CN107917699A - A kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement - Google Patents
A kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement Download PDFInfo
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- CN107917699A CN107917699A CN201711112565.9A CN201711112565A CN107917699A CN 107917699 A CN107917699 A CN 107917699A CN 201711112565 A CN201711112565 A CN 201711112565A CN 107917699 A CN107917699 A CN 107917699A
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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
- 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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Abstract
The present invention relates to a kind of method that its empty three mass is improved for mountain area landforms oblique photograph measurement data, step：1) flying height above mean sea level in every course line is determined according to ground resolution requirement and mountain area fluctuating situation；2) flown by air remote sensing and obtain inclination image data, GNSS data and the IMU data in mountain area；3) arranged to tilting image data, GNSS data and IMU data；4) overall sky three and first piecemeal sky three, remerge sky three, show that corresponding empty three results and sky three are reported；5) compare three result of sky under different condition and sky three is reported, select optimal result, for mountain area outdoor scene three-dimensional modeling, to form clear accurate three-dimensional geographic information data.The present invention is quickly post-processed for the oblique photograph measurement data of mountain area landforms, the quality of quantitative analysis aerophotogrammetry data product, is judged in time, selection optimized results, solve the problems, such as the sky three produced by mountain area landforms, accordingly, it is capable to improve work efficiency, loss is reduced.
Description
Technical field
The present invention relates to a kind of method for improving its empty three mass for mountain area landforms inclination image data, and in particular to one
Kind is used for the method for improving empty three mass of mountain area landforms oblique photograph measurement.
Background technology
Sky three is carried out for the oblique photograph measurement data of mountain area landforms, there are problems that, including：
1. if mountain area rises and falls greatly, in the case where ensureing identical ground resolution, remote sensing aircraft is needed in difference definitely
The enterprising line tilt photography in course line of flying height, easily produces loophole, image overlap rate is changed, be unfavorable for sky three；Ensureing
In the case of identical flying height above mean sea level, acquired inclination image has a different ground resolutions, on adjacent image samely
Thing cause not of uniform size, is unfavorable for Image Matching；
2. mountain area easily produces the uncertain wind of direction and speed, plant on mountain is rocked, causes image apprehensive, it is unfavorable
In feature point extraction and Image Matching；In addition, in mountain direction and the uncertain wind of speed can make aircraft produce rock, inclination angle
Become larger, in some instances it may even be possible to aircraft is hit mountain or is toppled, so as to cause image inclination angle to become larger, deterioration in accuracy, be unfavorable for sky three；
3. mountain area landforms easily produce shade, different periods, not same date, effect of shadow difference, the color of image are different,
It is unfavorable for Image Matching；
4. generally there is the vegetal cover of large area in mountain area, plant belongs to the simple object of low texture, geometry, similar plant
It is approximate on image, it is not easily distinguishable, is unfavorable for feature point extraction and Image Matching.
Therefore, the oblique photograph measurement for mountain area landforms, than level land, hills, it is easier to empty three problems are produced, if empty
Three is of poor quality, and the outdoor scene three-dimensional modeling in later stage is it is possible that tomography, distortion, stretching, fuzzy, color be uneven and loophole etc. is asked
Topic, so as to cause job task to fail.
The content of the invention
The object of the present invention is to provide a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement, for
The inclination image data in mountain area carries out aerial triangulation, and the quality of quantitative analysis aerophotogrammetry data product, judges, selects most in time
Optimum results, solve the problems, such as the sky three produced by mountain area landforms, accordingly, it is capable to improve work efficiency, reduce loss.
In order to achieve the above object, the present invention has following technical solution：
A kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement of the present invention, there is following steps：
1) flying height above mean sea level in every course line is determined according to ground resolution requirement and mountain area fluctuating situation；
2) flown by air remote sensing and obtain inclination image data, GNSS data and the IMU data in mountain area；
3) arranged to tilting image data, GNSS data and IMU data；
4) overall sky three and first piecemeal sky three, remerge sky three, show that corresponding empty three results and sky three are reported；
5) compare three result of sky under different condition and sky three is reported, select optimal result, built for mountain area outdoor scene three-dimensional
Mould, to form clear accurate three-dimensional geographic information data.
Wherein, the flying height above mean sea level in every course line includes several identical height in step 1), or different including several
Height, the present invention can both handle the data of identical flying height above mean sea level, and can also handle the data of different flyings height above mean sea level；According to step
It is rapid 1) in ground resolution requirement and mountain area fluctuating situation, the terrain clearance and flying height above mean sea level in every course line can be obtained, wherein,
The relational expression of terrain clearance and ground resolution is：
In formula, h is the terrain clearance in course line, and f is camera lens focal length, and GSD is ground resolution, and a is camera CCD array
Pixel size, f, a are constant values.
Wherein, the relational expression of flying height above mean sea level and terrain clearance is：
H=h+h '
In formula, H is the flying height above mean sea level in course line, and h is the terrain clearance in course line, and h ' is the height above sea level in mountain area.
If mountain area fluctuating is small, i.e., height difference is small inside mountain area, under the requirement of identical ground resolution, the basic phase of terrain clearance
Together, so all course lines are at identical flying height above mean sea level；
If mountain area rises and falls greatly, i.e., height difference is big inside mountain area, and under the requirement of identical ground resolution, course line is at difference
Flying height above mean sea level；
Conversely, if it is desired to all course lines all in identical flying height above mean sea level, then the corresponding data in small mountain area that rise and fall have
Identical ground resolution；The corresponding data in big mountain area that rise and fall have different ground resolutions.
Wherein, the inclination image data in the step 2) regards including forward sight, backsight, left view, the right side and regards five angles down
Colored digital image data；GNSS data in the step 2) include the data of longitude, latitude and elevation, the step
2) the IMU data in include angle element Roll (Φ), Pitch (Θ), Heading (Ψ)；
Wherein, the arrangement in the step 3) refers to：The number of days to be flown according to remote sensing, sorts out the shadow obtained daily respectively
As the positioning and orientation data corresponding to corresponding positioning and orientation data and all images；
Wherein, the overall sky three in the step 4) refers to：Sky three is carried out for all data of acquisition；First piecemeal is empty
3rd, sky three is remerged to refer to：Sky three is carried out to the data obtained daily respectively, then merges each empty three result, then pairing
Data after and carry out sky three；Overall sky three is carried out under conditions of different phases, different angle；Piecemeal sky three is identical
Carried out under conditions of phase, identical inclination angle, therefore piecemeal sky three is more stablized than overall sky three, after piecemeal sky three is merged again into
Row sky three is based on the sky three again for stablizing empty three results, its result also stablize by relatively overall sky three；
Overall sky three and first piecemeal sky three, remerge sky three include the detection of SURF characteristic points, SURF feature point descriptions and
RANSAC is accurately matched, and is comprised the concrete steps that：
1) SURF characteristic points detect：Characteristic point is detected using the maximum of Hessian matrix determinants, it is assumed that I is figure
Picture, X (x, y) are a bit in image, and scale is σ, then the Hessian matrixes at point X are：
Wherein, Lxx(X, σ) is the convolution of the Gauss second-order differential at point X and image I, remaining every implication is similar；
Responded approximate Hessian matrix determinants as the spot at X (x, y, σ) place, it is specific public to accelerate operation efficiency
Formula is：
Det(Happrox)=DxxDyy-(0.9Dxx)2
The spot response that each in image is put is calculated, forms response image, it is empty in this scale by comparing certain point
Between and upper and lower metric space response size, to judge whether certain point is candidate feature point, if than 26 neighbours of response
Thresholding is all big or all small, then using the point as final candidate feature point, and calculates its position and scale parameter；
2) SURF characteristic points principal direction is distributed：Haar small echo computings are carried out first, and design parameter is：6s is radius, feature
Centered on point, length of side 4s, obtains Haar small echo response of the point on x, y directions, wherein s is space scale；Then carry out
Gauss ranking operation, design parameter are：Subtended angle is the fan-shaped sliding window of π/3, and step-length is 0.2 radians slip window, to window
The Haar small echo responses dx of interior image, dy add up, and obtain vector (mω,θω)：
Haar small echo response accumulated values are asked in a direction of multiple directions intermediate value maximum, then using the direction as spy
Levy the principal direction of point；
3) SURF characteristic points characteristic vector generates：Structure is using 20s as the length of side, centered on characteristic point, direction and characteristic point master
Direction is consistent, and size is 4 × 4 regular child window.The length of side is used to be handled for the Haar small echos of 2 σ image, to obtain
X, response dx, dy on y directions, using the response of each child window of Gauss weighted calculation, to obtain each height
The characteristic vector of window：
υChild window=[∑ dx ∑ dy ∑s | dx | ∑ | dy |]
One group describes subcharacter vector and includes 4 × 4 × 4=64 D feature vectors altogether, can obtain the complete of characteristic point
Information：Space scale, coordinate, 64 n dimensional vector n features；
4) RANSAC algorithms accurately match：According to left view image as Feature Points Matching right view image, right view image characteristic point
Left view image is matched, then is screened, if matching can succeed twice, just carry out matching double points are stored in new array,
Carry out RANSAC model estimations, judge correct matching double points, carry out n iterative calculation, with obtain final match point with
Transition matrix.
Wherein, it is further comprising the steps of：
Make for inclination image data, GNSS data and with angle element Roll (Φ), Pitch (Θ), Heading (Ψ)
Sky three is carried out for the integrated navigation data of IMU data initial values, iterative calculation respectively tilts the positional information and appearance of image data
State information, deleted residual, rough error, when reaching optimal iterations, if there are course line collection and X-Y plane are uneven for empty three results
OK, then do not continue to iterate to calculate, and judge that the result fails；If all course line collection are parallel with X-Y plane, do not continue to change
In generation, calculates, and judges that the result is feasible；When being not reaching to optimal iterations, if empty three results are put down there are course line collection with X-Y
Face is not parallel, then continue iterative calculation tilt image data positional information and attitude information, deleted residual, rough error, directly
Untill all course line collection are parallel with X-Y plane, and judge that the result is feasible；Using feasible three result of sky as new initial value
Continue sky three, iterative calculation tilts the positional information and attitude information of image data, and deleted residual, rough error, observe and calculate every time
Rear tie point quantity and whether course line collection is parallel with X-Y plane after calculating every time, when tie point quantity reaches most and boat
When line collection is parallel with X-Y plane, then this three result of sky is selected to continue sky three as new initial value, iteration optimization tilts shadow
As the positional information and attitude information of data, deleted residual, rough error, tie point quantity and each meter after observing per suboptimization
Whether course line collection is parallel with X-Y plane after calculation, when tie point quantity reaches most and course line collection is parallel with X-Y plane, if
GNSS data is not measured using RTK, then terminates to optimize, and show that empty three results and sky three are reported；If GNSS data employs
RTK is measured, then selects this three result of sky to continue sky three as new initial value, and iteration optimization tilts the position letter of image data
Breath and attitude information, deleted residual, rough error, course line collection and X- after observing the tie point quantity after every suboptimization and calculating every time
Whether Y plane is parallel, when tie point quantity reaches most and course line collection is parallel with X-Y plane, selects this three result of sky to make
For final result, compare empty three final results twice, alternative point of contact is more and what precision was high is used for outdoor scene three-dimensional modeling.
Wherein, successive ignition calculates, optimization is to make the position of photo, posture correct for deleted residual, rough error, at the same time
Make connection points enough, it is ensured that the triangular mesh number used in modeling is enough, so as to lift the quality of threedimensional model.
Due to taking above technical scheme, the advantage of the invention is that：
1 present invention is easy to operate, can be calculated, then be found from different results optimal using different strategies
Solution, makes quality of achievement optimal；
2 is convenient and efficient, can be with quantitative analysis, and precision is high, can improve work efficiency, reduces repetitive operation and work damage
Lose；
3 can solve the problems, such as that mountain area landforms cause, and avoid mission failure.
Brief description of the drawings
Fig. 1 is the flow chart of the present invention；
Fig. 2 is hollow three flow chart of the present invention；
There are course line collection and the not parallel schematic diagram of X-Y plane for hollow three result of the present invention by Fig. 3；
Fig. 4 is the hollow normal schematic diagram of three results of the present invention；
In figure, 1, course line collection one；2nd, course line collection two；
Embodiment
Following embodiments are used to illustrate the present invention, but are not limited to the scope of the present invention.
Referring to attached drawing 1- Fig. 4, a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement of the invention,
There are following steps：
1) flying height above mean sea level in every course line is determined according to ground resolution requirement and mountain area fluctuating situation；
2) flown by air remote sensing and obtain inclination image data, GNSS data and the IMU data in mountain area；
3) arranged to tilting image data, GNSS data and IMU data；
4) overall sky three and first piecemeal sky three, remerge sky three, show that corresponding empty three results and sky three are reported；
5) compare three result of sky under different condition and sky three is reported, select optimal result, built for mountain area outdoor scene three-dimensional
Mould, to form clear accurate three-dimensional geographic information data.
Wherein, the flying height above mean sea level in every course line includes several identical height in step 1), or different including several
Height, the present invention can both handle the data of identical flying height above mean sea level, and can also handle the data of different flyings height above mean sea level；According to step
It is rapid 1) in ground resolution requirement and mountain area fluctuating situation, the terrain clearance and flying height above mean sea level in every course line can be obtained, wherein,
The relational expression of terrain clearance and ground resolution is：
In formula, h is the terrain clearance in course line, and f is camera lens focal length, and GSD is ground resolution, and a is camera CCD array
Pixel size, f, a are constant values.
Wherein, the relational expression of flying height above mean sea level and terrain clearance is：
H=h+h '
In formula, H is the flying height above mean sea level in course line, and h is the terrain clearance in course line, and h ' is the height above sea level in mountain area.
If mountain area fluctuating is small, i.e., height difference is small inside mountain area, under the requirement of identical ground resolution, the basic phase of terrain clearance
Together, so all course lines are at identical flying height above mean sea level；
If mountain area rises and falls greatly, i.e., height difference is big inside mountain area, and under the requirement of identical ground resolution, course line is at difference
Flying height above mean sea level；
Conversely, if it is desired to all course lines all in identical flying height above mean sea level, then the corresponding data in small mountain area that rise and fall have
Identical ground resolution；The corresponding data in big mountain area that rise and fall have different ground resolutions.
Wherein, the inclination image data in the step 2) regards including forward sight, backsight, left view, the right side and regards five angles down
Colored digital image data；GNSS data in the step 2) include longitude, latitude and elevation, in the step 2)
IMU data include angle element Roll (Φ), Pitch (Θ), Heading (Ψ)；
Wherein, the arrangement in the step 3) refers to：The number of days to be flown according to remote sensing, sorts out the shadow obtained daily respectively
As the positioning and orientation data corresponding to corresponding positioning and orientation data and all images；
Wherein, the overall sky three in the step 4) refers to：Sky three is carried out for all data of acquisition；First piecemeal is empty
3rd, sky three is remerged to refer to：Sky three is carried out to the data obtained daily respectively, then merges each empty three result, then pairing
Data after and carry out sky three；Overall sky three is carried out under conditions of different phases, different angle；Piecemeal sky three is identical
Carried out under conditions of phase, identical inclination angle, therefore piecemeal sky three is more stablized than overall sky three, after piecemeal sky three is merged again into
Row sky three is based on the sky three again for stablizing empty three results, its result also stablize by relatively overall sky three；
Overall sky three and first piecemeal sky three, remerge sky three include the detection of SURF characteristic points, SURF feature point descriptions and
RANSAC is accurately matched, and is comprised the concrete steps that：
1) SURF characteristic points detect：Characteristic point is detected using the maximum of Hessian matrix determinants, it is assumed that I is figure
Picture, X (x, y) are a bit in image, and scale is σ, then the Hessian matrixes at point X are：
Wherein, Lxx(X, σ) is the convolution of the Gauss second-order differential at point X and image I, remaining every implication is similar；
Responded approximate Hessian matrix determinants as the spot at X (x, y, σ) place, it is specific public to accelerate operation efficiency
Formula is：
Det(Happrox)=DxxDyy-(0.9Dxx)2
The spot response that each in image is put is calculated, forms response image, it is empty in this scale by comparing certain point
Between and upper and lower metric space response size, to judge whether certain point is candidate feature point, if than 26 neighbours of response
Thresholding is all big or all small, then using the point as final candidate feature point, and calculates its position and scale parameter；
2) SURF characteristic points principal direction is distributed：Haar small echo computings are carried out first, and design parameter is：6s is radius, feature
Centered on point, length of side 4s, obtains Haar small echo response of the point on x, y directions, wherein s is space scale；Then carry out
Gauss ranking operation, design parameter are：Subtended angle is the fan-shaped sliding window of π/3, and step-length is 0.2 radians slip window, to window
The Haar small echo responses dx of interior image, dy add up, and obtain vector (mω,θω)：
Haar small echo response accumulated values are asked in a direction of multiple directions intermediate value maximum, then using the direction as spy
Levy the principal direction of point；
3) SURF characteristic points characteristic vector generates：Structure is using 20s as the length of side, centered on characteristic point, direction and characteristic point master
Direction is consistent, and size is 4 × 4 regular child window.The length of side is used to be handled for the Haar small echos of 2 σ image, to obtain
X, response dx, dy on y directions, using the response of each child window of Gauss weighted calculation, to obtain each height
The characteristic vector of window：
υChild window=[∑ dx ∑ dy ∑s | dx | ∑ | dy |]
One group describes subcharacter vector and includes 4 × 4 × 4=64 D feature vectors altogether, can obtain the complete of characteristic point
Information：Space scale, coordinate, 64 n dimensional vector n features；
4) RANSAC algorithms accurately match：According to left view image as Feature Points Matching right view image, right view image characteristic point
Left view image is matched, then is screened, if matching can succeed twice, just carry out matching double points are stored in new array,
Carry out RANSAC model estimations, judge correct matching double points, carry out n iterative calculation, with obtain final match point with
Transition matrix.
Wherein, it is further comprising the steps of：
Make for inclination image data, GNSS data and with angle element Roll (Φ), Pitch (Θ), Heading (Ψ)
Sky three is carried out for the integrated navigation data of IMU data initial values, iterative calculation respectively tilts the positional information and appearance of image data
State information, deleted residual, rough error, when reaching optimal iterations, if there are course line collection and X-Y plane are uneven for empty three results
OK, then do not continue to iterate to calculate, and judge that the result fails；If all course line collection are parallel with X-Y plane, do not continue to change
In generation, calculates, and judges that the result is feasible；When being not reaching to optimal iterations, if empty three results are put down there are course line collection with X-Y
Face is not parallel, then continue iterative calculation tilt image data positional information and attitude information, deleted residual, rough error, directly
Untill all course line collection are parallel with X-Y plane, and judge that the result is feasible；Using feasible three result of sky as new initial value
Continue sky three, iterative calculation tilts the positional information and attitude information of image data, and deleted residual, rough error, observe and calculate every time
Rear tie point quantity and whether course line collection is parallel with X-Y plane after calculating every time, when tie point quantity reaches most and boat
When line collection is parallel with X-Y plane, then this three result of sky is selected to continue sky three as new initial value, iteration optimization tilts shadow
As the positional information and attitude information of data, deleted residual, rough error, tie point quantity and each meter after observing per suboptimization
Whether course line collection is parallel with X-Y plane after calculation, when tie point quantity reaches most and course line collection is parallel with X-Y plane, if
GNSS data is not measured using RTK, then terminates to optimize, and show that empty three results and sky three are reported；If GNSS data employs
RTK is measured, then selects this three result of sky to continue sky three as new initial value, and iteration optimization tilts the position letter of image data
Breath and attitude information, deleted residual, rough error, course line collection and X- after observing the tie point quantity after every suboptimization and calculating every time
Whether Y plane is parallel, when tie point quantity reaches most and course line collection is parallel with X-Y plane, selects this three result of sky to make
For final result, compare empty three final results twice, alternative point of contact is more and what precision was high is used for outdoor scene three-dimensional modeling.
Wherein, optimal iterations is 6-10 times.
Wherein, successive ignition calculates, optimization is to make the position of photo, posture correct for deleted residual, rough error, at the same time
Make connection points enough, it is ensured that the triangular mesh number used in modeling is enough, so as to lift the quality of threedimensional model.
Table 1 is the three precision account of sky of the embodiment of the present invention：
As seen from the above table, empty three precision are basically unchanged, and have been tended towards stability, it can be seen that " connection points " have reached most
Greatly, at this moment need observation course line collection whether parallel with X-Y plane, if parallel, this time empty three normal terminations.
Absolute altitude：Refer in vertical range of the aircraft of ground or air space above sea away from earth's surface or sea, also known as " height above sea level
Degree ".Vertical range i.e. away from normal atmosphere sea level, does the height of standard with mean sea level in other words.Aeronautical map subscript
Landform, the height of atural object gone out, is calculated by absolute altitude.
Relative altitude：Aircraft is higher by the vertical range of certain appointed place.
SURF：Full name is Speed-up robust features, that is, accelerates robust features algorithm, be a kind of high robust
The local feature spot detector of property.The algorithm can be used for object identification or the three-dimensional reconstruction of computer vision field.
RANSAC：It is the abbreviation of Random Sample Consensus, it is according to one group of sample for including abnormal data
Data set, calculates the mathematical model parameter of data, obtains the algorithm of effective sample data.RANSAC algorithms are frequently used for calculating
In machine vision.For example, solve the problems, such as the calculating of the match point and fundamental matrix of a pair of of camera at the same time in stereoscopic vision field.
X-Y plane：For the plane parallel to mean sea level.
Course line collection：For the set of several inclination image compositions.
Oblique photograph measures：Oblique photograph e measurement technology is the high-new skill that international survey field grew up in recent years
Art, it has overturned the limitation that conventional orthography can only be shot from vertical angle, by carrying more on same flying platform
Sensor, while from five different angle acquisition images such as vertical, four inclinations, user is introduced and meets human eye and regards
The true world directly perceived felt.Aviation tilts image can not only truly corresponsively principle condition, but also by using advanced
Location technology, embedded accurate geography information, more rich image information, the user experience of higher level, greatly extends distant
Feel the application field of image, and make the sector application of remote sensing image more deep.Due to tilt image provided to the user it is richer
Rich geography information, more friendly user experience, the technology have been widely used for emergency command, state in developed countries such as America and Europes
The industries such as native safety, city management, house property tax revenue.
Outdoor scene three-dimensional modeling：Refer to, according to a series of two-dimentional photographs, or one group of inclination image, automatically generate high-resolution
, threedimensional model with texture mapping true to nature.If tilted photograph carries coordinate information, then the geographical location information of model
And accurately.This modelling effect is true to nature, and key element is comprehensive, and has measurement accuracy, not only brings people's sense on the spot in person
It can be additionally used in surveying application, be the true reduction of real world.
IMU：That is Inertial Measurement Unit, is the device for measuring object three-axis attitude angle (or angular speed) and acceleration；
GNSS：That is the abbreviation of Global Navigation Satellite System, i.e. Global Navigation Satellite System.It is early
The 1990s mid-term start, European Union in order to break monopoly position of the U.S. in satellite positioning, navigation, time service market,
Huge market interest is obtained, increases European job opportunity, is being directed to civilian Global Navigation Satellite System plan always,
Referred to as Global Navigation Satellite System.The plan is implemented in two steps：The first step be establish one it is comprehensive
Close and (be known as at that time using the GPS system in the U.S. and the first generation Global Navigation Satellite System of Russian GLONASS systems
GNSS-1, i.e., the EGNOS built up later)；Second step is to establish a GPS system for being totally independent of the U.S. and Russia
Second generation Global Navigation Satellite System outside GLONASS systems, that is, the Galileo satellite navigator fix system built
System.As soon as it can be seen from the above that GNSS from come out, be not a single constellation systems, but one including GPS, GLONASS etc.
Interior synthesis constellation systems；Difference GNSS refers to be reduced by using known to position with reference to the excessive data of GNSS receiver
One technology of GPS system or GLONASS system position errors.
Integrated navigation data：Refer to satellite navigation data (GNSS data) and inertial navigation data (IMU data) combination one
The integrated navigation data risen, contain the positional information and attitude information of object.
Tie point (Tiepoints)：In stereogram overlapping range, constellation point of the same object point on different photos is known as
Corresponding image points, the corresponding image points of a large amount of automatic or manual generations are referred to as tie point.
Image Matching：The process of same place is identified between two width or several images by certain matching algorithm.
Sky three：That is aerial triangulation, aerial triangulation are in stereophotogrammetric survey, are controlled according to a small amount of field
Point, is controlled an encryption, tries to achieve the elevation of pass point and the measuring method of plan-position indoors.It is scarce that its main purpose, which is,
The regional mapping at few field control point provides the control point of absolute orientation.Aerial triangulation is generally divided into two kinds:Simulation is aerial
Triangulation, that is, photomechanical method aerial triangulation；Analytical aerial triangulation is the zooming encryption being commonly called as.Simulate aerial three
Angular measurement is the aerial triangulation carried out on Almightiness type measurement in space instrument (such as multiplex).It is on instrument recover with
Similar or corresponding course line three-dimensional model during photography, needs selected pass point according to mapping, and measures its elevation and plan-position.
In aerophotogrammetry using in photo geometrical property, indoors infilling control point method.I.e. using continuously absorbing
With certain overlapping aerophoto, according to a small amount of field control point, established with photogrammetric survey method with course line corresponding on the spot
Model or region pessimistic concurrency control (optical or digital), so as to obtain the plane coordinates and elevation of pass point.It is mainly used for geodetic
Shape figure.
RTK：That is real time dynamic differential method.This is a kind of new common GPS measuring methods, pervious static, quick quiet
State, dynamic measurement are required for carrying out resolving the precision that could obtain Centimeter Level afterwards, and RTK is can to obtain in real time in the wild li
The measuring method of meter level positioning accuracy, it employs carrier phase dynamic real-time difference method, is the great mileage of GPS applications
Upright stone tablet, its appearance is engineering setting out, topographic mapping, and various control measurements bring Neoma Foam, drastically increase field operation operation
Efficiency.RTK location technologies are namely based on the real time kinematic survey system of carrier phase observation data, its RTK can be provided in real time
Three-dimensional localization of the survey station point in specified coordinate system is as a result, and reach a centimetre class precision.Under RTK work patterns, base station leads to
Cross data-link and send its observation and survey station coordinate information to rover station together.Rover station is not only received by data-link and come from
The data of base station, will also gather GPS observation data, and form difference observation in system and handled in real time, give at the same time
Go out centimeter-level positioning as a result, lasting less than one second.Rover station can be at inactive state, can also be in motion state；Can be solid
First initialized in fixed point and enter back into dynamic job afterwards, also can directly be started shooting in a dynamic condition, and it is complete under dynamic environment
Into the search finding of integer ambiguity.After the fixation of integral cycle unknown solution, you can the real-time processing of each epoch is carried out, as long as energy
The tracking of more than four Satellite Phase observations and necessary geometric figure are kept, then rover station can provide centimeter-level positioning at any time
As a result.
Roll、Pitch、Heading：That is the angle of roll, pitch angle and rotation drift angle, are that Inertial Measurement Unit (IMU) is usually adopted
, describing the angle system of elements of sensor attitude；
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other variations or changes in different ways.Here all embodiments can not be exhaustive.It is every to belong to this hair
Row of the obvious changes or variations that bright technical solution is extended out still in protection scope of the present invention.
Claims (6)
- A kind of 1. method for being used to improve empty three mass of mountain area landforms oblique photograph measurement, it is characterised in that have following steps：1) flying height above mean sea level in every course line is determined according to ground resolution requirement and mountain area fluctuating situation；2) flown by air remote sensing and obtain inclination image data, GNSS data and the IMU data in mountain area；3) arranged to tilting image data, GNSS data and IMU data；4) overall sky three and first piecemeal sky three, remerge sky three, show that corresponding empty three results and sky three are reported；5) compare three result of sky under different condition and sky three is reported, select optimal result, for mountain area outdoor scene three-dimensional modeling, with Form clear accurate three-dimensional geographic information data.
- 2. a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement as claimed in claim 1, its feature It is：The flying height above mean sea level in every course line includes several identical height in step 1), or including several different height；Root According to the ground resolution requirement in step 1) and mountain area fluctuating situation, the terrain clearance and flying height above mean sea level in every course line can be obtained, Wherein, the relational expression of terrain clearance and ground resolution is：In formula, h is the terrain clearance in course line, and f is camera lens focal length, and GSD is ground resolution, and a is camera CCD array pixel Size, f, a are constant values.Wherein, the relational expression of flying height above mean sea level and terrain clearance is：H=h+h 'In formula, H is the flying height above mean sea level in course line, and h is the terrain clearance in course line, and h ' is the height above sea level in mountain area.If mountain area fluctuating is small, i.e., height difference is small inside mountain area, and under the requirement of identical ground resolution, terrain clearance is essentially identical, So all course lines are at identical flying height above mean sea level；If mountain area rises and falls big, i.e., mountain area inside height difference is big, and under the requirement of identical ground resolution, course line is at different exhausted To flying height；Conversely, if it is desired to all course lines all in identical flying height above mean sea level, then the corresponding data in small mountain area that rise and fall have it is identical Ground resolution；The corresponding data in big mountain area that rise and fall have different ground resolutions.
- 3. a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement as claimed in claim 1, its feature It is：Inclination image data in the step 2) includes forward sight, backsight, left view, the right colored number regarded and regard five angles down Code image data；GNSS data in the step 2) includes longitude, latitude and elevation, the IMU data packets in the step 2) Include angle element Roll (Φ), Pitch (Θ), Heading (Ψ).
- 4. a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement as claimed in claim 1, its feature It is：Arrangement in the step 3) refers to：The number of days to be flown according to remote sensing, sorts out corresponding to the image obtained daily respectively Positioning and orientation data and all images corresponding to positioning and orientation data.
- 5. a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement as claimed in claim 1, its feature It is：Overall sky three in the step 4) refers to：Sky three is carried out for all data of acquisition；First piecemeal sky three, remerge Sky three refers to：Sky three is carried out to the data obtained daily respectively, then merges each empty three result, then to the data after merging Carry out sky three；Overall sky three is carried out under conditions of different phases, different angle；Piecemeal sky three is in identical phase, identical Carried out under conditions of inclination angle, therefore piecemeal sky three is more stablized than overall sky three, carrying out sky three again after piecemeal sky three is merged is Based on the sky three again for stablizing empty three results, its result also stablize by relatively overall sky three；Overall sky three and first piecemeal sky three, remerge sky three and include the detection of SURF characteristic points, SURF feature point descriptions and RANSAC Accurate matching.
- 6. a kind of method for being used to improve empty three mass of mountain area landforms oblique photograph measurement as claimed in claim 1, its feature It is：It is further comprising the steps of：IMU is used as inclination image data, GNSS data and using angle element Roll (Φ), Pitch (Θ), Heading (Ψ) The integrated navigation data of data initial value carry out sky three, and iterative calculation respectively tilts the positional information and posture letter of image data Breath, deleted residual, rough error, when reaching optimal iterations, if empty three results there are course line collection and X-Y plane are not parallel, Do not continue to iterate to calculate, and judge that the result fails；If all course line collection are parallel with X-Y plane, iteration meter is not continued to Calculate, and judge that the result is feasible；When being not reaching to optimal iterations, if empty three results there are course line collection and X-Y plane not It is parallel, then continue positional information and attitude information that iterative calculation tilts image data, deleted residual, rough error, Zhi Daosuo Have course line collection it is parallel with X-Y plane untill, and judge that the result is feasible；Continue feasible three result of sky as new initial value Sky three, iterative calculation tilt the positional information and attitude information of image data, and deleted residual, rough error, are observed after calculating every time Whether course line collection is parallel with X-Y plane after tie point quantity and every time calculating, when tie point quantity reaches most and course line collection When parallel with X-Y plane, then this three result of sky is selected to continue sky three as new initial value, iteration optimization tilts image data Positional information and attitude information, deleted residual, rough error, observe per the tie point quantity after suboptimization and navigate after calculating every time Whether line collection is parallel with X-Y plane, when tie point quantity reaches most and course line collection is parallel with X-Y plane, if GNSS data Do not measured using RTK, then terminate to optimize, show that empty three results and sky three are reported；If GNSS data employs RTK measurements, This three result of sky is selected to continue sky three as new initial value, iteration optimization tilts the positional information and posture letter of image data Breath, deleted residual, rough error, whether course line collection and X-Y plane after observing per the tie point quantity after suboptimization and calculating every time It is parallel, when tie point quantity reaches most and course line collection is parallel with X-Y plane, select this three result of sky to be used as and most terminate Fruit, compares empty three final results twice, and alternative point of contact is more and what precision was high is used for outdoor scene three-dimensional modeling.Wherein, successive ignition calculates, optimization is to make the position of photo, posture correct for deleted residual, rough error, while makes company Number of contacts is enough, it is ensured that the triangular mesh number used in modeling is enough, so as to lift the quality of threedimensional model.
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