CN110567442A - GNSS close-range photogrammetry method without object control point - Google Patents
GNSS close-range photogrammetry method without object control point Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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Abstract
The invention discloses a close-range photogrammetry method without object control points, which comprises the steps of integrating a high-definition camera in a GNSS receiver, and controlling the GNSS receiver and the high-definition camera by a PDA through Bluetooth. The PDA is internally provided with a relative orientation module, an absolute orientation module and a stereo measurement module to form a close-range photogrammetric device without object control points. Under the condition of no control point, 6 pairs of homonymous points are selected for relative orientation, and a relative orientation model is established. And converting the three-dimensional coordinates of the 3 shooting stations into coordinates of 3 shooting central points, and carrying out absolute orientation on the relative orientation model by using the coordinates of the shooting central points. And finally, solving the space coordinates of the target point to be detected by using a multi-piece space forward intersection method. The method effectively solves the problem that object space control points need to be arranged in close-range photogrammetry, overcomes the defect of signal shielding in GNSS measurement, and improves the working efficiency and the automation degree of engineering measurement.
Description
Technical Field
The invention relates to a GNSS RTK measurement technology and a non-control digital close-range photogrammetry technology, in particular to a GNSS close-range photogrammetry method without an object control point, and belongs to the field of detail measurement in engineering survey.
Technical Field
With the continuous development of global positioning system (GNSS) technology, GNSS technology is used more and more widely in the mapping field. The GNSS mainly measures by receiving satellite signals, and under the condition of shielding or partial shielding, the GNSS cannot be used or the measurement accuracy cannot be guaranteed.
The close-range photogrammetry is a measuring means for instantly acquiring a large amount of physical information and geometric information of a measured object, does not contact and damage a measured target, does not interfere the natural state of the measured object, and can operate under severe conditions.
The traditional close-range photogrammetry mode can achieve very high precision, but object control points need to be arranged, and the traditional close-range photogrammetry mode is not suitable for measurement requirements that the precision requirement is slightly low but the operation is simple and fast.
breakthrough in microelectronic and semiconductor technologies, rapid development of ultra-large scale integrated circuits and digital sensor technologies, and the emergence of many new high-definition cameras have the advantages of lower price than digital cameras, small size, and capability of being integrated with GNSS receivers.
When a building or other three-dimensional structures are measured, in case of blocking or poor signals, the GNSS receiver integrated with the high-definition camera is placed at a position with good signals and coordinate measurement is carried out, the position is called as a shooting station, and meanwhile, a camera is used for shooting building images at the position. Processing the three-dimensional coordinate data and the image data on a plurality of camera stations, selecting the same target point on different images, establishing a three-dimensional model, and performing three-dimensional measurement on the point to be measured on the model.
Disclosure of Invention
The invention aims to provide a GNSS close-range photogrammetry method without object control points, which can indirectly solve the problems of poor signals during GNSS measurement and the need of arranging control points during close-range photogrammetry.
According to the invention, by integrating hardware equipment such as a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and the like, control points are not required to be arranged, and the three-dimensional coordinates of the target point to be measured are directly obtained by processing the GNSS coordinates and image data.
In order to achieve the above object, the present invention provides a GNSS close-range photogrammetry method without object control points, which comprises the following specific steps:
(1) The GNSS close-range photogrammetry device without the object control point comprises a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and a connecting frame. The high-definition camera is integrated in the GNSS receiver. The PDA controls the GNSS receiver and the high-definition camera through Bluetooth. The centering rod will be connected to the GNSS receiver. The connecting frame can clamp the centering rod and the PDA together.
(2) the centering rod is vertically erected on a shooting site capable of receiving satellite signals, and the shooting site is preferably 10-20 m away from a target point.
(3) And obtaining the three-dimensional coordinates of the shooting site by utilizing the GNSS receiver.
(4) and shooting the image of the target point on the shooting station by using the high-definition camera.
(5) by the method for acquiring the coordinates of the camera stations and the images of the target points, the three-dimensional coordinates of the camera stations are measured at least three positions which are not collinear, and the images of the same target point are shot at the same time.
(6) Processing the GNSS coordinate data and the image data in the PDA, resolving relative orientation elements and absolute orientation elements, and finally performing stereo measurement on the target point to be measured on the image.
Compared with the prior art, the invention has the following advantages:
The GNSS close-range photogrammetry device without object control points integrates a global satellite positioning technology, a close-range photogrammetry technology, a wireless communication technology and a device for quickly measuring coordinates. Coordinates of GNSS measurement points are directly used in places without signal shielding, and if the signal shielding is serious but the sight line is in sight, the target point can be photogrammetric by using the method. The device has effectively solved the problem that object space control point need be laid to close-range photogrammetry, make full use of close-range photogrammetry again need not contact the advantage that the target point just can carry out the stereo measurement, remedied the GNSS and measured the defect that there is the signal to shelter from, reduced open-air measuring work load, improved garrulous department measuring work efficiency and degree of automation.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a diagram showing the relationship between the center of the centering rod and the position of the photographing center plane.
FIG. 3 is a diagram of an operation performed by a GNSS close-range photogrammetry apparatus.
In the figure: 1-a GNSS receiver; 2-a high-definition camera; 3-PDA; 4-centering rod; 5-connecting frame.
Detailed Description
the invention is further described below with reference to the accompanying drawings:
As shown in fig. 1, the close-range photogrammetry apparatus of the present invention comprises a GNSS receiver 1, a high definition camera 2, a personal digital assistant PDA3, a centering rod 4 and a connecting frame 5. The high-definition camera 2 is integrated in the GNSS receiver 1 at a position close to the edge, the center of the GNSS receiver 1 and the center of the high-definition camera 2 are positioned on the same horizontal plane, the horizontal distance between the center of the GNSS receiver 1 and the center of the high-definition camera 2 is d, and a camera lens is jointed with the edge of the GNSS receiver 1 to form the GNSS receiver with the camera; the GNSS receiver with the camera is arranged on the centering rod 4, the center of the GNSS receiver 1 is overlapped with the center of the centering rod 4 in the vertical direction, the centering rod 4 can stretch and retract, and the height difference h between the center of the GNSS receiver 1 and the ground is measured; the personal digital assistant PDA3 controls the GNSS receiver 1 and the high-definition camera 2 through Bluetooth, and the personal digital assistant PDA3 has two modes of keyboard operation and capacitive touch screen operation, so that man-machine interaction is facilitated; the PDA3 can be fixed on the centering rod 4 by the connecting frame 5, or can be held by hand, and the connecting frame 5 can be detached.
As shown in fig. 2, the center of the centering rod 4 is in a positional relationship with the photographic center plane. The center of the centering rod 4 is represented by O, the photographing center (the center of the camera) is represented by S, the line segment connecting the center of the centering rod and the photographing center is OS, and the coordinate azimuth angle of the OS is represented by alphaOSIndicating that the OS has a length of d.
Examples
As shown in fig. 3, to measure the feature point coordinates of a building, since the GNSS signal at the position of the building is severely blocked, the GNSS receiver cannot be directly used for measurement, and a GNSS close-range photogrammetry method is adopted.
A GNSS close-range photogrammetry apparatus without object control points is characterized in that the centering rod is erected on a shooting station capable of receiving satellite signals and is in a perspective view with a target point, such as a shooting station 1 shown in figure 3. And controlling the GNSS receiver and the high-definition camera by using the PDA to obtain the three-dimensional coordinate of the shooting site 1, and shooting the image of the target point on the shooting site. Moving the GNSS close-range photogrammetry apparatus to the 2-camera station and the 3-camera station does the same, requiring that the three camera stations cannot be collinear.
Processing the acquired GNSS coordinate data and image data in the PDA, resolving relative orientation elements and absolute orientation elements, and finally performing stereo measurement on a target point, wherein the main resolving process of the data is as follows:
Camera calibration
Before the high-definition digital camera is used for close-range photogrammetry, strict calibration needs to be carried out on the high-definition digital camera so as to recover the relative geometric relationship between the photography center and the photo.
For taking photographthe main content of the calibration of the camera is to obtain the basic information, the lens distortion parameter and the inner orientation element (x) of the camera0，y0F), etc.
Relative orientation module
When the coordinate system is established, the image space coordinate system of the left photo is taken as an image space auxiliary coordinate system and is marked as S1-X1Y1Z1(ii) a Establishing another image space auxiliary coordinate system S by the right-side photographing center2-X2Y2Z2The two corresponding coordinate axes are parallel to each other. At this time, the image point a1，a2The coordinates in the respective photo coordinate systems are respectively (x)1，y1)，(x2，y2) The coordinate in the auxiliary coordinate system in image space is (X)1，Y1，Z1)，(X2，Y2，Z2) And S is2At S1-X1Y1Z1Has the coordinate of (B)x，By，Bz). Thus, the coplanar condition equation can be expressed as
(1) In the formula: (x)0，y0F) is an internal orientation element of the photo; here, two photographs are considered to have the same inside orientation element; the rotation matrix R is formed by 3 rotation angles of the second image relative to the first imagefunction composition of ω, κ, a1,a2,a3,b1,b2,b3,c1,c2,c3The 9 directional cosines in R.
direct solution of B is used hereinx，By，BzThese 3 baseline components, due to Bx，By，BzThere are only 2 independent parameters, so 1 constraint needs to be added, i.e. the sum of the squares of the 3 baseline components is constant, as shown in the first equation of equation (4).
The coplanar condition equation solution based on orthogonal rotation matrix is adopted, and 9 direction cosines in the rotation matrix R are used as unknown parameters.
The rotation matrix R is an orthogonal matrix, i.e. RRT＝RTR＝RR-1I, 6 orthogonal conditions consisting of 9 direction cosines are listed, and 6 conditional equations are established, as shown in the last 6 equations of equation (4).
The 12 unknown parameters, namely 3 baseline components and 9 elements in the rotation matrix, need to be solved, and finally 7 conditional equations are added, including 1 constraint of the baseline components and 6 constraint of the orthogonal matrix. The error equation is:
v＝Ax-l (2)
xT＝[dBx dBy dBz da1 da2 da3 db1 db2 db3 dc1 dc2 dc3]
l＝-F0＝X2Y1Bz+X1Z2By+Y2Z1Bx-Y1Z2Bx-X1Y2Bz-X2Z1By
Error equation coefficient obtained by directly utilizing formula (1) to differentiate 12 unknowns
For 3 baseline components and 9 rotation matrix elements to establish 7 conditional equations as
(4) In the formula: b is expressed as the base length and can be set to any constant here since the scale will be adjusted in the model connection and found in the absolute orientation. With the additional condition of
Cx+W＝0 (5)
In the formula: w is a conditional equation constant term matrix. At the moment, m photos can establish (m-1) error equations shown in the formula (2), finally 7 error equations shown in the formula (5) are added, and 12 unknown parameters are solved by utilizing an indirect adjustment method of additional conditions.
Solving these 12 unknown parameters is equivalent to finding the relative orientation element of the right shot to the left shot. Now, the image space coordinate system of the left photo is taken as the image space auxiliary coordinate system, and the relative orientation elements of the left photo and the right photo are as follows:
Left panel 1: xS1＝0，YS1＝0，ZS1＝0，ω1＝0，κ1＝0
And (3) right sheet 2: xS2＝bx2，YS2＝by2，ZS2＝bz2，ω2，κ2
right panel 3: xS3＝bx3，YS3＝by3，ZS3＝bz3，ω3，κ3
……
Absolute orientation module
The basic relationship for absolute orientation is:
In the formula (X)tP,YtP,ZtP) The geophotogrammetry coordinates for the model points, λ being the model scaling factor, ai，bi，ci(i ═ 1,2,3) is the cosine of the direction of 3 rotation angles Φ, Ω, K in the coordinate axis system, (X ═ Xp,Yp,Zp) And the coordinate is the photogrammetric coordinate of the same model point, and the delta X, the delta Y and the delta Z are the translation amount of the coordinate origin.
These 7 parameters λ, Φ, Ω, K, Δ X, Δ Y, Δ Z are called absolute orientation elements.
solving for these 7 absolute orientation elements has traditionally been done using photogrammetric coordinates of known control points and its terrestrial photogrammetric coordinates, starting from a relation of absolute orientation.
in the algorithm for solving the absolute orientation element, the photogrammetric coordinate (X) of the photographic center is utilizedpS,YpS,ZpS) And its terrestrial photogrammetric coordinates (X)tPS,YtPS,ZtPS) The relationship is as follows:
Photogrammetric coordinates (X) of the center of photographypS,YpS,ZpS) Is the element of the opposite azimuth line of the photo, i.e. the above-mentioned left photo 1 (X)S1,YS1,ZS1) Right sheet 2 (X)S2,YS2,ZS2) Right sheet 3 (X)S3,YS3,ZS3)，……
Terrestrial photogrammetry coordinate (X) of photographic centretPS,YtPS,ZtPS) Is a right-hand coordinate system, the horizontal axis of which is an X axis and the vertical axis of which is a Y axis; ground measurement coordinates (X) of a photographic centertS,YtS,ZtS) Is a left-handed coordinate system with the horizontal axis being the Y axis and the vertical axis being the X axis. Terrestrial photogrammetry coordinate system and groundThe surface measurement coordinate systems can be transformed into each other by simple mathematical relationships.
The ground measurement coordinates (X) of the center of photography are described belowtS,YtS,ZtS) The manner of acquisition.
As shown in FIG. 1, the GNSS receiver measures ground point coordinates of (X)G,YG,ZG) The height from the bottom end of the centering rod to the photographing center is h, and the horizontal distance from the center of the centering rod to the photographing center is d. As shown in FIG. 2, the azimuth angle of the coordinate of the line segment OS connecting the center of the centering rod and the center of the image taking is represented by αOSthe magnetic azimuth angle of the line segment OS is denoted by AmOSIndicating that the declination angle is deltaPIndicating the convergence angle of the meridian by gammaPAnd (4) showing.
In a GNSS receiver, an electronic compass is built in for measuring the magnetic azimuth A of the line segment OSmOS，δPAnd gammaPCorresponding parameters can be found according to the field area.
The coordinate azimuth angle of the line segment OS may be represented as αOS＝AmOS+δP-γP (8)
The ground measurement coordinates of the center of photography may be expressed as (X)G+dsinαOS,YG+dcosαOS,ZG+h)。
Due to the limitation of the electronic compass, the magnetic azimuth angle measured by the electronic compass has an error, the horizontal distance d from the center of the centering rod to the photographing center is 8cm at most when the error in the angle measurement is 3 degrees, the middle error of d is 0.5cm, and therefore the ground measurement coordinate of the photographing center point has a point position middle error of about 6.4 mm.
In GNSS close-range photogrammetry, the same target is photographed in at least 3 non-collinear positions, and at least 3 sets of data (a set of data including coordinates of a shooting point and an image taken at the point) are acquired.
The photogrammetric coordinates (X) of the center of the photograph are obtained from the relative orientationpS,YpS,ZpS) I.e. the left sheet 1 (X) described aboveS1,YS1,ZS1) Right sheet 2 (X)S2,YS2,ZS2) Right sheet 3 (X)S3,YS3,ZS3)。
The 3 geodetic coordinates of the camera center are converted into 3 geodetic coordinates.
in the formula (7), 7 unknowns, namely 7 absolute orientation parameters, at least 7 equations are needed, 3 photographic center points are involved in the method, 9 equations can be listed, redundant observed values are provided, and the solution is carried out according to the minimum two-way adjustment.
Solving for absolute orientation elements using centrobaric coordinates
Coordinate barycenter is a very common data preprocessing method, and has two purposes.
Firstly, the effective digit of the model point coordinate in the calculation process is reduced to ensure the calculation precision.
Secondly, after the barycentric coordinates are adopted, the coefficients of the normal equation can be simplified, the numerical value of an individual term becomes 0, and partial unknowns can be solved separately, so that the calculation speed is improved.
Three-dimensional measuring module
Multiple space front intersection
In close-range photogrammetry, the collinear equation of the photographic center, the object point and the corresponding image point is as follows:
In formula (9): f is the main distance of the camera; in the image space coordinate system, (x, y) is the coordinates of the image point, (x)0，y0) As principal point coordinates, (Δ x, Δ y) as distortion error; in the object space coordinate system, (X, Y, Z) is the object point coordinate, (X)S，YS，ZS) As a center coordinate of the photograph, ai，bi，ci(i ═ 1,2,3) is an angle elementRepresents the orientation of the main optical axis.
In close-range photogrammetry, the coordinates (x, y) of an image point are a main type of observed value.
Linearizing the collinear equation to obtain an image point coordinate correction equation as follows:
equation (11) is an iterative process. Wherein (v)x，vy) The correction number is the coordinate correction number of the image point; (x) And (y) is an approximate value of the previous iteration operation result of the image point coordinates, and the partial derivative of each variable of the image point coordinates can be obtained according to the formula (9).
When the medial and lateral orientation elements are known, the equation for the correction of the coordinates of the image points can be simplified as follows:
E.g. from 3 pictures P1，P2，P3According to a forward intersection method, solving the space coordinates (X, Y, Z) of the unknown point A in an object space coordinate system D-XYZ, namely solving by using the error equation, wherein the solving principle is as follows: to make 3 pixels (a) of point A1，a2，a3) The sum of the squares of the corrections of the photographic image coordinate observations of (a) is minimum, i.e.:
Forming a normal equation, and solving to obtain an approximate value (X)0，Y0，Z0) The next approximation (X, Y, Z) of the unknown coordinate can be obtained by the correction value (Δ X, Δ Y, Δ Z) of (a):
The iteration times are determined by an iteration criterion, the iteration criterion is generally 1 of the next bit of the possible acquisition precision, and only the three-dimensional space coordinates of one undetermined point are solved each time.
Claims (1)
1. A close-range photogrammetry method without object control points is characterized by comprising the following specific steps:
(1) The close-range photogrammetry device without object control points is arranged, and comprises a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and a connecting frame; the high-definition camera is integrated in the GNSS receiver, and a lens of the camera is positioned right in front of the GNSS receiver; the centering rod is connected with the GNSS receiver, is telescopic and can measure the height of the rod; the connecting frame can fixedly connect the PDA to the centering rod; the PDA controls the GNSS receiver and the high-definition camera through Bluetooth and collects coordinate data and image data, and the PDA is provided with a data processing system for the coordinate data and the image data besides all conventional operations for the GNSS receiver;
The data processing system of the PDA coordinate data and the image data comprises a relative orientation module of the image, an absolute orientation module of the image and a coordinate stereo measurement module;
(2) Under the condition of no control point, the close-range photogrammetry device obtains three-dimensional coordinates of the shooting point and a target point image at three non-collinear positions, selects 6 pairs of same-name points on the image to carry out relative orientation, and establishes a relative orientation model; converting the three-dimensional coordinates of the 3 shooting sites into the coordinates of the 3 shooting central points by using the relative position relationship between the shooting sites and the shooting central points; the relative orientation model was oriented absolutely using 3 camera center point coordinates.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114966749A (en) * | 2022-05-25 | 2022-08-30 | 上海井融网络科技有限公司 | Vision measurement method and RTK receiver |
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