CN110595439A - Photogrammetry system suitable for small disturbance environment - Google Patents
Photogrammetry system suitable for small disturbance environment Download PDFInfo
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- CN110595439A CN110595439A CN201810605729.XA CN201810605729A CN110595439A CN 110595439 A CN110595439 A CN 110595439A CN 201810605729 A CN201810605729 A CN 201810605729A CN 110595439 A CN110595439 A CN 110595439A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The present disclosure provides a photogrammetric system suitable for small disturbance environment, comprising: a flying platform, and mounted on the flying platform: the system comprises a main optical imaging subsystem and a secondary optical imaging subsystem which is arranged at two sides of the main optical imaging subsystem and has a certain baseline distance, wherein the secondary optical imaging subsystem is used for acquiring sequence images in a field range and providing image data with a large base-height ratio; the double-antenna position and attitude measurement subsystem is used for measuring the position and attitude information of the camera station; and the synchronous control unit is used for controlling the primary optical imaging subsystem and the secondary optical imaging subsystem to synchronously image, and the primary optical imaging subsystem and the secondary optical imaging subsystem and the double-antenna position and attitude measurement subsystem to work under the same time reference.
Description
Technical Field
The present disclosure relates to a photogrammetry system, and more particularly, to a photogrammetry system suitable for use in a low-disturbance environment.
Background
The low-altitude flight platform comprises an unmanned aerial vehicle, an airship and the like, and is quite widely applied to the field of ground observation at present due to the reasons that the flight height is low, the image data with a larger scale can be acquired, the price is relatively low, the requirement on take-off and landing sites is low, and the like. The captive balloon is widely applied to the fields of monitoring, early warning, communication and the like, is used as an unpowered aerial platform in the field of photogrammetry, has the characteristics of small random vibration, long dead time and the like, and can play a supplementary role in a common low-altitude flight platform. The photogrammetric system carried on the captive balloon can be applied to the fields of mapping, change detection, archaeology, forestry, engineering measurement, island (coastline) mapping and monitoring and the like.
However, the captive balloon platform is anchored on the ground by using a cable, floats in the air at a certain height, moves with wind power in the air with small disturbance at random and low speed, and is difficult to meet the requirement of the base-to-height ratio of common aerial surveying. Similar problems also exist in other platforms which are used for small-disturbance motion in the air, such as a tethered unmanned aerial vehicle, a hoisting device, a kite and the like.
The base height ratio in photogrammetry refers to the distance (base line) between two space images forming a three-dimensional model and the ratio of the distance between the centers of the base lines of the two images and a shot object; the base height ratio directly determines the measurement accuracy of the photogrammetric stereo model, the traditional large aerial photogrammetric survey stipulates that aerial photography needs to keep equal height, straight line flight, course image overlap of not less than 60 percent and side image overlap of not less than 30 percent, and the intersection accuracy of the stereo model is also influenced by establishing the stereo model by images with excessive overlap. For a small disturbance environment flight platform, the following problems exist by adopting a currently common mode of directly carrying an observation camera: (1) the shooting baseline of the stereopair is small and the elevation precision is poor. (2) The method for positioning the image product by utilizing the absolute orientation of the ground control points is not suitable for areas which have complex ground conditions and can only be distributed with a small number of control points or are difficult to distribute. (3) For the mode of positioning the image product by using the position and attitude measurement system fixedly connected with the photogrammetric system, a course angle high-precision measurement value cannot be obtained under the condition of small disturbance of the flight platform.
As shown in fig. 1, a.t. mozas-Calvache [1] uses a captive balloon with a diameter of 2.5m and a load of 1kg, carries a non-surveying camera (Canon D5), and mounts a small prism, and three to four people pull the captive cable to move the balloon to the designed shooting station position, and measures the shooting station position coordinates by using a ground total station to align the prism. This solution has the following problems: (1) limited by manpower and safety, is not suitable for the captive balloon platform with larger volume and heavier weight. (2) Limited by the observation range of the total station, the balloon mooring platform is not suitable for a captive balloon platform which is high in lift-off and has a distance between the total station and the prism of more than 300 m. (3) Is limited by manual traction and movement, and is not suitable for areas with complex ground environment and difficult walking.
[1]A.T.Mozas-Calvache，J.L.Perez-Garcia，etc.Method for photogrammetric surveying of archaeological sites with light aerial platforms. [J]Journal of Archaeological Science.2012，39：521-530。
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a photogrammetric system suitable for small disturbance environments. The method has the advantages of no need of meeting the requirement of aerial survey flight, high precision, no influence of ground environment and no influence of height rise limit.
(II) technical scheme
The present disclosure provides a photogrammetric system suitable for small disturbance environment, comprising: a flying platform, and mounted on the flying platform: the system comprises a main optical imaging subsystem and a secondary optical imaging subsystem which is arranged at two sides of the main optical imaging subsystem and has a certain baseline distance, wherein the secondary optical imaging subsystem is used for acquiring sequence images in a field range and providing image data with a large base-height ratio; the double-antenna position and attitude measurement subsystem is used for measuring the position and attitude information of the camera station; and the synchronous control unit is used for controlling the primary optical imaging subsystem, the secondary optical imaging subsystem and the double-antenna position and attitude measurement subsystem to synchronously image and ensure that the primary optical imaging subsystem, the secondary optical imaging subsystem and the double-antenna position and attitude measurement subsystem work under the same time reference.
In some embodiments of the present disclosure, the primary optical imaging subsystem employs a wide view multi-pin camera or a single camera; the camera of the secondary optical imaging subsystem is vertically downward-looking, or is inclined at an angle outwards or inwards.
In some embodiments of the present disclosure, the primary optical imaging subsystem and the synchronization control unit are mounted on a main frame of the photogrammetric system.
In some embodiments of the present disclosure, the dual-antenna position and attitude measurement subsystem includes: two GNSS units and an IMU unit, each GNSS unit having a GNSS antenna.
In some embodiments of the present disclosure, the IMU unit is fixedly connected to the primary optical imaging subsystem, and is mounted on the main frame, and the two GNSS antennas are mounted on the extension pole of the photogrammetric system.
In some embodiments of the present disclosure, the extension rods are installed on two sides of the main frame, and a camera of the secondary optical imaging subsystem and a GNSS antenna of the dual-antenna position and attitude measurement subsystem are installed on the top end of each extension rod.
In some embodiments of the present disclosure, the installation direction of the extension pole is perpendicular to the flight direction, or, parallel to the flight direction.
In some embodiments of the present disclosure, further comprising: a ground station; a mooring rope is connected between the ground station and the flying platform, and the ground station and the flying platform perform data transmission through optical fibers in the mooring rope; or the ground station and the flying platform are provided with wireless communication units, and the ground station and the flying platform perform data transmission through the wireless communication units.
In some embodiments of the present disclosure, further comprising: and the main control unit is used for controlling and downloading the working states of the main optical imaging subsystem, the auxiliary optical imaging subsystem, the double-antenna position and attitude measurement subsystem and the synchronous control unit.
In some embodiments of the present disclosure, during the flying stage of the flying platform, the primary optical imaging subsystem and the secondary optical imaging subsystem collect high-exposure-frequency low-altitude images, and provide high-base-to-height-ratio image data for subsequent high-precision positioning; in the air stagnation stage of the flight platform, the main optical imaging subsystem and the auxiliary optical imaging subsystem perform imaging along with small-range movement of the platform, and the exposure frequency is reduced according to the actual condition; in the recovery stage of the flight platform: and the main optical imaging subsystem and the auxiliary optical imaging subsystem collect high-exposure-frequency low-altitude images as in the lift-off stage.
(III) advantageous effects
According to the technical scheme, the method has the following beneficial effects:
the problem that the existing small-disturbance photogrammetric platform is difficult to ensure the base height ratio and the problem that the position and posture measurement subsystem cannot measure the course angle with high precision under the small disturbance condition is solved through the extension rod. The processing precision of the images in the measuring area is ensured by collecting low altitude data in the ascending and descending stages.
The system solves the problems of the small-disturbance flight platform carrying the photogrammetry system of the base height ratio and the measurement of the position and the posture of the camera station through the above modes, is not limited by the flight height of the balloon and the ground environment, and improves the resolution of images.
Drawings
Fig. 1 is a schematic structural diagram of a captive balloon photogrammetry system of the prior art, wherein (a) is a schematic structural diagram of the whole system, and (b) is a schematic structural diagram of a part of the system.
FIG. 2 is a schematic diagram of a photogrammetric system according to an embodiment of the present disclosure.
Fig. 3 is a schematic diagram of the photogrammetric system shown in fig. 2.
[ notation ] to show
1-a primary optical imaging subsystem; 2-a secondary optical imaging subsystem; 3-an IMU unit; a 4-GNSS antenna; 5-a synchronization control unit; 6-a main control unit; 7-a power supply module; 8-a main frame; 9-an extension rod; 10-captive balloons; 11-captive balloon adapter plate.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the embodiments and the drawings in the embodiments. It is to be understood that the described embodiments are merely illustrative of some, and not restrictive, of the embodiments of the disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The photogrammetry system suitable for the small disturbance environment of the embodiment of the present disclosure, as shown in fig. 2, includes: the system comprises a captive balloon platform, a main optical imaging subsystem 1, a secondary optical imaging subsystem 2, a double-antenna position and attitude measurement subsystem, a synchronous control unit 5, a main control unit 6 and a power supply unit 7, wherein the main optical imaging subsystem, the secondary optical imaging subsystem, the double-antenna position and attitude measurement subsystem, the synchronous control unit and the main control unit are mounted on the captive balloon platform.
The primary optical imaging subsystem 1 comprises a wide-view-angle five-segment camera which is a main imaging component and is used for collecting sequential images in a view field range.
The sub-optical imaging subsystem 2 includes: two cameras are auxiliary imaging components for ensuring the base height ratio.
The dual-antenna position and attitude measurement subsystem includes: the system comprises two GNSS units and an IMU unit 3, wherein each GNSS unit is provided with a GNSS antenna 4 and is used for measuring the position and the attitude information of a shooting station, and the position of the shooting station refers to the position of a station where a camera is positioned at the shooting moment.
And the synchronous control unit controls cameras of the main optical imaging subsystem and the auxiliary optical imaging subsystem to synchronously image according to the instruction and the parameters of the main control unit and the exposure frequency set in the instruction, ensures that the two imaging subsystems and the double-antenna position and posture measuring subsystem work under the same time reference, and simultaneously receives the exposure feedback of the main optical imaging subsystem and the auxiliary optical imaging subsystem and the signals and data sent by the double-antenna position and posture measuring subsystem.
The main control unit receives remote control parameters and instructions of the ground station by using a communication link, sends the instructions and the parameters to the synchronous control unit, controls the working state of the system, receives image data sent by the synchronous control unit and data sent by the double-antenna position and attitude measurement subsystem, stores partial data and downloads the acquired data to the ground station.
And the power supply module 7 supplies power to the subsystems and the units.
The ground station comprises a ground data processing system which sends remote control parameters and instructions to the main control unit and receives the collected data sent by the main control unit.
As shown in fig. 3, a captive balloon platform comprises: captive balloon 10, adapter plate 11.
The adapter plate 11 is installed below the captive balloon 10, and the main control unit 6 and the power supply unit 7 are directly installed on the adapter plate 11.
The main frame 8 is installed in keysets 11 below, and synchronous control unit 5 and primary optics formation of image subsystem 1 are installed on main frame 8, and IMU unit 3 in the two antenna position attitude measurement subsystems links firmly with primary optics formation of image subsystem 1, also installs on main frame 8.
In other implementations, the main control unit 6, the power supply unit 7, and the synchronization control unit 5 may be all mounted on the adapter plate 10, or all mounted on the main frame 8, so as to ensure that the mounting is secure.
The extension rods 9 are installed on two sides of the main frame 8, the length is preferably 2m, the direction of the extension rods 9 is parallel to the main optical imaging axial direction, and one camera of the secondary optical imaging subsystem 2 and one GNSS antenna 4 are arranged at the top end of each extension rod 9. To enlarge the field of view of the overall system, the cameras of the secondary optical imaging subsystem 2 are tilted outwardly 22 ° (i.e., 22 ° away from the captive balloon). The extension rod 9 is of a detachable and foldable structure for convenient transportation and storage.
According to the photogrammetric system, the mooring line can be connected between the ground station and the main control unit, and parameters, instructions and data transmission between the ground station and each subsystem and unit on the captive balloon platform is achieved through the optical fibers inside the mooring line. The ground station and the captive balloon platform can also be provided with wireless communication units, and parameters, instructions and data transmission between the subsystems and the units on the ground station and the captive balloon platform are completed through wireless communication.
The ground data processing system generally adopts a computer, and can remotely control the working state of each subsystem and unit on the captive balloon platform. After receiving the data acquisition instruction and the related parameters, the main control unit transmits the instruction to the synchronous control unit. The synchronous control unit controls the cameras to synchronously expose according to the exposure time parameters, simultaneously records the exposure feedback of the cameras, counts the delay of the mechanical shutter of each camera, dynamically adjusts the exposure time of each camera and weakens the shutter delay. And meanwhile, the synchronous control unit receives and interprets the data of the dual-antenna position and attitude measurement subsystem, extracts UTC time information and records the exposure time of the camera.
After the cameras of the primary optical imaging subsystem and the secondary optical imaging subsystem collect images, the image data are stored on a random memory card or transmitted to a main control unit for transmission. And data collected by the dual-antenna position and attitude measurement subsystem is recorded in the main control unit.
The photogrammetry system of the embodiment of the present disclosure is preferably mounted on a captive balloon platform. The operation of the photogrammetric system can be divided into five stages of balloon standing, lifting off, mooring, recovering and data processing, and the five stages are as follows:
and (3) balloon resting stage: before the balloon is lifted off, the primary optical imaging subsystem and the secondary optical imaging subsystem need to confirm that the equipment is normally powered and the self-checking output information is normal. And starting the photogrammetry system in the static stage of the balloon, and carrying out system initialization and double-antenna position attitude measurement subsystem north finding.
Balloon lift-off stage: the main optical imaging subsystem and the auxiliary optical imaging subsystem collect high-exposure-frequency low-altitude images in the balloon lift-off stage, and provide high-base-height-ratio image data for subsequent high-precision positioning.
Balloon mooring stage: in the balloon mooring stage, the primary optical imaging subsystem and the secondary optical imaging subsystem perform imaging along with small-range movement of the balloon, and at the moment, the exposure frequency of the camera can be reduced according to actual conditions.
Balloon recovery stage: and collecting high-exposure-frequency low-altitude images as in the balloon lift-off stage.
And (3) a data processing stage: the method comprises the steps of finishing high-precision attitude measurement and positioning processing of the double GNSS + IMU, time system preprocessing of an image and position attitude measurement system, virtual secondary imaging processing and finishing the manufacture of products such as DOM (document object model) and DEM (digital elevation model) according to actual requirements, wherein the processes can be finished by a ground station computer.
The above description is only exemplary of the embodiments of the present disclosure, but the present disclosure is not limited thereto. For example, the length of the extension rod may be modified according to the required accuracy requirements or flying height, and is not limited to a length of 2 m. The main optical imaging subsystem can adopt a measuring camera or a non-measuring camera; the wide-view-angle five-segment camera can be adopted, a single camera can be adopted, or a plurality of segment cameras formed by combining other numbers of multiple cameras can be adopted. The secondary imaging unit mounting angle may be 22 deg. out, or may be other angles vertically down or out/in. The installation direction of the extension rod can be perpendicular to the flight direction and can also be parallel to the flight direction, the extension rod is preferably perpendicular to the flight direction under the condition of breeze, and the extension rod is preferably parallel to the flight direction for ensuring the stability of the system under the condition of strong wind. For the condition that the ground environment is easy to arrange control points, the double-antenna position and attitude measurement subsystem is not installed or only the GNSS unit is installed, and absolute orientation is carried out by utilizing ground control during data processing. The photogrammetric system can be carried on a captive balloon platform selected by the embodiment, and also can be carried on other flight platforms, particularly flight platforms which carry out small-disturbance motion in the air.
To sum up, the photogrammetry system of the embodiment of the disclosure, the purpose of installing the extension rod is to solve the problems that the existing small-disturbance photogrammetry platform is difficult to ensure the base height ratio, and the position and attitude measurement subsystem can not measure the course angle with high precision under the condition of small disturbance. Firstly, an extension rod is used as a base line to ensure the base height ratio of a main optical imaging subsystem and a secondary optical imaging subsystem; secondly, high-precision measurement of the position and the angle of the shooting station including the course angle is achieved based on the double-antenna GNSS technology, and under the condition that the ground condition is complex and control points are difficult to arrange, the double-antenna position and attitude measurement subsystem can be used for positioning.
The processing precision of the image of the measuring area is ensured by collecting low altitude data in the ascending and descending stages. Firstly, the balloon will shift in both the altitude direction and the horizontal direction due to the influence of wind during the ascending and descending stage, so that a certain base length is formed between the adjacent images. Secondly, the images in the ascending and descending stages can collect low-altitude data below 200m, for the data at the height, the base length of the extension rod can ensure the base height ratio of the images collected by the main optical imaging subsystem and the auxiliary optical imaging subsystem, high-precision positioning data can be obtained, and the control effect on the idle images can be achieved.
The system solves the problems of the small-disturbance flight platform carrying the photogrammetry system of the base height ratio and the measurement of the position and the attitude of the camera station through the above modes, and is not limited by the flight height of the balloon and the ground environment. Because low-altitude to high-altitude shooting can be realized by utilizing a small-disturbance flying platform such as a captive balloon, an air-stagnation unmanned machine and the like, the resolution of an image is improved, and when the wide-view-angle five-piece camera used in the embodiment is used, the system can reach the topographic mapping accuracy of 1: 2000 due to the large base-height ratio and the high pose measurement accuracy.
The present disclosure has been described in detail so far with reference to the accompanying drawings. From the above description, those skilled in the art should clearly recognize the present disclosure.
It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. In addition, the above definitions of the various elements are not limited to the specific structures, shapes or modes mentioned in the embodiments, and those skilled in the art may easily modify or replace them, for example:
(1) directional phrases used in the embodiments, such as "upper", "lower", "front", "rear", "left", "right", etc., refer only to the orientation of the drawings and are not intended to limit the scope of the present disclosure;
(2) the embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e. technical features in different embodiments may be freely combined to form further embodiments.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (10)
1. A photogrammetry system adapted for use in a low disturbance environment, comprising: a flying platform, and mounted on the flying platform:
the system comprises a main optical imaging subsystem and a secondary optical imaging subsystem which is arranged at two sides of the main optical imaging subsystem and has a certain baseline distance, wherein the secondary optical imaging subsystem is used for acquiring sequence images in a field range and providing image data with a large base-height ratio;
the double-antenna position and attitude measurement subsystem is used for measuring the position and attitude information of the camera station;
and the synchronous control unit is used for controlling the primary optical imaging subsystem, the secondary optical imaging subsystem and the double-antenna position and attitude measurement subsystem to synchronously image and ensure that the primary optical imaging subsystem, the secondary optical imaging subsystem and the double-antenna position and attitude measurement subsystem work under the same time reference.
2. The photogrammetric system of claim 1, wherein the primary optical imaging subsystem employs a wide view multi-pin camera or a single camera; the camera of the secondary optical imaging subsystem is vertically downward-looking, or is inclined at an angle outwards or inwards.
3. The photogrammetric system of claim 1, wherein the primary optical imaging subsystem and the synchronization control unit are mounted on a main frame of the photogrammetric system.
4. The photogrammetric system of claim 3 wherein the dual antenna position and attitude measurement subsystem comprises: two GNSS units and an IMU unit, each GNSS unit having a GNSS antenna.
5. The photogrammetric system of claim 4 wherein the IMU unit is secured to the primary optical imaging subsystem and mounted on a main frame, and wherein the two GNSS antennas are mounted on an extension pole of the photogrammetric system.
6. The photogrammetric system of claim 5 wherein the extension rods are mounted on both sides of the main frame, and a camera of the secondary optical imaging subsystem and a GNSS antenna of the dual antenna position and attitude measurement subsystem are mounted on top of each extension rod.
7. Photogrammetry system as claimed in claim 5, characterised in that the elongate bar is mounted in a direction perpendicular to the flight direction or parallel to the flight direction.
8. The photogrammetric system of claim 1, further comprising: a ground station;
a mooring rope is connected between the ground station and the flying platform, and the ground station and the flying platform perform data transmission through optical fibers in the mooring rope; alternatively, the first and second electrodes may be,
and the ground station and the flight platform are provided with wireless communication units, and the ground station and the flight platform perform data transmission through the wireless communication units.
9. The photogrammetric system of claim 1, further comprising: and the main control unit is used for controlling and downloading the working states of the main optical imaging subsystem, the auxiliary optical imaging subsystem, the double-antenna position and attitude measurement subsystem and the synchronous control unit.
10. The photogrammetry system of claim 1,
in the stage of flying the flight platform, the main optical imaging subsystem and the auxiliary optical imaging subsystem collect high-exposure-frequency low-altitude images and provide high-base-height-ratio image data for subsequent high-precision positioning;
in the air stagnation stage of the flight platform, the main optical imaging subsystem and the auxiliary optical imaging subsystem perform imaging along with small-range movement of the platform, and the exposure frequency is reduced according to the actual condition;
in the recovery stage of the flight platform: and the main optical imaging subsystem and the auxiliary optical imaging subsystem collect high-exposure-frequency low-altitude images as in the lift-off stage.
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