real time kinematic), is built upon processing in real time two
On the basis of the carrier phase of individual survey station.It can provide the three-dimensional coordinate of observation station in real time, and reaches the high accuracy of Centimeter Level.
Identical with pseudo range difference principle, by base station by Data-Link in real time by its carrier observations amount and station coordinates information one
With sending subscriber station to.Subscriber station receives carrier phase and the carrier phase from base station of GNSS satellite, and forms phase place
Difference observation processes in real time, can provide the positioning result of Centimeter Level in real time.
It is emphasized that: be the most only presently preferred embodiments of the present invention, not the present invention is made any in form
Restriction, any simple modification, equivalent variations and the modification that above example is made by every technical spirit according to the present invention,
All still fall within the range of technical solution of the present invention.
Claims (1)
1. difference GNSS application process in a unmanned plane aeroplane photography, it is characterised in that unmanned plane aerial photography system is by ground
System, flying platform, digital remote sensing image obtain system, data process four part compositions；Ground system includes for transporting super
The vehicle of light aerocraft；Flying platform includes unmanned plane aircraft, autopilot, communication system；Digital remote sensing image obtains system bag
Include power supply, GPS independent navigation takes the photograph management system, aerial digital camera (digital aviation photographing unit), miniature stabilized platform with boat
System, control and record system；Data handling system includes that sky three is measured, just penetrated correction, stereoplotting；
Wherein: difference GNSS application process in unmanned plane aeroplane photography, following steps are specifically included:
1) require to carry out air strips design according to achievement, calculate the technical parameter required for unmanned plane aeroplane photography；
2) unmanned plane autopilot is carried out navigational parameter setting；
3) Navigation of Pilotless Aircraft GPS is according to the route flight arranged, and carries out boat take the photograph according to design exposure parameter；
4) boat is taken the photograph data to inspect for acceptance；
5) field control point survey is carried out according to code requirement
6) topography, DEM, DOM data creating.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2644630C1 (en) * | 2016-12-13 | 2018-02-13 | Акционерное общество "Научно-исследовательский институт современных телекоммуникационных технологий" (АО "НИИ СТТ") | Method of aerophotography of terrestrial objects in conditions of insufficient lighting with help of unmanned aircraft |
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| CN109872401A (en) * | 2019-02-18 | 2019-06-11 | 中国铁路设计集团有限公司 | A kind of UAV Video augmented reality implementation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940410A (en) * | 2014-04-14 | 2014-07-23 | 西安煤航信息产业有限公司 | Digital aerial photography measurement method for mapping at ultrahigh magnification |
| CN104932529A (en) * | 2015-06-05 | 2015-09-23 | 北京中科遥数信息技术有限公司 | Unmanned plane autonomous flight cloud control system |
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2016
- 2016-04-08 CN CN201610220037.4A patent/CN105973203A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103940410A (en) * | 2014-04-14 | 2014-07-23 | 西安煤航信息产业有限公司 | Digital aerial photography measurement method for mapping at ultrahigh magnification |
| CN104932529A (en) * | 2015-06-05 | 2015-09-23 | 北京中科遥数信息技术有限公司 | Unmanned plane autonomous flight cloud control system |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2644630C1 (en) * | 2016-12-13 | 2018-02-13 | Акционерное общество "Научно-исследовательский институт современных телекоммуникационных технологий" (АО "НИИ СТТ") | Method of aerophotography of terrestrial objects in conditions of insufficient lighting with help of unmanned aircraft |
| CN109085622A (en) * | 2018-10-12 | 2018-12-25 | 广州雷迅创新科技有限公司 | A kind of unmanned plane positioning system based on RTK |
| CN109872401A (en) * | 2019-02-18 | 2019-06-11 | 中国铁路设计集团有限公司 | A kind of UAV Video augmented reality implementation method |
| CN109872401B (en) * | 2019-02-18 | 2023-10-17 | 中国铁路设计集团有限公司 | Unmanned aerial vehicle video augmented reality implementation method |
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Application publication date: 20160928 |