CN210862666U - Device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle - Google Patents
Device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The utility model belongs to the technical field of unmanned aerial vehicle photogrammetry, concretely relates to fixed wing unmanned aerial vehicle exempts from device of image control point three-dimensional modeling and mapping. The utility model discloses by fixed wing flight platform, power module, IMU gesture measurement system, the aerial camera, machine-carried GNSS difference module, communication module, self-driving appearance module and control module are constituteed, through the accurate survey of camera parameter, three-dimensional course drawing, erect the basic station, automatic flight and shooting, the inspection and data arrangement fall to the ground, exposure point outside orientation element is accurate to be decided, the eight steps of the empty three calculations of exempting from image control point and rare image control point precision calibration of additional integrated system error parameter, need not to carry out the measurement of ground image control point, fixed wing unmanned aerial vehicle carries aerial survey system realization aerial triangulation precision of non-measurement type camera and reaches 1: 2000. the 1:1000 and 1:500 mapping accuracy is required, the reliability is better, aerial survey interior products can be directly processed, the time and expense for measuring the image control points of the exterior are reduced, and the safety risk is effectively avoided.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle photogrammetry, concretely relates to fixed wing unmanned aerial vehicle exempts from device of image control point three-dimensional modeling and mapping.
Background
In the operation flow of the traditional photogrammetry or oblique photogrammetry technology of the existing unmanned aerial vehicle, in order to ensure the geometric accuracy of aerial triangulation, a certain number of ground image control points are often required to be mapped outdoors, coordinates of the ground image control points participate in adjustment calculation of a regional network, but under the working conditions that the construction period is increasingly short, the measurement cost of the image control points is increasingly increased, and the ground personnel cannot arrive at the area to be measured due to difficult danger, the ground image control point measurement procedures are reduced or even avoided, and the ground image control point measurement procedures are increasingly urgent.
However, the conventional fixed-wing unmanned aerial vehicle performs mapping or three-dimensional modeling by looking down on a single-lens aerial photograph or a "multi-lens" oblique photograph, and if ground image control point measurement is completely avoided, the following technical problems still exist:
(1) the existing photogrammetry and three-dimensional modeling aerial triangulation rely on a large amount or a small amount of ground image control to meet the necessary elimination of air-three system errors, and the real avoidance of image control points to carry out forward intersection measurement positioning cannot be realized.
(2) The plane and elevation precision of aerial triangulation, particularly the elevation precision, is influenced by the strict conversion relation between a gravity field model and a shooting area, and the precision often cannot meet the standard requirement so as to meet the national standard precision requirement of large-scale topographic survey or three-dimensional modeling.
(3) Fixed wing unmanned aerial vehicle aerial photograph receive unmanned aerial vehicle difference record with expose asynchronous, the speed of taking a photograph can't be at the uniform velocity, do not have triaxial cloud platform and the eccentric poor comprehensive factor influence of equipment fixing, empty three differences exist the system poor, hardly like the speed of taking a photograph of low, the steady many rotor unmanned aerial vehicle of cloud platform directly carry out the smooth poor aerial triangulation of light beam method and realize exempting like the control point of image.
SUMMERY OF THE UTILITY MODEL
The utility model provides a fixed wing unmanned aerial vehicle exempts from device of image control point three-dimensional modeling and mapping, aim at provide one kind realize that ground does not have image control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001:10001:2000) mapping precision.
In order to achieve the above object, the utility model adopts the following technical scheme:
a device for three-dimensional modeling and mapping of an image-control-point-free fixed-wing unmanned aerial vehicle comprises a fixed-wing flight platform, a power supply module, an IMU attitude measurement system, a aerial camera, an airborne GNSS differential module, a communication module, a self-driving instrument module and a control module; the power supply module, the IMU attitude measurement system, the aerial camera, the airborne GNSS differential module, the communication module and the autopilot module are respectively connected to the fixed-wing flight platform; the IMU attitude measurement system is connected to the midpoint of the longitudinal axis of the fixed-wing flying platform and is in electrical signal connection with the autopilot module; the aerial camera is rigidly fixed below the IMU posture measuring system and is in electrical signal connection with the IMU posture measuring system; the autopilot module is respectively in electrical signal connection with the airborne GNSS differential module, the communication module and the IMU attitude measurement system, and is connected with the aerial camera through camera exposure lines; the control module is arranged on the ground and is in electric signal connection with the communication module; and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
The airborne GNSS differential module at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the self-driving instrument module.
The control module comprises a ground reference station GNSS receiver, a static base station radio assembly and a tripod; the ground reference station GNSS receiver is in electric signal connection with the communication module, the static base station radio station assembly is in electric signal connection with the ground reference station GNSS receiver, and the static base station radio station assembly is in electric signal radio connection with the communication module; the tripod is connected to the ground, and the ground reference station GNSS receiver and the static base station radio station assembly are connected to the tripod.
The static base station radio assembly comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
The aerial camera is a multi-lens or single-lens non-measuring or measuring camera; the fixed-wing flight platform is a fixed-wing unmanned aerial vehicle or a fixed-wing unmanned aerial vehicle capable of taking off and landing vertically.
Has the advantages that:
1. the utility model discloses carry on non-type of measuration aerial photography camera at fixed wing unmanned aerial vehicle, after the aerial photography is accomplished, need not to carry out any ground and look like the measuring work of accuse point, can accomplish aerial triangulation promptly, the processing of aerial survey interior product can directly go on, realizes being superior to 1:500 scale survey and drawing precision under the calibration of few accuse point of looking like.
2. The aerial triangulation precision of the image control point-free aerial triangulation measuring device reaches the geometric requirement of the mapping precision of a national large scale (1: 5001:10001: 2000).
3. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The above description is only an overview of the technical solution of the present invention, and in order to clearly understand the technical means of the present invention and to implement the technical solution according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the control module of the present invention;
FIG. 3 is a flow chart of the present invention;
FIG. 4 is a chart of altitude versus ground resolution.
In the figure: 1-a fixed-wing flying platform; 2-an onboard GNSS difference module; 3-IMU attitude measurement system; 4-aerial camera; 5-a reference station GNSS receiver; 6-static base station radio assembly; 7-a tripod.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
The first embodiment is as follows:
the device for three-dimensional modeling and mapping of the image-control-point-free fixed-wing unmanned aerial vehicle shown in the figure 1 comprises a fixed-wing flight platform 1, a power supply module, an IMU attitude measurement system 3, a aerial camera 4, an airborne GNSS differential module 2, a communication module, a self-driving instrument module and a control module; the power module, the IMU attitude measurement system 3, the aerial camera 4, the airborne GNSS differential module 2, the communication module and the autopilot module are respectively connected to the fixed-wing flight platform 1; the IMU attitude measurement system 3 is connected to the midpoint of the longitudinal axis of the fixed-wing flying platform 1 and is in electrical signal connection with the autopilot module; the aerial camera 4 is rigidly fixed below the IMU posture measuring system 3 and is in electrical signal connection with the IMU posture measuring system 3; the autopilot module is respectively in electrical signal connection with the airborne GNSS differential module 2, the communication module and the IMU attitude measurement system 3, and is connected with the aerial camera 4 through camera exposure rays; the control module is arranged on the ground and is in electric signal connection with the communication module; and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
In actual use, the communication module is used for receiving the instruction of the ground control module. The power module is responsible for supplying power to the fixed-wing flying platform 1 and the various electronic modules thereon. And a reference station GNSS receiver 5 of the ground control module receives the coordinate information, and a static base station radio station assembly 6 sends the coordinates to the airborne communication module in a radio mode and sends the coordinates to the self-driving instrument module. The autopilot module is responsible for controlling the flight of the whole fixed-wing flying platform 1 according to the coordinate information and a pre-drawn three-dimensional air route and simultaneously triggering pulses to the IMU attitude measurement system 3, the aerial camera 4 and the airborne GNSS differential module. The IMU attitude measurement system 3 marks time and records angle information from the pulses. The aerial camera 4 marks the time and takes a picture according to the pulse. And the airborne GNSS difference module marks time according to the pulse and records coordinate information. A signal transmission process is completed.
The fixed-wing flying platform is a fixed-wing or vertical take-off and landing fixed-wing unmanned aerial vehicle. The embodiment adopts a fixed-wing unmanned aerial vehicle flight platform. In the specific application, the parameters of the aerial camera 4 are accurately determined, then a strict three-dimensional route taking the relief into consideration is drawn, a base station is erected after the three-dimensional route is drawn, after the preparation work is completed, the fixed wing unmanned aerial vehicle is automatically flown and shot by the image-control-point-free three-dimensional modeling and mapping device, after the flight is completed, the ground is landed for inspection and data arrangement, the lower coordinate value of the local coordinate system of the external orientation element of the exposure point is obtained by adopting an RTK (real time kinematic) mode or a PPK (point-against-k) mode, the final value of the external orientation element of the adjustment exposure point is obtained by calculating through an image-control-point-free aerial triangulation meter, and the result of the image-control-point-free aerial triangulation calculation is.
The autopilot module in the embodiment adopts unmanned aerial vehicle autopilot equipment in the prior art, and is used for automatic flight control and aerial photography operation pulse signal sending and control. In actual use, the aircraft is provided to fly autonomously according to a preset three-dimensional air route, and the aerial camera and the airborne GNSS receiver are driven to record acquired data.
The communication module in this embodiment is a GNSS-RTK field reference station and rover signal transmission module in the prior art, and is used for real-time positioning information communication between the aerial camera and the ground reference station. The data transmission signal and the positioning coordinate signal of the real-time and ground control system of the flight platform are stably and efficiently transmitted.
The utility model discloses after the aerial photography is accomplished, need not to carry out any ground and look like the measuring work of accuse point, can accomplish aerial triangulation promptly, aerial survey interior product processing can directly go on. The aerial triangulation precision of the image control point-free aerial triangulation measuring device reaches the geometric requirement of the mapping precision of a national large scale (1: 5001:10001: 2000). The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The communication module, the autopilot module and the IMU attitude measurement system in the implementation all adopt the prior art. The core component of the communication module is a data transmission radio station which can be obtained from Shenzhen Shanghai Europe technology Limited and the model can be selected from EL-805 and EL-806; the self-driving instrument module can be selected to be obtained by a cross-bar automation technology corporation, and the models can be selected from AP-101, AP-201 and AP-202; the IMU attitude measurement system is used for attitude angle measurement for an attitude measurement system, and the model can be selected from AGS300 of navigation technology, Inc. in Wuhan.
The IMU attitude measurement system in this embodiment is an inertial attitude measurement system.
Example two:
according to the device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle shown in fig. 1, the difference from the first embodiment is that: the airborne GNSS differential module 2 at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the self-driving instrument module.
The airborne multimode high-frequency GNSS receiver in the embodiment adopts the space coordinate acquisition equipment assembled by the light unmanned aerial vehicle in the prior art, can simultaneously realize the data receiving and processing of the global positioning system with 4 modes of GPS, GLONASS, Galileo and Beidou navigation, and solves the problem of inaccurate positioning of a single navigation mode in a sheltered area.
The acquisition frequency of the airborne multimode high-frequency GNSS receiver epoch is not lower than 20HZ, the reading and writing speed of the epoch data memory is not lower than 100MB/s, the communication radius of the RTK communication link radio station is not lower than 5km when the RTK communication link radio station is not shielded, and the marking time difference recorded by the airborne multimode high-frequency GNSS receiver and the IMU is not more than 1ms when the electronic coupling connection accessory is sent from the autopilot pulse signal.
When the space coordinate system is used in practice, when the flying speed of the fixed-wing unmanned aerial vehicle flying platform is not more than 20 m/s, the GNSS airborne difference module can accurately acquire the space coordinate of the exposure point by utilizing two modes, namely a static PPK mode and a dynamic RTK mode.
The RTK communication link radio station in this embodiment is a real-time dynamic differential communication link radio station.
Example three:
as shown in fig. 2, an apparatus for three-dimensional modeling and mapping of fixed-wing drone without image control points is different from the first embodiment in that: the control module comprises a ground reference station GNSS receiver 5, a static base station radio assembly 6 and a tripod 7; the ground reference station GNSS receiver 5 is in electric signal connection with a communication module, the static base station radio station assembly 6 is in electric signal connection with the ground reference station GNSS receiver 5, and the static base station radio station assembly 6 is in electric signal radio connection with the communication module; the tripod 7 is connected to the ground, and the ground reference station GNSS receiver 5 and the static base station radio assembly 6 are connected to the tripod 7.
Preferably, the static base station radio assembly 6 comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
In actual use, the ground reference station GNSS receiver epoch sampling frequency is not lower than 1HZ, and continuous complete static data without losing satellite lock can be output; the static data memory is connected with the ground reference station GNSS receiver and used for storing the GNSS static data of the reference station and providing the real-time coordinates of the reference station for the data transmitting radio station of the dynamic RTK reference station. One end of the dynamic RTK reference station data transmitting radio station is connected with the ground reference station GNSS receiver, the other end of the dynamic RTK reference station data transmitting radio station is connected with the radio station antenna, and the working principle is that the dynamic RTK reference station data transmitting radio station transmits real-time base station coordinate data of the ground reference station GNSS receiver to the airborne multimode high-frequency GNSS receiver through the radio station antenna.
The technical scheme of the tripod 7 can fix the ground reference station on a known point under a shooting area ground coordinate system, simultaneously provide real-time dynamic coordinates for an RTK mode and provide static coordinate data of a base station for a PPK mode, and guarantee is provided for accurately measuring the data. In specific applications, the tripod 7 may also be a frame body in other forms as long as it has the function of stable support.
The equipment of the embodiment is simple to assemble, can provide static coordinate data and real-time dynamic coordinate data of the base station at the same time, provides two processing modes for accurate determination of elements of the outer square orientation line of the subsequent exposure point, meets different application scenes, and realizes double-insurance storage of data.
Example four:
according to the device for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle shown in fig. 1, the difference from the first embodiment is that: the aerial camera 4 is a multi-lens or single-lens non-measuring or measuring camera; the fixed-wing flying platform 1 is a fixed-wing unmanned aerial vehicle or a fixed-wing unmanned aerial vehicle capable of taking off and landing vertically.
In actual use, the oblique photography is finished, a three-dimensional modeling task is carried out, and large overlapping images at different angles are obtained at one time by adopting a multi-lens aerial photography technical scheme; and the mapping task is completed by adopting a single-lens downward-looking aerial photography technical scheme. All can realize that fixed wing unmanned aerial vehicle exempts from like image control point to measure above 2 kinds of aerial photography technical scheme, adopt different schemes according to different tasks, can effectively practice thrift cost and time limit for a project.
Example five:
according to the method for three-dimensional modeling and mapping of fixed-wing unmanned aerial vehicle without image control points, which is shown in fig. 3 and 4, the method comprises the following steps
The method comprises the following steps: accurate determination of camera parameters
Accurately calibrating the internal orientation elements of the aerial camera 4 based on an outdoor three-dimensional calibration field, and acquiring accurate camera parameters, lens distortion parameters and camera GNSS antenna installation eccentricity; the camera parameters include: camera principal point position (x)0，y0) And a camera principal distance (f); the lens distortion parameters include: coefficient of radial distortion k1Radial distortion coefficient k2Radial distortion coefficient k3Tangential distortion coefficient p1Tangential distortion coefficient p2The area array deformation coefficient α and the area array deformation coefficient β, the eccentricity (delta X, delta Y, delta Z) of the camera GNSS antenna installation;
wherein: x is the number of0Is the horizontal coordinate of the main point of the camera;
y0is a camera principal point ordinate;
delta X is the distance of the GNSS antenna phase center deviating from the camera exposure center in the flight direction;
the delta Y is the distance of the GNSS antenna phase center deviating from the camera exposure center in the vertical flight direction;
the delta Z is the distance of the GNSS antenna phase center deviating from the camera exposure center in the vertical direction;
the accurate calibration of the internal orientation element of the aerial camera 4 based on the outdoor three-dimensional calibration field at least comprises the following steps:
step 101: uniformly distributed ground target image control points are distributed, and the field measurement precision is less than 3 cm;
step 102: erecting a GNSS receiver of a reference station at a known point and starting up for recording;
step 103: the large-overlap calibration field flies, the course overlap degree is not less than 70%, the side overlap degree is not less than 60%, and the deviation of the relative altitude and the normal operation altitude is not more than 20%;
step 104: aerial photography operation, wherein image data and external orientation element data are collected;
step 105: GNSS auxiliary space three-dimensional difference calculation of additional comprehensive system error parameters; adopting an aerial camera three-dimensional calibration model, adding the coordinates of ground target image control points, image data and external orientation element data after base station differential calculation into an additional parameter GNSS auxiliary space-three adjustment model of system errors of system drift, equipment installation eccentricity difference and exposure delay to the adjustment of a traditional airborne GNSS auxiliary light beam method:
wherein:
λ is a scale coefficient;
[x y -f]Tthe coordinates of the image space coordinate system of the image point are taken as the coordinates;
r is an orthogonal transformation matrix formed by three corner elements of the exposure point;
[ X Y Z ] is the coordinate of the object space coordinate system of the image point;
Δ p is an additional parameter integrated exposure delay time;
step two: three-dimensional course mapping
Utilizing the camera parameters measured in the step one, loading public global DEM data and a shooting region KML format range line, and calculating three-dimensional course drawing parameters according to a flight height calculation principle to obtain and calculate course intervals, a shooting baseline, relative flight height, lowest point resolution, highest point course overlapping degree and highest point lateral overlapping degree;
step three: erecting base station
After the second step is finished, before the fixed wing unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device takes off, erecting a base station consisting of a reference station GNSS receiver 5 and a static base station radio station assembly 6, and starting the fixed wing unmanned aerial vehicle in advance for more than 10 minutes for the aerial positioning and exposure point differential calculation of the fixed wing unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device;
step four: automatic flight and shooting
The base station erected in the third step is used for remote control or self-driving instruments are used for controlling the fixed-wing unmanned aerial vehicle to automatically fly by the image-control-point-free three-dimensional modeling and mapping device according to the flying route designed in the second step, and a downward-looking single-lens camera or an inclined multi-lens camera is carried during flying to automatically aerial and acquire real-time dynamic differential RTK data or rear differential PPK data, IMU attitude data and aerial images; the horizontal flight speed of the image-control-point-free three-dimensional modeling and mapping device of the fixed-wing unmanned aerial vehicle is less than or equal to 20 m/s, the storage read-write speed of a camera is not lower than 100MB/s, and the angle measurement precision of an IMU is not lower than 0.01 degree; the PPK epoch sampling frequency is not lower than 20 Hz;
step five: floor inspection and data collation
Step four, after the fixed-wing unmanned aerial vehicle three-dimensional modeling and mapping device is grounded without image control points, correspondingly arranging the real-time dynamic differential RTK data or the post-differential PPK data, the IMU posture data and the aerial image acquired in the step four according to an electronic coupling relation;
step six: accurate determination of external orientation elements of exposure points
Acquiring line elements and angle elements of the external orientation of the exposure points according to the data arranged in the step five, wherein the specific operations are as follows:
the line element is divided into 2 operation modes in an application scene, namely ① RTK mode, namely calculating the lower coordinate value of the line element local coordinate system of the external orientation of the exposure point by combining the local conversion relation of the measurement area when an RTK differential signal exists, ② PPK mode, namely calculating the static data of the ground reference station and the airborne data in a combined manner when no RTK differential signal exists, and calculating the lower coordinate value of the line element local coordinate system of the external orientation of the exposure point by using a PPK post-processing technology;
corner element: outputting three angle elements of the exterior orientation element at the exposure time of each camera according to the IMU posture measurement system;
simultaneously acquiring three line elements and three angle elements;
step seven: image-control-free point-to-air-three calculation with additional integrated system error parameters
According to the accurate camera parameters obtained in the first step and the exposure point external orientation element file accurately determined in the sixth step, aerial triangulation calculation is carried out, the aerial triangulation sets accurate observation weights of the exposure point external orientation elements, a leveling model prohibits leveling to correct the camera parameters, three internal orientation elements are guaranteed not to participate in leveling calculation, according to the light beam method constraint condition, the final values of the external orientation elements of the leveling exposure point are finished without image control point aerial triangulation calculation, and the calculation results are used for later-stage achievement processing;
step eight: sparse image control point precision calibration
And adding four image control points at four corners of the measuring area to calibrate the object space free of the image control points of the seventh step, so as to eliminate the system difference of scale, direction and system offset.
In the time of the in-service use, the utility model discloses an accurate survey of camera parameter, three-dimensional course drawing, set up the basic station, automatic flight and shooting, inspection and data arrangement fall to the ground, exposure point external orientation element is accurate to be decided, the sky three calculation of the image control point of exempting from of additional integrated system error parameter and rare image control point precision calibration eight steps, solved prior art and can't realize that there is not the image control point on ground and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001:10001:2000) mapping precision. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The camera parameters determined in the first step include: camera principal point position (x)0，y0) A camera principal distance (f); the lens distortion parameters include: coefficient of radial distortion k1Coefficient of radial distortion k2Coefficient of radial distortion k3Coefficient of tangential distortion p1Coefficient of tangential distortion p2The camera GNSS antenna installation eccentricity (delta X, delta Y and delta Z) is measured through three-dimensional checking field flight data, the internal orientation element, the lens distortion parameter and the GNSS installation eccentricity of the camera are measured, calculation conditions are provided for image control point-free space-three calculation of the error parameter of the additional comprehensive system in the step seven, the step seven is a key step for judging whether the step seven is failure, and the accurate object party intersection point coordinate can be obtained by really realizing zero image control and adjustment calculation.
The three-dimensional calibration model of the aerial camera in the step 105 adopts the prior art.
And step two, the three-dimensional course drawing is shown in figure 4 according to the calculation principle of the altitude, and the calculation method is a calculation method known in the photogrammetry industry.
In the formula: h-flight height;
f-focal length of lens;
a-pixel size;
GSD-ground resolution.
Step six, precisely centering external orientation elements of the exposure points, and simultaneously obtaining three line elements and three angle elements, so that the mapping precision requirement superior to that of a 1:500 scale can be realized; the requirement of mapping accuracy of the mapping with the scale of not less than 1:2000 can be met by only acquiring three line elements.
In the step eight rare image control point precision calibration, the specific terrain and imaging quality of the tested area are limited, if the step seven cannot achieve the surveying and mapping precision superior to 1:500, four image control points can be added at four corners of the tested area to perform high-precision calibration on the object space free from the image control points of the step seven, so that the system difference of scale, direction and system offset is eliminated.
In the second step of the embodiment, the public global DEM data loaded in the first step is used for drawing the three-dimensional route, and the public global DEM data refers to global digital elevation model data; the post-differential PPK data in step four refers to differential dynamic post-processing data.
Example six:
according to the method for three-dimensional modeling and mapping of image-control-free points of the fixed-wing unmanned aerial vehicle, which is shown in the figure 3, the five differences from the embodiment are that ① detection and calibration site terrains comprise flat ground and hills, the maximum height difference of the terrains is not more than 1/6 of relative navigation height, ground objects avoid water areas and vegetation weak texture areas which are more than a single image 1/2, ② ground targets are uniformly distributed and have high density, grid distribution image control points with the interval of 30 meters and 30 meters are distributed on the ground, ③ detection and calibration navigational height is not more than 20% of normal operation navigational height, ④ shooting angles adopt multi-azimuth to obtain images, aerial self-calibration of the aerial camera is realized by using camera self-calibration area grid-leveling function software, azimuth elements and distortion parameters in the camera are accurately measured, initial values of camera parameters adopt factory-leaving nominal values, and weights of the image-control points are more than 0.03 meter.
When the aerial. The aerial image and the ground image control points of the calibration field are adopted, and the reliable camera calibration parameters and the installation eccentricity difference between the camera and the GNSS antenna are inversely calculated based on a self-calibration block adjustment mode, so that the influence of the internal orientation elements and part of the external orientation elements of the camera on the final result is eliminated.
Example seven:
according to the method for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle shown in fig. 3, the difference from the fifth embodiment is that: and the base station erected in the third step is erected on a known point under a ground coordinate system, the epoch sampling frequency of the ground static base station is not lower than 1HZ, the result form is a GNSS static measurement observation file, and the coverage radius of the base station is less than or equal to 30 km.
When the real-time RTK communication system is used actually, the technical scheme can still accurately calculate the accurate coordinate value of the exposure point under the ground coordinate system when the RTK real-time communication is interrupted. The achievement form is a GNSS static measurement observation file known in the surveying and mapping industry.
Example eight:
according to the method for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle shown in fig. 3, the difference from the fifth embodiment is that: and fifthly, the method for correspondingly arranging according to the electronic coupling relation interpolates the space position of the accurate exposure point by adopting the time stamp of the PPK data, and simultaneously, the image ID number corresponds to the sequence and the time stamp, so that the accurate space position coordinate of each image at the moment of exposure is obtained.
When the in-service use, adopt the technical scheme of the utility model, can arrange out the one-to-one correspondence of image ID number and interpolation calculation's exposure point coordinate fast in order, avoid the exposure delay problem that the electronic coupling time difference arouses simultaneously according to the timestamp, improve the precision that the exposure point coordinate was resolved.
Example nine:
according to the method for three-dimensional modeling and mapping of image-control-point-free fixed-wing unmanned aerial vehicle shown in fig. 3, the difference from the fifth embodiment is that: in the application scenario in the sixth step, when the static data of the ground reference station and the airborne data are jointly calculated in the PPK mode, GNSS differential post-processing software which is the same as Waypoint is adopted to jointly calculate the static data of the ground reference station and the airborne data, and a GNSS-PPK post-processing technology is used to obtain a lower coordinate value of a local coordinate system of an external orientation element of the exposure point; the PPK mode is applicable to any operation scenario, and when the RTK mode is available, the RTK mode result is used.
When the in-service use, adopt the technical scheme of the utility model, PPK difference aftertreatment has ensured that ground reference station and machine carried GNSS receiver communication lose the antithetical couplet back, still provides one set at least reliable high accuracy and solves the result. The Waypoint software in the embodiment adopts the Waypoint software in Canada; in actual use, static data of the ground reference station and airborne data are input into software, and then coordinate values under the local coordinate system of the external orientation element of the exposure point can be obtained.
To sum up the utility model discloses a fixed wing flight platform, power module, IMU gesture measurement system, aerial photography camera, machine carries GNSS difference module, communication module, self-driving appearance module and control module's organic setting, through camera parameter precision measurement, three-dimensional course drawing, erect the basic station, automatic flight and shooting, fall to the ground inspection and data arrangement, exposure point outside orientation element precision is decided, the image control point sky three of exempting from of additional integrated system error parameter calculates and rare image control point precision calibration eight steps, solved prior art and can't realize the ground and do not have the image control point and make the aerial triangulation positioning accuracy of three-dimensional modeling and mapping reach the geometric requirement of national large scale (1: 5001:10001:2000) mapping precision. The utility model discloses an it looks like accuse point measurement process to have got rid of field work ground among the operation flow, has realized that the operation mode is from the direct linking of aerial photography to interior trade calculation, has reduced field work looks like accuse point measuring time and cost spending, realizes high accuracy mapping and has effectively avoidd the safety risk in dangerous difficult area simultaneously.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
It should be noted that all the directional indicators (such as upper, lower, left, right, front and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the technical solution of the present invention.
Claims (5)
1. The utility model provides a device of three-dimensional modeling of fixed wing unmanned aerial vehicle exempts from image control point and mapping which characterized in that: the system comprises a fixed wing flight platform (1), a power supply module, an IMU attitude measurement system (3), an aerial camera (4), an airborne GNSS differential module (2), a communication module, a self-driving instrument module and a control module; the power module, the IMU attitude measurement system (3), the aerial camera (4), the airborne GNSS differential module (2), the communication module and the autopilot module are respectively connected to the fixed-wing flight platform (1); the IMU attitude measurement system (3) is connected to the midpoint of the longitudinal axis of the fixed-wing flying platform (1) and is in electrical signal connection with the autopilot module; the aerial camera (4) is rigidly and fixedly connected below the IMU posture measuring system (3) and is in electric signal connection with the IMU posture measuring system (3); the autopilot module is respectively in electrical signal connection with the airborne GNSS differential module (2), the communication module and the IMU attitude measurement system (3), and is connected with the aerial camera (4) through camera exposure lines; the control module is arranged on the ground and is in electric signal connection with the communication module; and the airborne GNSS differential module, the autopilot module and the communication module are electrically connected with the power module.
2. The device of claim 1, wherein the fixed-wing drone image-control-point-free three-dimensional modeling and mapping comprises: the airborne GNSS differential module (2) at least comprises an airborne multimode high-frequency GNSS receiver, a GNSS receiving antenna, an epoch data memory, an RTK communication link radio station and an electronic coupling connection accessory; the airborne multimode high-frequency GNSS receiver is connected with the GNSS receiving antenna through electric signals, the epoch data memory is connected with the airborne multimode high-frequency GNSS receiver, the RTK communication link radio station is connected with the airborne multimode high-frequency GNSS receiver through electric signals, one end of the electronic coupling connection accessory is connected with the airborne multimode high-frequency GNSS receiver, and the other end of the electronic coupling connection accessory is connected with the self-driving instrument module.
3. The device of claim 1, wherein the fixed-wing drone image-control-point-free three-dimensional modeling and mapping comprises: the control module comprises a ground reference station GNSS receiver (5), a static base station radio assembly (6) and a tripod (7); the ground reference station GNSS receiver (5) is in electric signal connection with the communication module, the static base station radio station assembly (6) is in electric signal connection with the ground reference station GNSS receiver (5), and the static base station radio station assembly (6) is in electric signal radio connection with the communication module; the tripod (7) is connected to the ground, and the ground reference station GNSS receiver (5) and the static base station radio station assembly (6) are connected to the tripod (7).
4. The device of claim 3, wherein the fixed-wing drone image-control-point-free three-dimensional modeling and mapping is characterized in that: the static base station radio assembly (6) comprises a static data memory, a dynamic RTK base station data transmitting radio and a radio antenna; the static data memory is connected with a ground reference station GNSS receiver; one end of the data transmitting radio station of the dynamic RTK reference station is connected with the GNSS receiver of the ground reference station, and the other end of the data transmitting radio station of the dynamic RTK reference station is connected with the radio station antenna.
5. The device of claim 1, wherein the fixed-wing drone image-control-point-free three-dimensional modeling and mapping comprises: the aerial camera (4) is a multi-lens or single-lens non-measuring or measuring camera; the fixed-wing flying platform (1) is a fixed-wing unmanned aerial vehicle or a fixed-wing unmanned aerial vehicle capable of taking off and landing vertically.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110736448A (en) * | 2019-11-19 | 2020-01-31 | 中国电建集团西北勘测设计研究院有限公司 | fixed wing unmanned aerial vehicle image control point-free three-dimensional modeling and mapping device and method |
| CN115950305A (en) * | 2023-03-14 | 2023-04-11 | 四川省自然资源科学研究院(四川省生产力促进中心) | Unmanned aerial vehicle multifunctional ground phase control target device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110736448A (en) * | 2019-11-19 | 2020-01-31 | 中国电建集团西北勘测设计研究院有限公司 | fixed wing unmanned aerial vehicle image control point-free three-dimensional modeling and mapping device and method |
| CN115950305A (en) * | 2023-03-14 | 2023-04-11 | 四川省自然资源科学研究院(四川省生产力促进中心) | Unmanned aerial vehicle multifunctional ground phase control target device |
| CN115950305B (en) * | 2023-03-14 | 2023-05-12 | 四川省自然资源科学研究院(四川省生产力促进中心) | Multifunctional ground phase control target device of unmanned aerial vehicle |
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