CN110395390A - A kind of multi-rotor unmanned aerial vehicle exempts from the device and method of photo control point three-dimensional modeling and mapping - Google Patents
A kind of multi-rotor unmanned aerial vehicle exempts from the device and method of photo control point three-dimensional modeling and mapping Download PDFInfo
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- CN110395390A CN110395390A CN201910646139.6A CN201910646139A CN110395390A CN 110395390 A CN110395390 A CN 110395390A CN 201910646139 A CN201910646139 A CN 201910646139A CN 110395390 A CN110395390 A CN 110395390A
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- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000004891 communication Methods 0.000 claims abstract description 31
- 238000005259 measurement Methods 0.000 claims abstract description 18
- 238000013461 design Methods 0.000 claims abstract description 12
- 238000012545 processing Methods 0.000 claims abstract description 9
- 230000003068 static effect Effects 0.000 claims description 44
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000005516 engineering process Methods 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 6
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- 238000012805 post-processing Methods 0.000 claims description 5
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- 230000004907 flux Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000012797 qualification Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- 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
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
-
- 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]
-
- 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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
Abstract
The invention belongs to Unmanned Aerial Vehicle Photogrammetric Technique field, it is related to the device and method that a kind of multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping.The present invention passes through more rotor flying platforms, power module, three axis photography holders, navigate camera, airborne GNSS difference block, communication module, organic setting of autopilot module and control module, and through camera parameter precise determination, three-dimensional route design, set up base station, automatic flight and shooting, landing checks and data preparation, exposure point exterior orientation line element, which precisely asks fixed and exempts from photo control point aerotriangulator, calculates seven steps, without carrying out ground photogrammetric control point surveying work, it can complete the aerial triangulation that precision reaches national large scale topographical map required precision, the processing of photogrammetric office work product directly carries out.Work flow of the present invention eliminates field operation ground photogrammetric control point surveying process, realizes that work pattern takes the photograph the direct linking to office work management from boat, reduces time and the spending of the measurement of field photo control point, effectively evades security risk.
Description
Technical field
The invention belongs to Unmanned Aerial Vehicle Photogrammetric Technique fields, and in particular to a kind of multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional
The device and method of modeling and mapping.
Background technique
In existing unmanned plane traditional photography measurement or oblique photograph measuring technique work flow, to ensure aerial triangulation
Geometric accuracy, generally require field and survey and draw a certain number of ground photo control points, coordinate participates in block adjustment and calculates, but
Duration growing tension, photogrammetric control point surveying cost increasingly increase, Risk factor ground staff can not arrive under the working conditions such as region,
Reducing even release ground photogrammetric control point surveying process will be increasingly urgent.
But it is taken the photograph under current multi-rotor unmanned aerial vehicle tradition depending on single-lens boat or " more camera lenses " oblique photograph carries out mapping or three
Dimension modeling, if altogether dispensing with ground photogrammetric control point surveying, there is also following technical problems:
(1) existing photogrammetric and three-dimensional modeling aerial triangulation, dependence is a large amount of or marginally image surface control satisfaction must
Three systematic error of sky wanted is eliminated, and be cannot achieve and is really exempted photo control point progress forward intersection measurement and positioning.
(2) plane and height accuracy of aerial triangulation, especially height accuracy are by gravity field model and to take the photograph area tight
Transformational relation influences, and often precision is unable to reach code requirement, to meet the country of large scale topographic survey or three-dimensional modeling
Algnment accuracy requirement.
Summary of the invention
The present invention provides the device and method that a kind of multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping, purpose exists
In provide it is a kind of realize ground without photo control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach country
The device and method that the geometry of large scale (1:500 1:1000 1:2000) mapping accuracy requires.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of multi-rotor unmanned aerial vehicle exempts from the device of photo control point three-dimensional modeling and mapping, including
More rotor flying platforms,
Power module, power module are connected on more rotor flying platforms；
Three axis photography holders, three axis photography holders are connected to immediately below more rotor flying platforms；
Navigate camera, and boat camera is connected to below three axis photography holders and connect with three axis photography holder electric signals；
Airborne GNSS difference block, airborne GNSS difference block are connected on more rotor flying platforms；
Communication module, communication module are connected on more rotor flying platforms；
Autopilot module, autopilot module are connected on more rotor flying platforms, autopilot module and airborne GNSS difference
Module, communication module are connected with three axis photography holder electric signals, and autopilot module is connect by camera exposure line with boat camera；
Control module, control module are connect with communication module electric signal；
The airborne GNSS difference block, autopilot module and communication module are electrically connected with power module.
The airborne GNSS difference block includes at least airborne multimode high frequency GNSS receiver, GNSS receiving antenna, epoch
Data storage, RTK communication link radio station connect associate member with electronics coupled；The airborne multimode high frequency GNSS receiver with
The connection of GNSS receiving antenna electric signal, epoch data storage are connect with airborne multimode high frequency GNSS receiver, RTK communication link
Radio station is connect with airborne multimode high frequency GNSS receiver electric signal, and electronics coupled connects associate member one end and connects airborne multimode high frequency
GNSS receiver, the other end connect autopilot module.
The control module includes terrestrial reference station GNSS receiver, static base stations radio station assembly and tripod；Describedly
Face base station GNSS receiver is connect with communication module electric signal, and static base stations radio station assembly connects with terrestrial reference station GNSS
Receive dynamoelectric signal connection；On the ground, the terrestrial reference station GNSS receiver and static base stations are electric for the tripod connection
Platform assembly is connected on tripod.
Static base stations radio station assembly includes static store, dynamic RTK base station data transmitting station and electricity
Platform antenna；The static store is connected with terrestrial reference station GNSS receiver；The dynamic RTK base station data transmitting
Radio station one end is connected with terrestrial reference station GNSS receiver, the dynamic RTK base station data transmitting station other end and radio antenna
It is connected.
The boat camera is more camera lenses or single-lens.
A kind of method that multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping, includes the following steps:
Step 1: camera parameter precise determination
Accurate calibration is carried out to the elements of interior orientation of boat camera based on outdoor three-dimensional calibration field, obtains accurate camera ginseng
Number, lens distortion parameter and camera GNSS antenna setting-up eccentricity away from；
Step 2: three-dimensional route design
Area's range and disclosed dem data are taken the photograph according to the camera parameter of step 1 measurement, reference, three-dimensional course line is carried out and sets
Meter, by following flying for hypsography imitatively, the boat for obtaining ship's control, sidelapping degree and ground resolution qualification is taken the photograph
Data；
Step 3: base station is set up
Before multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping device takes off, set up by base station GNSS receiver
With the base station of static base stations radio station assembly composition, exempt from the aerial of photo control point three-dimensional modeling and mapping device for multi-rotor unmanned aerial vehicle
Positioning and exposure point Difference Calculation；
Step 4: automatic flight and shooting
It is remotely controlled by the base station that step 3 is set up or more rotors is controlled by autopilot by the flight path that step 2 designs
Unmanned plane exempts from photo control point three-dimensional modeling and flies automatically with mapping device, and the single-lens camera of lower view or inclination more mirrors are carried when flight
Head camera carries out automatic boat and takes the photograph, and more rotor level speeds are less than or equal to 20 meter per seconds；
Step 5: landing checks and data preparation
Landed after flight, the real time dynamic differential RTK data that are obtained through step 4 or after difference PPK data and boat take the photograph
Image is arranged according to electronics coupled relationship is corresponding, and boat takes the photograph end；
Step 6: exposure point exterior orientation line element precisely asks fixed
The data put in order according to step 5, application scenarios point 2 kinds of work patterns: 1. RTK mode: when there is RTK difference letter
Number when, in conjunction with survey area place transformational relation calculate exposure point exterior orientation line element local coordinate system under coordinate value；2. PPK mode:
When no RTK differential signal, terrestrial reference station static data and airborne data aggregate are calculated, post-process skill with PPK
Art seeks coordinate value under exposure point elements of exterior orientation local coordinate system；
Step 7: exempt from the calculation of photo control point aerotriangulator
The accurate camera parameter and the 6th step obtained according to the first step precisely seeks fixed exposure point exterior orientation line element file
Aerotriangulator calculation is carried out, aerial triangulation setting exposure point exterior orientation line element accurately observes weight, adjustment Models
Adjustment is forbidden to correct camera parameter, it is ensured that three elements of interior orientation are not involved in compensating computation, according to flux of light method constraint condition, adjustment
The calculation of photo control point aerotriangulator is exempted from exposure point exterior orientation line element end value, completion, and calculated result adds for later period achievement
Work.
Hypsography is selected to have representative calibration field, surface deployment when camera parameter precise determination in the step one
30 meters of * 30 meters of grid picture controls realize the boat aerial self calibration of camera with camera self-calibration block adjustment functional software, precisely
Camera internal position element and distortion parameter are measured, camera parameter initial value is greater than 0.03 using factory nominal value, photo control point weight
Rice, calibration flying height are identical as actual job height.
The base station that the step three is set up has to be erected on the known point under earth axes, and ground static base stations are gone through
First sample frequency is not less than 1HZ, and achievement form is that file is observed in GNSS static measurement, and base station covering radius is less than or equal to 7km.
According to the timestamp interpolation that the corresponding method arranged of electronics coupled relationship is using PPK data in the step five
Accurate exposure point spatial position, while image ID number is corresponded to timestamp according to sequence, to obtain every image exposure moment
Accurately spatial position coordinate.
Application scenarios in the step six use PPK mode by terrestrial reference station static data and airborne data
Using there is GNSS difference the poster processing soft identical with Waypoint by terrestrial reference station static data when combined calculation
It is calculated with airborne data aggregate, with GNSS-PPK post-processing technology, seeks exposure point elements of exterior orientation local coordinate system
Lower coordinate value；PPK mode is applicable in any different areas of activity, when RTK mode is available, then uses RTK model results.
The utility model has the advantages that
1, the present invention, without carrying out any ground photogrammetric control point surveying work, can complete aerial three after the completion of boat is taken the photograph
Angular measurement, the processing of photogrammetric office work product can be carried out directly.
2, the present invention exempt from photo control point aerial triangulation precision reached national large scale (1:500 1:1000 1:
2000) the geometry requirement of mapping accuracy.
3, field operation ground photogrammetric control point surveying process is eliminated in work flow of the invention, is realized work pattern and is taken the photograph from boat
To the direct linking of office work management, reduce time and the cost of the measurement of field photo control point, while in Risk factor area
It realizes high-precision mapping and has effectively evaded security risk.
The above description is only an overview of the technical scheme of the present invention, in order to better understand technology hand of the invention
Section, and can be implemented in accordance with the contents of the specification, and with presently preferred embodiments of the present invention and attached drawing be cooperated to be described in detail such as below
Afterwards.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is control module structural schematic diagram of the present invention；
Fig. 3 is flow chart of the present invention.
In figure: the more rotor flying platforms of 1-；The airborne GNSS difference block of 2-；Tri- axis photography holder of 3-；4- boat camera；5-
Base station GNSS receiver；6- static base stations radio station assembly；7- tripod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its
His embodiment, shall fall within the protection scope of the present invention.
Embodiment one:
Exempt from the device of photo control point three-dimensional modeling and mapping according to Fig. 1 and a kind of multi-rotor unmanned aerial vehicle shown in Fig. 2, including
More rotor flying platforms 1,
Power module, power module are connected on more rotor flying platforms 1；
Three axis photography holders 3, three axis photography holders 3 are connected to immediately below more rotor flying platforms 1；
Navigate camera 4, and boat camera 4 is connected to three axis photography holders, 3 lower section and connects with three axis photography holders, 3 electric signal
It connects；
Airborne GNSS difference block 2, airborne GNSS difference block 2 are connected on more rotor flying platforms 1；
Communication module, communication module are connected on more rotor flying platforms 1；
Autopilot module, autopilot module are connected on more rotor flying platforms 1, autopilot module and airborne GNSS difference
Module 2, communication module are connected with three axis photography holders, 3 electric signal, and autopilot module is connected by camera exposure line and boat camera 4
It connects；
Control module, control module are connect with communication module electric signal；
The airborne GNSS difference block, autopilot module and communication module are electrically connected with power module.
In actual use, airborne GNSS difference block 2 is used for airborne accurate positioning, and it is whole that autopilot module is then responsible for control
The flight of a more rotor flying platforms 1, the rotation of three axis photography holders 3, the camera 4 that navigates exposed pulse.Communication module is used for
Receive external instruction, power module is responsible for more rotor flying platforms 1 and various electronic modules thereon are powered.More rotors fly
Row platform is can be using multiaxises rotor wing unmanned aerial vehicle flying platforms such as four axis, six axis, eight axis.The present embodiment is revolved using six axis
Wing unmanned plane during flying platform.In specific application, parameter precise determination is carried out to boat camera 4 first, then carries out taking ground into account
The tight three-dimensional route design that shape rises and falls, sets up base station after three-dimensional route design is good, more rotors after the completion of above-mentioned preparation
Unmanned plane exempts from photo control point three-dimensional modeling and mapping device carries out automatic flight and shooting, and landing carries out landing inspection after flight
And data preparation, coordinate value under exposure point elements of exterior orientation local coordinate system is sought by using RTK or PPK both of which, then
It calculates to obtain adjustment exposure point exterior orientation line element end value by exempting from photo control point aerotriangulator, photo control point aerial three will be exempted from
The result that angular measurement calculates is in the processing of later period achievement.
Autopilot module in the present embodiment is equipped using the unmanned machine automatic drive of the prior art, for automatic control of flying
System takes the photograph operation pulse signal with boat and sends and control.In actual use, aircraft is provided independently to fly according to default three-dimensional course line
Row, while driving boat camera and airborne GNSS receiver record acquisition data.
Communication module in the present embodiment using the prior art the field GNSS-RTK base station and rover station signal
Transmission module is communicated for navigating camera with the real-time positioning information at terrestrial reference station.Realize flying platform in real time and ground
Control system number communication number and positioning coordinate signal are stable, efficiently transmit.
The present invention, without carrying out any ground photogrammetric control point surveying work, can complete aerial triangle after the completion of boat is taken the photograph
Measurement, the processing of photogrammetric office work product can be carried out directly.The present invention exempts from photo control point aerial triangulation precision and has reached national big ratio
The geometry requirement of example ruler (1:500 1:1000 1:2000) mapping accuracy.Field operation ground is eliminated in work flow of the invention
Photogrammetric control point surveying process realizes work pattern from the direct linking taken the photograph to office work management of navigating, reduces the measurement of field photo control point
Time and cost, while realizing high-precision mapping in Risk factor area and effectively having evaded security risk.
Embodiment two:
A kind of multi-rotor unmanned aerial vehicle according to figure 1 exempts from the device of photo control point three-dimensional modeling and mapping, with embodiment one
The difference is that: the airborne GNSS difference block 2 includes at least airborne multimode high frequency GNSS receiver, GNSS receives day
Line, epoch data storage, RTK communication link radio station connect associate member with electronics coupled；The airborne multimode high frequency GNSS
Receiver is connect with GNSS receiving antenna electric signal, and epoch data storage is connect with airborne multimode high frequency GNSS receiver, RTK
Communication link radio station is connect with airborne multimode high frequency GNSS receiver electric signal, and it is airborne that electronics coupled connects the connection of associate member one end
Multimode high frequency GNSS receiver, the other end connect autopilot module.
The space that airborne multimode high frequency GNSS receiver in the present embodiment is assembled using the light-duty unmanned plane of the prior art
Coordinate acquisition device can be achieved at the same time 4 kinds of GPS, GLONASS, Galileo and Beidou navigation mode GPS datas
It receives and processing, the promotion single navigation mode of occlusion area positions not accurate problem.
Airborne multimode high frequency GNSS receiver epoch frequency acquisition is not less than 20HZ, and epoch data storage read or write speed is not
Radius is communicated lower than 100MB/s, when RTK communication link radio station is unobstructed and is not less than 5km, and electronics coupled connects associate member from self-driving
Instrument pulse signal is issued to the label time difference of airborne multimode high frequency GNSS receiver record no more than 1ms.
In actual use, when the multi-rotor unmanned aerial vehicle flying platform speed of a ship or plane is not more than 20 meter per second, the airborne differential mode of GNSS
Block can precisely obtain the space coordinate of exposure point using static state PPK or dynamic RTK both of which.
Embodiment three:
A kind of multi-rotor unmanned aerial vehicle according to Fig.2, exempts from the device of photo control point three-dimensional modeling and mapping, with embodiment one
The difference is that: the control module includes terrestrial reference station GNSS receiver 5, static base stations radio station assembly 6 and tripod
7；Terrestrial reference station GNSS receiver 5 is connect with communication module electric signal, static base stations radio station assembly 6 and ground base
5 electric signal of the GNSS receiver connection of quasi- station；The tripod 7 connects on the ground, the terrestrial reference station GNSS receiver 5
It is connected on tripod 7 with static base stations radio station assembly 6.
The preferably described static base stations radio station assembly 6 includes static store, the transmitting of dynamic RTK base station data
Radio station and radio antenna；The static store is connected with terrestrial reference station GNSS receiver；The dynamic RTK base station
Data transmitting station one end is connected with terrestrial reference station GNSS receiver, the dynamic RTK base station data transmitting station other end with
Radio antenna is connected.
In actual use, the terrestrial reference station GNSS receiver epoch sample frequency is not less than 1HZ, and can export
Continuously, the complete static data of satellite not losing lock；Static store is connected with terrestrial reference station GNSS receiver, for depositing
Base station GNSS static data is stored up, while providing base station real-time coordinates to dynamic RTK base station data transmitting station.Dynamically
RTK base station data transmitting station one end is connected with terrestrial reference station GNSS receiver, and the other end is connected with radio antenna, work
It is that GNSS receiver real-time base station coordinates data in terrestrial reference station are passed through electricity by dynamic RTK base station data transmitting station as principle
Platform antenna is transmitted to airborne multimode high frequency GNSS receiver.
The technical solution of tripod 7 is set, terrestrial reference station can be fixed on to the known point taken the photograph under area's earth axes
On, while providing real-time dynamic coordinate to RTK mode and providing base station static coordinate data to PPK mode, accurately to measure number
It is ensured according to providing.In specific application, tripod 7 can also use the frame body of other forms, stablize support as long as playing
Function.
The assembling of the present embodiment equipment is simple, can provide base station static coordinate data and real-time dynamic coordinate data simultaneously,
Two kinds of processing modes are provided surely for precisely asking for post-exposure point exterior orientation line element, meet different application scenarios, and data
Realize dual fail-safe storage.
Example IV:
A kind of multi-rotor unmanned aerial vehicle according to figure 1 exempts from the device of photo control point three-dimensional modeling and mapping, with embodiment one
The difference is that: the boat camera 4 is more camera lenses or single-lens.
In actual use, it completes three-dimensional modeling task and uses more camera lens aerial photographing technology schemes, disposably obtain different angles
It spends big superimposed image, completes mapping task and navigate using single-lens lower view to take the photograph anxious technical solution.The equal energy of above 2 kinds of aerial photographing technology schemes
It enough realizes that multi-rotor unmanned aerial vehicle exempts from photogrammetric control point surveying, different schemes is used according to different task, it being capable of effectively save cost.
Embodiment five:
The method that a kind of multi-rotor unmanned aerial vehicle according to Fig.3, exempts from photo control point three-dimensional modeling and mapping, including walk as follows
It is rapid:
Step 1: camera parameter precise determination
Accurate calibration is carried out to the elements of interior orientation of boat camera 4 based on outdoor three-dimensional calibration field, obtains accurate camera ginseng
Number, lens distortion parameter and camera GNSS antenna setting-up eccentricity away from；
Step 2: three-dimensional route design
Area's range and disclosed dem data are taken the photograph according to the camera parameter of step 1 measurement, reference, three-dimensional course line is carried out and sets
Meter, by following flying for hypsography imitatively, the boat for obtaining ship's control, sidelapping degree and ground resolution qualification is taken the photograph
Data；
Step 3: base station is set up
Before multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping device takes off, set up by base station GNSS receiver
5 and static base stations radio station assembly 6 form base station, exempt from the sky of photo control point three-dimensional modeling and mapping device for multi-rotor unmanned aerial vehicle
Middle positioning and exposure point Difference Calculation；
Step 4: automatic flight and shooting
It is remotely controlled by the base station that step 3 is set up or more rotors is controlled by autopilot by the flight path that step 2 designs
Unmanned plane exempts from photo control point three-dimensional modeling and flies automatically with mapping device, and the single-lens camera of lower view or inclination more mirrors are carried when flight
Head camera carries out automatic boat and takes the photograph, and more rotor level speeds are less than or equal to 20 meter per seconds；
Step 5: landing checks and data preparation
Landed after flight, the real time dynamic differential RTK data that are obtained through step 4 or after difference PPK data and boat take the photograph
Image is arranged according to electronics coupled relationship is corresponding, and boat takes the photograph end；
Step 6: exposure point exterior orientation line element precisely asks fixed
The data put in order according to step 5, application scenarios point 2 kinds of work patterns: 1. RTK mode: when there is RTK difference letter
Number when, in conjunction with survey area place transformational relation calculate exposure point exterior orientation line element local coordinate system under coordinate value；2. PPK mode:
When no RTK differential signal, terrestrial reference station static data and airborne data aggregate are calculated, post-process skill with PPK
Art seeks coordinate value under exposure point elements of exterior orientation local coordinate system；
Step 7: exempt from the calculation of photo control point aerotriangulator
The accurate camera parameter and the 6th step obtained according to the first step precisely seeks fixed exposure point exterior orientation line element file
Aerotriangulator calculation is carried out, aerial triangulation setting exposure point exterior orientation line element accurately observes weight, adjustment Models
Adjustment is forbidden to correct camera parameter, it is ensured that three elements of interior orientation are not involved in compensating computation, according to flux of light method constraint condition, adjustment
The calculation of photo control point aerotriangulator is exempted from exposure point exterior orientation line element end value, completion, and calculated result adds for later period achievement
Work.
In actual use, the present invention passes through camera parameter precise determination, three-dimensional route design, sets up base station, is automatic winged
Row is checked with shooting, landing and data preparation, exposure point exterior orientation line element precisely ask fixed and exempt from photo control point aerial triangulation
Seven steps are calculated, solving the prior art cannot achieve ground without photo control point and make the aerial triangle of three-dimensional modeling and mapping
Measurement and positioning precision reaches the geometry requirement of national large scale (1:500 1:1000 1:2000) mapping accuracy.Of the invention
Field operation ground photogrammetric control point surveying process is eliminated in work flow, realizes work pattern from the direct rank taken the photograph to office work management of navigating
It connects, reduces time and the cost of the measurement of field photo control point, while realizing high-precision mapping in Risk factor area and having
Effect has evaded security risk.
The camera parameter measured in step 1 includes: principal point abscissa x0, ordinate y0；Phase owner is away from f；Lens distortion
Parameter (coefficient of radial distortion K1, coefficient of radial distortion K2, coefficient of radial distortion K3, tangential distortion coefficient P1, tangential distortion coefficient
P2, face battle array deformation coefficient B1, face battle array deformation coefficient B2)；GNSS antenna is with respect to the setting-up eccentricity coordinate value of camera, that is, transversely eccentered
Away from Δ X, longitudinal direction eccentricity Δ Y and vertical eccentric away from Δ Z.
Embodiment six:
The method that a kind of multi-rotor unmanned aerial vehicle according to Fig.3, exempts from photo control point three-dimensional modeling and mapping, with embodiment five
The difference is that: select hypsography to have representative calibration field, ground when camera parameter precise determination in the step one
30 meters of * 30 meters of grid picture controls are laid in face, realize the boat aerial self-test of camera with camera self-calibration block adjustment functional software
School, precise determination camera internal position element and distortion parameter, for camera parameter initial value using factory nominal value, photo control point weight is big
In 0.03 meter, calibration flying height is identical as actual job height.
In actual use, hypsography is selected to have representative calibration field when camera parameter precise determination in step 1,
Calibration field side length is not less than 300 meters * 300 meters, and photo control point layout density 30 meters of * 30 meters of grid picture controls in ground are surveyed with photography
The prior art in amount field has the software realization boat camera of camera self-calibration block adjustment function identical with Inpho empty
Middle calibration, precise determination camera internal position element and distortion parameter, camera parameter initial value is using factory nominal value, photo control point power
Value is greater than 0.03 meter, and calibration flying height is identical as actual job height.Using with calibration field aerial stereo images and ground image surface control
Point, the installation based on the more reliable camera calibration parameter of self-calibration block adjustment mode inverse and camera and GNSS antenna are inclined
The heart is poor, excludes the influence of camera internal position element and part elements of exterior orientation to final result.
Embodiment seven:
The method that a kind of multi-rotor unmanned aerial vehicle according to Fig.3, exempts from photo control point three-dimensional modeling and mapping, with embodiment five
The difference is that: the base station that the step three is set up has to be erected on the known point under earth axes, and ground is static
Base station epoch sample frequency is not less than 1HZ, and achievement form is that file is observed in GNSS static measurement, and base station covering radius is less than or equal to
7km。
In actual use, can be when RTK real time communication be interrupted using the technical program, it still can accurate calculation exposure
Accurate coordinate value of the point under earth axes.Achievement form is that file is observed in GNSS static measurement well known to Surveying and Mapping Industry.
Embodiment eight:
The method that a kind of multi-rotor unmanned aerial vehicle according to Fig.3, exempts from photo control point three-dimensional modeling and mapping, with embodiment five
The difference is that: according to the time that the corresponding method arranged of electronics coupled relationship is using PPK data in the step five
The accurate exposure point spatial position of interpolation is stabbed, while image ID number is corresponded to timestamp according to sequence, is exposed to obtain every image
Light moment accurately spatial position coordinate.
It in actual use, being capable of fast finishing influence ID number and interpolation calculating out using technical solution of the present invention
The one-to-one relationship of exposure point coordinate, while exposing delay caused by having evaded the electronics coupled time difference according to timestamp and asking
Topic, improves the precision of exposure point calculating coordinate.
Embodiment nine:
The method that a kind of multi-rotor unmanned aerial vehicle according to Fig.3, exempts from photo control point three-dimensional modeling and mapping, with embodiment five
The difference is that: the application scenarios in the step six use PPK mode by terrestrial reference station static data and aerial machine
It carries when data aggregate calculates using with GNSS difference the poster processing soft identical with Waypoint that terrestrial reference station is quiet
State data and airborne data aggregate calculate, and with GNSS-PPK post-processing technology, seek exposure point elements of exterior orientation place
Coordinate value under coordinate system；PPK mode is applicable in any different areas of activity, when RTK mode is available, then uses RTK model results.
In actual use, using technical solution of the present invention, the post-processing of PPK difference ensure terrestrial reference station with it is airborne
After GNSS receiver communicates lost contact, at least a set of reliable high-precision calculation result is still provided.In the present embodiment
Waypoint software is using Canadian waypoint software；In actual use, by terrestrial reference station static data and
Coordinate value under exposure point elements of exterior orientation local coordinate system can be obtained in airborne data input software.
The present invention passes through more rotor flying platforms, power module, three axis photography holders, boat camera, airborne in summary
Organic setting of GNSS difference block, communication module, autopilot module and control module, passes through camera parameter precise determination, three
It is accurate to tie up route design, erection base station, automatic flight and shooting, landing inspection and data preparation, exposure point exterior orientation line element
It asks fixed and exempts from photo control point aerotriangulator and calculate seven steps, solving the prior art cannot achieve ground without photo control point and make
The aerial triangulation positioning accuracy for obtaining three-dimensional modeling and mapping reaches national large scale (1:500 1:1000 1:2000) survey
The geometry requirement of figure precision.Field operation ground photogrammetric control point surveying process is eliminated in work flow of the invention, realizes operation mould
Formula takes the photograph the direct linking to office work management from boat, reduces time and the cost of the measurement of field photo control point, while in danger
It realizes high-precision mapping and has effectively evaded security risk in the area in hardship.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
In the absence of conflict, those skilled in the art can according to the actual situation will be relevant in above-mentioned each example
Technical characteristic is combined with each other, and to reach corresponding technical effect, will not repeat them here particularly for various combined situations.
It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute is only used in the embodiment of the present invention
In explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, if should
When particular pose changes, then directionality instruction also correspondingly changes correspondingly.
The above, only presently preferred embodiments of the present invention, the present invention be not intended to be limited to it is shown in this article this
A little embodiments, and it is to fit to the widest scope consistent with principles disclosed herein and novel features.According to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, still fall within the technology of the present invention
In the range of scheme.
Claims (10)
1. the device that a kind of multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping, it is characterised in that: including
More rotor flying platforms (1),
Power module, power module are connected on more rotor flying platforms (1)；
Three axis photography holders (3), three axis photography holders (3) are connected to immediately below more rotor flying platforms (1)；
Navigate camera (4), boat camera (4) be connected to below three axis photography holders (3) and with three axis photography holder (3) electric signals
Connection；
Airborne GNSS difference block (2), airborne GNSS difference block (2) are connected on more rotor flying platforms (1)；
Communication module, communication module are connected on more rotor flying platforms (1)；
Autopilot module, autopilot module are connected on more rotor flying platforms (1), autopilot module and airborne GNSS differential mode
Block (2), communication module are connected with three axis photography holder (3) electric signals, and autopilot module passes through camera exposure line and boat camera
(4) it connects；
Control module, control module are connect with communication module electric signal；
The airborne GNSS difference block, autopilot module and communication module are electrically connected with power module.
2. a kind of multi-rotor unmanned aerial vehicle as described in claim 1 exempts from the device of photo control point three-dimensional modeling and mapping, feature exists
In: the airborne GNSS difference block (2) includes at least airborne multimode high frequency GNSS receiver, GNSS receiving antenna, epoch number
Associate member is connected with electronics coupled according to memory, RTK communication link radio station；The airborne multimode high frequency GNSS receiver with
The connection of GNSS receiving antenna electric signal, epoch data storage are connect with airborne multimode high frequency GNSS receiver, RTK communication link
Radio station is connect with airborne multimode high frequency GNSS receiver electric signal, and electronics coupled connects associate member one end and connects airborne multimode high frequency
GNSS receiver, the other end connect autopilot module.
3. a kind of multi-rotor unmanned aerial vehicle as described in claim 1 exempts from the device of photo control point three-dimensional modeling and mapping, feature exists
In: the control module includes terrestrial reference station GNSS receiver (5), static base stations radio station assembly (6) and tripod (7)；Institute
It states terrestrial reference station GNSS receiver (5) to connect with communication module electric signal, static base stations radio station assembly (6) and ground base
GNSS receiver (5) the electric signal connection of quasi- station；On the ground, the terrestrial reference station GNSS connects for tripod (7) connection
Receipts machine (5) and static base stations radio station assembly (6) are connected on tripod (7).
4. a kind of multi-rotor unmanned aerial vehicle as claimed in claim 3 exempts from the device of photo control point three-dimensional modeling and mapping, feature exists
In: static base stations radio station assembly (6) includes static store, dynamic RTK base station data transmitting station and radio station
Antenna；The static store is connected with terrestrial reference station GNSS receiver；The dynamic RTK base station data transmitting electricity
Platform one end is connected with terrestrial reference station GNSS receiver, the dynamic RTK base station data transmitting station other end and radio antenna phase
Even.
5. a kind of multi-rotor unmanned aerial vehicle as described in claim 1 exempts from the device of photo control point three-dimensional modeling and mapping, feature exists
In: the boat camera (4) be more camera lenses or single-lens.
6. a kind of method that multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping, which comprises the steps of:
Step 1: camera parameter precise determination
Carry out accurate calibration based on elements of interior orientation of the outdoor three-dimensional calibration field to boat camera (4), obtain accurate camera parameter,
Lens distortion parameter and camera GNSS antenna setting-up eccentricity away from；
Step 2: three-dimensional route design
Area's range and disclosed dem data are taken the photograph according to the camera parameter of step 1 measurement, reference, three-dimensional route design is carried out, leads to
It crosses and follows flying imitatively for hypsography, the boat for obtaining ship's control, sidelapping degree and ground resolution qualification takes the photograph data；
Step 3: base station is set up
Before multi-rotor unmanned aerial vehicle exempts from photo control point three-dimensional modeling and mapping device takes off, set up by base station GNSS receiver (5)
With the base station of static base stations radio station assembly (6) composition, exempt from photo control point three-dimensional modeling and mapping device for multi-rotor unmanned aerial vehicle
Aerial positioning and exposure point Difference Calculation；
Step 4: automatic flight and shooting
By step 3 set up base station be remotely controlled or by step 2 design flight path by autopilot control more rotors nobody
Machine exempts from photo control point three-dimensional modeling and flies automatically with mapping device, and the single-lens camera of lower view or inclination more camera lens phases are carried when flight
Machine carries out automatic boat and takes the photograph, and more rotor level speeds are less than or equal to 20 meter per seconds；
Step 5: landing checks and data preparation
Landed after flight, through step 4 obtain real time dynamic differential RTK data or after difference PPK data and boat photography
Picture is arranged according to electronics coupled relationship is corresponding, and boat takes the photograph end；
Step 6: exposure point exterior orientation line element precisely asks fixed
The data put in order according to step 5, application scenarios point 2 kinds of work patterns: 1. RTK mode: when there is RTK differential signal,
Coordinate value under exposure point exterior orientation line element local coordinate system is calculated in conjunction with area place transformational relation is surveyed；2. PPK mode: working as nothing
When RTK differential signal, terrestrial reference station static data and airborne data aggregate are calculated, with PPK post-processing technology, asked
Take coordinate value under exposure point elements of exterior orientation local coordinate system；
Step 7: exempt from the calculation of photo control point aerotriangulator
The accurate camera parameter and the 6th step obtained according to the first step precisely asks fixed exposure point exterior orientation line element file to carry out
Aerotriangulator is calculated, and aerial triangulation setting exposure point exterior orientation line element accurately observes weight, and adjustment Models are forbidden
Adjustment corrects camera parameter, it is ensured that three elements of interior orientation are not involved in compensating computation, according to flux of light method constraint condition, adjustment exposure
The calculation of photo control point aerotriangulator is exempted from point exterior orientation line element end value, completion, and calculated result is processed for later period achievement.
7. the method that a kind of multi-rotor unmanned aerial vehicle as claimed in claim 6 exempts from photo control point three-dimensional modeling and mapping, feature exist
In: select hypsography to have representative calibration field, 30 meters of * of surface deployment when camera parameter precise determination in the step one
30 meters of grid picture controls realize the boat aerial self calibration of camera, precise determination with camera self-calibration block adjustment functional software
Camera internal position element and distortion parameter, camera parameter initial value is using factory nominal value, and photo control point weight is greater than 0.03 meter, inspection
School flying height is identical as actual job height.
8. the method that a kind of multi-rotor unmanned aerial vehicle as claimed in claim 6 exempts from photo control point three-dimensional modeling and mapping, feature exist
In: the base station that the step three is set up has to be erected on the known point under earth axes, and ground static base stations epoch adopts
Sample frequency is not less than 1HZ, and achievement form is that file is observed in GNSS static measurement, and base station covering radius is less than or equal to 7km.
9. the method that a kind of multi-rotor unmanned aerial vehicle as claimed in claim 6 exempts from photo control point three-dimensional modeling and mapping, feature exist
In: it is accurate using the timestamp interpolation of PPK data for corresponding to the method arranged according to electronics coupled relationship in the step five
Exposure point spatial position, while image ID number is corresponded to timestamp according to sequence, so that it is accurate to obtain every image exposure moment
Spatial position coordinate.
10. the method that a kind of multi-rotor unmanned aerial vehicle as claimed in claim 6 exempts from photo control point three-dimensional modeling and mapping, feature exist
In: the application scenarios in the step six use PPK mode by terrestrial reference station static data and airborne data aggregate
Using there is GNSS difference the poster processing soft identical with Waypoint by terrestrial reference station static data and sky when calculating
Middle on-board data combined calculation is sought sitting under exposure point elements of exterior orientation local coordinate system with GNSS-PPK post-processing technology
Scale value；PPK mode is applicable in any different areas of activity, when RTK mode is available, then uses RTK model results.
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