CN115077493B - Single-base-station Beidou foundation enhanced oblique photogrammetry system and method - Google Patents
Single-base-station Beidou foundation enhanced oblique photogrammetry system and method 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
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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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
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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
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
Abstract
The BDS base station based on the Beidou satellite navigation system can provide a long-term stable base station data source, can provide spatial position information of BDS monitoring stations with higher accuracy for a data processing information center and spatial position information of unmanned aerial vehicle photogrammetry devices, further greatly improves the accuracy of image center position coordinates obtained by an interpolation method, finally obtains a high-accuracy three-dimensional real model and deformation monitoring results, has important practical significance for further improving the unmanned aerial vehicle photogrammetry technical performance, and has the advantages of high pertinence, high accuracy, stable performance and the like.
Description
Technical Field
The application belongs to the field of aerial photogrammetry, and particularly relates to a single-base Beidou foundation enhanced oblique photogrammetry system and method.
Background
The tilt photogrammetry utilizes the carried single-lens or multi-lens camera to acquire high-resolution image data of the ground surface and a building (construction) from five different angles of view of one vertical tilt and four tilt in a non-contact measurement mode, and thus three-dimensional modeling and deformation monitoring are realized. The traditional unmanned aerial vehicle photogrammetry generally needs to uniformly arrange a large number of ground control points in a monitoring area, utilizes the position and posture information of images and calculates the coordinates of ground object points, and the position coordinates of the existing control points are manually measured by adopting RTKs, so that the arrangement and measurement of the control points consume a large amount of manpower and material resources, in recent years, the modeling and monitoring precision of unmanned aerial vehicle oblique photogrammetry is gradually improved by utilizing satellite navigation positioning technology (GNSS) auxiliary data represented by real-time dynamic differential positioning and post-dynamic differential positioning and aerial survey data for joint adjustment, but for a long time, the real-time dynamic differential positioning and post-dynamic differential positioning based on GNSS are applied to the field and stay in a user self-frame base station operation mode, and the precision, the availability, the operation efficiency and the like of the unmanned aerial vehicle oblique photogrammetry still have a plurality of defects.
Disclosure of Invention
In order to solve the problems, the application provides a single-base Beidou foundation enhanced oblique photogrammetry system and a single-base Beidou foundation enhanced oblique photogrammetry method, which can greatly improve the accuracy of coordinates of the central position of an image and obtain a high-accuracy three-dimensional live-action model and deformation monitoring results.
A single-base Beidou foundation enhanced oblique photogrammetry system comprises an unmanned aerial vehicle photogrammetry device, a data processing information center, and a BDS reference station and a BDS monitoring station array which are distributed in a monitoring area;
the unmanned aerial vehicle photogrammetry device is used for sending the image data of the monitoring area acquired by the unmanned aerial vehicle photogrammetry device and the self-positioning information to the data processing information center;
the BDS reference station is used for transmitting the spatial position information of each BDS monitoring station in the BDS monitoring station array acquired by the BDS reference station and the spatial position information of the unmanned aerial vehicle photogrammetry device to the data processing information center;
the data processing information center is used for forming combined data from the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device, acquiring a position estimated value of the unmanned aerial vehicle photogrammetry device at the exposure time from the combined data by adopting an interpolation method, and taking the position estimated value as an image center position coordinate of image data;
the data processing information center is also used for taking the spatial position information and the image center position coordinates of each BDS monitoring station as auxiliary data for analyzing aerial triangulation, and then reconstructing a three-dimensional live-action model of the image data to realize deformation monitoring of the monitoring area.
Further, the BDS reference station acquires the space position information of each BDS monitoring station through a carrier phase difference technology.
Further, the BDS reference station acquires the space position information of the unmanned aerial vehicle photogrammetry device through a post dynamic differential positioning technology.
Further, the data processing information center acquires a position estimation value of the unmanned aerial vehicle photogrammetry device at the exposure time from the combined data by adopting a Newton interpolation method, a piecewise linear interpolation method or a Lagrangian polynomial interpolation method.
Further, the unmanned aerial vehicle photogrammetry device is internally provided with a GNSS receiver, and satellite signals are received through the GNSS receiver to obtain self-positioning information.
Further, the single-base Beidou foundation enhanced oblique photogrammetry system further comprises an active control device;
the active control device is used for carrying out remote control and real-time operation on the BDS reference station.
A single-base Beidou foundation enhanced oblique photogrammetry method comprises the following steps:
arranging a BDS reference station and a BDS monitoring station array in a monitoring area;
after acquiring self-positioning information and image data of a monitoring area, the unmanned aerial vehicle photogrammetry device sends the self-positioning information and the image data to a data processing information center;
after the BDS reference station acquires the spatial position information of each BDS monitoring station and the spatial position information of the unmanned aerial vehicle photogrammetry device in the BDS monitoring station array, the spatial position information of each BDS monitoring station and the spatial position information of the unmanned aerial vehicle photogrammetry device are sent to a data processing information center;
the data processing information center forms combined data from the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device, obtains a position estimation value of the unmanned aerial vehicle photogrammetry device at the exposure time from the combined data by adopting an interpolation method, and takes the position estimation value as an image center position coordinate of image data;
the data processing information center takes the spatial position information and the image center position coordinates of each BDS monitoring station as auxiliary data for analyzing aerial triangulation, and then reconstructs a three-dimensional live-action model of the image data to realize deformation monitoring of a monitoring area.
The beneficial effects are that:
1. the BDS reference station based on the Beidou satellite navigation system can provide a long-term stable base station data source, can provide spatial position information of BDS monitoring stations with higher accuracy for a data processing information center and spatial position information of unmanned aerial vehicle photogrammetry devices, further greatly improves the accuracy of image center position coordinates obtained by an interpolation method, finally obtains a high-accuracy three-dimensional live-action model and deformation monitoring results, has important practical significance for further improving unmanned aerial vehicle photogrammetry technical performance, and has the advantages of high pertinence, high accuracy, stable performance and the like.
2. The application provides a single-base Beidou foundation enhanced oblique photogrammetry system, which is characterized in that a data processing information center can acquire the position estimated value of an unmanned aerial vehicle photogrammetry device at the exposure time by adopting a plurality of difference methods, so that the calculation efficiency is high, and the applicability is strong.
3. The application provides a single-base Beidou foundation enhanced oblique photogrammetry system, which also comprises an active control device, so that a user can conveniently remotely control and operate a BDS reference station in real time, and the convenience of acquiring a high-precision three-dimensional model and deformation monitoring results is improved.
4. The application provides a single-base-station Beidou foundation enhanced oblique photogrammetry method, a BDS base station based on a Beidou satellite navigation system can provide a long-term stable base station data source, can provide spatial position information of a BDS monitoring station with higher accuracy for a data processing information center and spatial position information of an unmanned aerial vehicle photogrammetry device, further greatly improves the accuracy of an image center position coordinate obtained by a difference method, finally obtains a high-accuracy and stable-performance three-dimensional live-action model and deformation monitoring results, has important practical significance for further improving the unmanned aerial vehicle photogrammetry technical performance, and has the advantages of high pertinence, high accuracy, stable performance and the like.
Drawings
FIG. 1 is a working schematic diagram of a single-base Beidou foundation enhanced high-precision oblique photogrammetry system;
FIG. 2 is a diagram of a tissue architecture of a single-base Beidou foundation enhanced high-precision oblique photogrammetry system;
FIG. 3 is a flow chart of a single-base Beidou foundation enhanced high-precision oblique photogrammetry method;
1-BDS reference station, 2-unmanned aerial vehicle photogrammetry device, 3-BDS monitoring station, 4-internet, 5-data processing information center, 6-terminal.
Detailed Description
In order to enable those skilled in the art to better understand the present application, the following description will make clear and complete descriptions of the technical solutions according to the embodiments of the present application with reference to the accompanying drawings.
With the gradual development and maturity of Beidou satellite navigation system (BDS) and GNSS assisted unmanned aerial vehicle inclined photogrammetry in China, the Beidou-based foundation enhancement system can provide long-term stable base station data sources, so that research and application of the single-base-station Beidou foundation enhanced high-precision inclined photogrammetry system and method are developed, and the method has important practical significance for further improving unmanned aerial vehicle photogrammetry technical performance.
Based on the above, the application provides a single-base Beidou foundation enhanced oblique photogrammetry system, which comprises an unmanned aerial vehicle photogrammetry device 2, a data processing information center 5, and an array of BDS reference stations 1 and BDS monitoring stations 3 distributed in a monitoring area, as shown in figure 1; the unmanned aerial vehicle photogrammetry device 2 can select unmanned aerial vehicles to carry, and the data processing information center 5 can select a server. Meanwhile, the monitoring area can be selected according to specific research or production requirements, and can be a plain, a mountain, a building or a city, a plurality of control points are uniformly distributed in the monitoring area, the required field of view is wide, the areas and features which reflect strong electromagnetic wave signals are far away from the topography and the ground, such as high-rise buildings, water areas and the like, BDS monitoring stations 3 are arranged on each control point, and a BDS monitoring station 3 array is formed.
The unmanned aerial vehicle photogrammetry device 2 is used for sending the image data of the monitoring area acquired by the unmanned aerial vehicle photogrammetry device and the self-positioning information to the data processing information center 5 through the Internet 4. That is, the unmanned aerial vehicle photogrammetry device 2 is mainly used for performing tilt measurement operation on a monitored area; in addition, the unmanned aerial vehicle photogrammetry device 2 may be an unmanned aerial vehicle with a built-in GNSS receiver, and the unmanned aerial vehicle photogrammetry device 2 receives satellite signals through the GNSS receiver to obtain self-positioning information.
The BDS reference station 1 is configured to send the spatial position information of each BDS monitoring station 3 in the BDS monitoring station 3 array acquired by itself and the spatial position information of the unmanned aerial vehicle photogrammetry device 2 to the data processing information center 5 through the internet 4. The BDS reference station 1 obtains high-precision spatial position information of each BDS monitoring station 3 through a carrier phase difference technology, and obtains high-precision spatial position information of the unmanned aerial vehicle photogrammetry device 2 through a post dynamic difference positioning technology.
The data processing information center 5 is configured to form combined data from the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device 2, and then acquire a position estimation value of the unmanned aerial vehicle photogrammetry device 2 at the exposure time from the combined data by adopting an interpolation method, and take the position estimation value as an image center position coordinate of the image data.
Since the difference between the GNSS antenna position of the unmanned aerial vehicle photogrammetry device 2 and the image center of the image data is small or even coincides with the difference, the position estimated value of the unmanned aerial vehicle photogrammetry device 2 at the exposure time can be used as the image center position coordinate of the image data.
The data processing information center 5 is further configured to take the spatial position information and the image center position coordinates of each BDS monitoring station 3 as auxiliary data for analyzing aerial triangulation, and then reconstruct a three-dimensional live-action model of the image data, so as to realize deformation monitoring of the monitoring area.
It should be noted that, the data processing information center 5 may further process the spatial position information of each BDS monitoring station 3 by using algorithms such as a least square method, a hidden markov model, and a kalman filter, to obtain spatial position information with higher accuracy of each BDS monitoring station 3; meanwhile, the data processing information center 5 can acquire the high-precision position estimation value of the unmanned aerial vehicle photogrammetry device 2 at the exposure time from the combined data by adopting a Newton interpolation method, a piecewise linear interpolation method or a Lagrangian polynomial interpolation method. In addition, the analytic aerial triangulation can be solved by adopting a model-tape method, an independent model method or a beam method.
Based on the BDS reference station 1 and the unmanned aerial vehicle photogrammetry device 2, the data processing information center 5 can evaluate the precision of different data processing methods, and automatically select an optimal solution method, so as to efficiently obtain a high-precision three-dimensional model and deformation monitoring results.
For example, the data processing information center 5 may acquire the spatial position information of the high-precision BDS monitoring station 3 by using a kalman filtering algorithm, acquire the accurate coordinates of the camera photographing center at the exposure time by using a lagrangian polynomial interpolation algorithm, and analyze the aerial triangulation by using two data results as auxiliary data and using a beam method to acquire the optimal three-dimensional model and deformation monitoring result.
Further, the application also comprises an active control device which can carry out remote control and real-time operation on the BDS reference station 1, and the active control device can evaluate the data processing precision and select the optimal control method. That is, the active control device can evaluate the accuracy of different data resolving methods, and then adjust the accuracy of the resolving scheme for actively controlling the three-dimensional model and the deformation monitoring result.
In summary, as shown in fig. 2, the data processing information center 5 takes spatial position information of a plurality of control points and position information of an unmanned aerial vehicle image center as auxiliary data to participate in aerial triangulation and three-dimensional live-action reconstruction, and finally transmits the three-dimensional live-action to the external terminal 6; in addition, the application can also utilize the active control device to carry out remote control and real-time operation on the BDS reference station 1, evaluate the data processing precision of the BDS reference station 1, select the optimal resolving method for the BDS reference station 1, and has the advantages of strong pertinence, high precision, stable performance and the like.
Furthermore, based on the single-base Beidou foundation enhanced oblique photogrammetry system provided by the embodiment of the system, the application further provides a single-base Beidou foundation enhanced oblique photogrammetry method. As shown in fig. 3, a flowchart of a single-base-station beidou foundation enhanced oblique photogrammetry method provided by the application comprises the following steps:
s1: arranging a BDS reference station 1 and a BDS monitoring station 3 array in a monitoring area;
s2: after acquiring self-positioning information and image data of a monitoring area, the unmanned aerial vehicle photogrammetry device 2 sends the self-positioning information and the image data to the data processing information center 5;
s3: after the BDS reference station 1 acquires the spatial position information of each BDS monitoring station 3 in the BDS monitoring station 3 array and the spatial position information of the unmanned aerial vehicle photogrammetry device 2, the spatial position information of each BDS monitoring station 3 and the spatial position information of the unmanned aerial vehicle photogrammetry device 2 are sent to the data processing information center 5;
at each control point position, connecting the BDS monitoring station 3 to the BDS reference station 1, completing the acquisition and real-time analysis of the spatial position information data of the BDS monitoring station 3 through the BDS reference station 1, and transmitting the acquired data to the data processing information center 5 through the internet 4; in addition, the application utilizes the active control device to evaluate the data processing precision, and selects the optimal resolving method, for example, the data processing information center 5 utilizes the Kalman filtering algorithm to acquire the final high-precision result of the spatial position information of each BDS monitoring station 3.
S4: the data processing information center 5 forms the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device 2 into combined data, then obtains the position estimation value of the unmanned aerial vehicle photogrammetry device 2 at the exposure time from the combined data by adopting an interpolation method, and takes the position estimation value as the image center position coordinate of the image data;
s5: the data processing information center 5 takes the spatial position information and the image center position coordinates of each BDS monitoring station 3 as auxiliary data for analyzing the aerial triangulation, and then reconstructs a three-dimensional live-action model of the image data to realize deformation monitoring of a monitoring area.
It should be noted that, for the method disclosed in the embodiment, since it corresponds to the system disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the system part.
In summary, according to the single-base Beidou foundation enhanced high-precision oblique photogrammetry system and method, the BDS reference station 1 is established in the monitoring area, control points are uniformly distributed, monitored data received by the BDS monitoring stations 3 installed on each control point, high-precision image center position information data of unmanned aerial vehicles at the exposure time and monitoring area image data acquired by the unmanned aerial vehicles are transmitted to the data processing information center 5 through network communication, and the data processing information center 5 takes the spatial position information of the BDS monitoring stations 3 and the image center position information of the unmanned aerial vehicles as auxiliary data to participate in analysis of air triangulation and three-dimensional live-action reconstruction, so that a high-precision three-dimensional model and deformation monitoring result are obtained.
Of course, the present application is capable of other various embodiments and its several details are capable of modification and variation in light of the present application by one skilled in the art without departing from the spirit and scope of the application as defined in the appended claims.
Claims (7)
1. The single-base Beidou foundation enhanced oblique photogrammetry system is characterized by comprising an unmanned aerial vehicle photogrammetry device, a data processing information center, and a BDS reference station and a BDS monitoring station array which are distributed in a monitoring area;
the unmanned aerial vehicle photogrammetry device is used for sending the image data of the monitoring area acquired by the unmanned aerial vehicle photogrammetry device and the self-positioning information to the data processing information center;
the BDS reference station is used for transmitting the spatial position information of each BDS monitoring station in the BDS monitoring station array acquired by the BDS reference station and the spatial position information of the unmanned aerial vehicle photogrammetry device to the data processing information center;
the data processing information center is used for forming combined data from the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device, acquiring a position estimated value of the unmanned aerial vehicle photogrammetry device at the exposure time from the combined data by adopting an interpolation method, and taking the position estimated value as an image center position coordinate of image data;
the data processing information center is also used for taking the spatial position information and the image center position coordinates of each BDS monitoring station as auxiliary data for analyzing aerial triangulation, and then reconstructing a three-dimensional live-action model of the image data to realize deformation monitoring of the monitoring area.
2. A single base station Beidou foundation enhanced oblique photogrammetry system as in claim 1, wherein said BDS reference station obtains spatial location information of each BDS monitoring station by carrier phase differential technology.
3. The single-base Beidou foundation enhanced oblique photogrammetry system of claim 1, wherein the BDS reference station acquires spatial position information of the unmanned aerial vehicle photogrammetry device through a post-hoc dynamic differential positioning technology.
4. The single-base Beidou foundation enhanced oblique photogrammetry system of claim 1, wherein the data processing information center acquires a position estimation value of the unmanned aerial vehicle photogrammetry device at an exposure time from the combined data by adopting a Newton interpolation method, a piecewise linear interpolation method or a Lagrangian polynomial interpolation method.
5. The single-base Beidou foundation enhanced tilt photogrammetry system of claim 1, wherein the unmanned aerial vehicle photogrammetry device is built-in with a GNSS receiver and receives satellite signals through the GNSS receiver to obtain self-positioning information.
6. A single base station Beidou foundation enhanced tilt photogrammetry system as claimed in any one of claims 1 to 5, further comprising active control means;
the active control device is used for carrying out remote control and real-time operation on the BDS reference station.
7. The single-base Beidou foundation enhanced oblique photogrammetry method is characterized by comprising the following steps of:
arranging a BDS reference station and a BDS monitoring station array in a monitoring area;
after acquiring self-positioning information and image data of a monitoring area, the unmanned aerial vehicle photogrammetry device sends the self-positioning information and the image data to a data processing information center;
after the BDS reference station acquires the spatial position information of each BDS monitoring station and the spatial position information of the unmanned aerial vehicle photogrammetry device in the BDS monitoring station array, the spatial position information of each BDS monitoring station and the spatial position information of the unmanned aerial vehicle photogrammetry device are sent to a data processing information center;
the data processing information center forms combined data from the spatial position information and the self-positioning information of the unmanned aerial vehicle photogrammetry device, obtains a position estimation value of the unmanned aerial vehicle photogrammetry device at the exposure time from the combined data by adopting an interpolation method, and takes the position estimation value as an image center position coordinate of image data;
the data processing information center takes the spatial position information and the image center position coordinates of each BDS monitoring station as auxiliary data for analyzing aerial triangulation, and then reconstructs a three-dimensional live-action model of the image data to realize deformation monitoring of a monitoring area.
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