无人飞艇低空摄影测量关键技术研究及大比例尺地形成图实践
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摘要
在我国实现现代化的建设期间，测图任务繁重，需要采用高效率、高精度的测图方法来完成各比例尺、各种类型的地图。摄影测量必将发挥重要的作用。利用非量测数码相机和一套自动化程度高、适应性强、并能满足高精度测量需求的“低空摄影测量系统”进行工程测量，一直是测绘工作者所追求的目标。
低空摄影测量具有获取成果快、生产周期短、运作成本低、可操作性强等特点。无人飞艇低空摄影系统是一种以无人飞艇为平台，以数字相机为有效载荷，飞行高度在1000米以下，能够获取规则重叠度影像的航空摄影系统。
根据目前无人飞艇的特点，针对低空摄影测量的实际要求，本文以自制无人飞艇为基础，研究了无人飞艇低空摄影测量过程中的精密姿态控制、多GPS导航、相机在线标定、影像快速匹配等内容，经工程实践检验，可满足大比例尺地形测量图的要求。
本文的主要研究内容及创新点如下：
1、基于双陀螺仪的姿态稳定平台：本研究采用双陀螺系统，使用两个精度为0.5度的陀螺仪，一个安置在平台上测定平台的姿态值，一个安置在相机上测定相机的姿态值。平台陀螺在正常工作时用以测定姿态以控制相机，相机陀螺用以测定相机姿态以获取高精度的POS值。两个陀螺可进行差分校正以消除磁漂影响。当其中某一陀螺发生故障时可根据相应的算法由另一陀螺进行改正。
针对陀螺仪在测量过程产生的误差，本研究采用了基于时间序列算法的Kalman滤波以消除陀螺的随机漂移误差，并采用分段插值补偿法以消除陀螺仪的标度因数误差。提升了陀螺仪测量的精度及可靠性，使航摄相机的姿态控制理论精度达到1度，由于受机械性能的影响，实测精度达到了3度以内。
2、多GPS导航定位系统：为提高导航型GPS定位的精度，获取高精度的定位信息，根据无人飞行器载荷低而不能安装太重的GPS的特点，在飞行平台上安置4个导航型GPS。在飞行过程中，根据飞行平台在快速移动，但固定在飞行平台上的4个GPS是相对静止的特点，其相对位置及距离是已知的，将GPS获取的坐标值作为初始值，将相对距离作为边长观测值，组成一个近似等边三角形，三个等腰三角形的共四个三角形构成的三角网，采用自由网平差方法进行平差，获取高精度的坐标值进行导航与定位。并结合陀螺仪所测航向值进行点间内插，可构成一个简易的惯导系统。
采用本研究的多GPS导航定位系统，可实时测定飞行平台的坐标，实测瞬时定位精度可达到1m左右。
3、在线相机标定技术：目前的相机标定均设置专门的相机检校场，检校场一般设置在野外或大体型建筑上，检校时相机仍然在地面或高层建筑上进行数据采集。而航拍相机在工作时是安装在飞行平台上的，其工作状态与地面存在着较大差别。本文研究的相机标定技术，是将相机直接安置在飞行平台上，检校时起飞至检校场上空，按正常工作状态进行拍摄采集数据，据此进行相机检校。在此种状态下检校得到的参数，与相机实际工作时的参数才是一致的。
相机内方位元素定标通过在地面布设大量的地面控制点构成地面试验场，采用全野外方法量测控制点空间坐标。以实验室几何定标数据、像点坐标、控制点空间坐标、摄影时刻的摄站坐标以及相机姿态角作为输入数据，通过数据解算得到最终所需的在轨内方位元素。通过空间后方交会及区域网空中三角测量的方法解算相机在摄影时刻的摄站坐标和姿态，可提高外方位元素精度，最终提高几何定标的精度。
获取影像的分辨率的主要方法是在航空摄影同时，在野外布设分辨率靶标，然后通过对摄取的试验场靶标影像及相关数据的分析处理，得到影像的分辨率。另外是通过解算影像MTF获得影像分辨率，即对影像获取的MTF检测靶标进行采样，计算得到边扩散函数和点扩散函数，根据刃边法和脉冲法解算得到MTF；提取辐射状靶标在影像中的最大可分辨位置及到靶标中心的距离，结合靶标布设信息解算影像分辨率。
4、影像快速匹配技术：针对无人飞行器数据量大，照片幅面相对较小，照片数量较多的特点，本文根据前述的多GPS定位与双陀螺姿态控制系统得到的高精度相机中心坐标及姿态数据（POS），采用SIFT算法，编写了基于POS数据及SIFT算法的影像快速匹配程序，对影像进行快速匹配，可在飞行现场进行影像质量检查，并可获取快速的正射影像图。
首先构建影像序列并利用POS数据确定影像的初始视差，从而可计算出相邻影像的重叠范围。然后利用SIFT算子在相邻影像重叠范围内进行特征点的提取并进行匹配，对匹配的结果根据连续像对相对定向的误差方程进行可靠性判断，以剔除误匹配的点。
During the period of modernization, to complete different measuring scales and types of the highefficiency and high-precision plotting method is needed because the mapping task is heavy. Photographicsurveying surely will play a very import role in it. Surveying and mapping workers always dream to doengineering survey by using non-measurement digital camera and a set of automatic and low altitudephotographic surveying system which could satisfy the need of high-accuracy survey. Quick to obtain theresult, low in operating cost and better to handle are the characteristics of low altitude photographicsurveying. Low altitude photographic surveying system is an aerial photography system. In the system,carrying digital cameras, the unmanned aerial vehicle flies to catch regular overlapping images with theflight altitude lower than1000meters.
According to the actual requirement, by analyzing the unmanned aerial vehicle made by the writerhimself, this paper deals with the study of the precise attitude control, the multi-GPS navigation, the cameraonline calibration, the quick matching of images, etc. Proven by the practical test, the system could meetthe requirement of large scale topography formation.
The innovation points of this paper are as follows:
1. The basic of the system is a stable platform with double gyroscopes. With the precision of0.5, oneof the two gyroscopes is placed on the platform to determine the attitude value of the platform; the otherone is arranged on the camera to determine the attitude value of the camera. The gyroscope on the platformis used to control the camera by determining the attitude value; the gyroscope on the camera is used toobtain high precision POS data. The purpose of using two gyroscopes is to do difference correction toeliminate the impact of the magnetic floating. If one gyroscope breaks down, the other one could amend theresult in accordance with related method of calculation.
Considering the error the gyroscopes might have during the measuring process, the filter of Kalmanwhich is based on the time series algorithm is adopted to eliminate the random error while usinggyroscopes. Also the subsection interpolation compensation method is used to eliminate the scale factorerror of the gyroscopes. Because of the improvement of the precision and reliability of the gyroscopemeasurement, the precision of the attitude control theory of the aerospace camera reaches1degree.Influenced by the effect of the mechanical behavior, the actual measurement precision achieves to within2degree.
2. The multi-GPS navigation system. To increase the precision of the location of the navigation GPSto get high-precision location information, only4navigation GPS are located on the flying platformbecause the unmanned aerial vehicle is with low load. During the flight, the flying platform is swiftlymoved, but the4GPS on the platform are relatively static with known relative position and distance.Taking the coordinate value the GPS get as the original value, taking the relative distance as the observationlength, there is an approximate equilateral triangle, which makes a triangulation network with other threeisosceles triangles. By using free net adjustment methods to adjust, the high-precision coordinate value is obtained to navigate and locate. Intersite interpolated with the heading value from the gyroscopes, thesimple intertial navigation system is formed.
Adopting the multi-GPS navigation system, the coordinate of the flying platform could be real-timedetermined and the precision of the actual measurement instantaneous positioning could reach to about1meter.
3. Online camera calibration technique. At present in order to do camera calibration there are specialcamera inspection places, which are usually set outdoors or on the top of high building. The numbercollecting is done by the camera while it is outdoors and collecting the data. But the aerial video cameraworks on the flying platform, which is different from working on the floor. The camera calibrationtechnique in this study is placed the camera directly on the flying platform, flying to the camera inspectionplace, shoots, collects data and calibrates. The data got in this condition is in accordance with the data thecamera collects during the work.
Azimuth element calibration in the camera measures the space coordinates of the large number ofcontrol points which are set on the ground to form the testing ground. By calculating the data including thegeometric calibration laboratory data, photo coordinates, control points space coordinates, shootingposition coordinates while shooting, and the attitude angle of the camera, finally the inside azimuth elementis obtained. By the way of space resection and block aerial triangulation, the shooting position coordinatesand attitudes are calculated when shooting, which could improve the exterior orientation element precisionand the geometric correction precision.
The main method to get the resolution ratio of images is to place resolution targets in the wild whiledoing aerial photographs; then analyze the resolution target images of the testing ground to obtain theresolution ratio of the images. And by calculating MTF of images to get the resolution ratio of images, thatis to say, by using the MTF from the images to sample the targets, calculate the edge spread function andpoint spread function and calculate MTF according to the edge method and pulse method.
4. The quick image matching technology. Since the unmanned aerial vehicle’s characteristicsincluding large amount of data, relatively smaller size of the images, large number of the images, this paperuses SIFT to write the quick image matching program based on POS data and SIFT according to thehigh-precision camera central coordinates and attitude data from the multi-GPS location and doublegyroscopes attitude control system. By using the program, the image quality is checked while flying andthe orthograph map could be quickly got.
Firstly the image sequence is set up and the coverage of the adjacent image can be calculated bydetermining the initial visual difference with the POS data. Then the characteristics of SIFT operators in thecoverage of the adjacent image is picked up and matched. The results from the former process are judged totest its dependability according to the error equation of continuous image pairs of relative orientation.Finally the mismatched points are got rid of.
低空摄影测量具有获取成果快、生产周期短、运作成本低、可操作性强等特点。无人飞艇低空摄影系统是一种以无人飞艇为平台，以数字相机为有效载荷，飞行高度在1000米以下，能够获取规则重叠度影像的航空摄影系统。
根据目前无人飞艇的特点，针对低空摄影测量的实际要求，本文以自制无人飞艇为基础，研究了无人飞艇低空摄影测量过程中的精密姿态控制、多GPS导航、相机在线标定、影像快速匹配等内容，经工程实践检验，可满足大比例尺地形测量图的要求。
本文的主要研究内容及创新点如下：
1、基于双陀螺仪的姿态稳定平台：本研究采用双陀螺系统，使用两个精度为0.5度的陀螺仪，一个安置在平台上测定平台的姿态值，一个安置在相机上测定相机的姿态值。平台陀螺在正常工作时用以测定姿态以控制相机，相机陀螺用以测定相机姿态以获取高精度的POS值。两个陀螺可进行差分校正以消除磁漂影响。当其中某一陀螺发生故障时可根据相应的算法由另一陀螺进行改正。
针对陀螺仪在测量过程产生的误差，本研究采用了基于时间序列算法的Kalman滤波以消除陀螺的随机漂移误差，并采用分段插值补偿法以消除陀螺仪的标度因数误差。提升了陀螺仪测量的精度及可靠性，使航摄相机的姿态控制理论精度达到1度，由于受机械性能的影响，实测精度达到了3度以内。
2、多GPS导航定位系统：为提高导航型GPS定位的精度，获取高精度的定位信息，根据无人飞行器载荷低而不能安装太重的GPS的特点，在飞行平台上安置4个导航型GPS。在飞行过程中，根据飞行平台在快速移动，但固定在飞行平台上的4个GPS是相对静止的特点，其相对位置及距离是已知的，将GPS获取的坐标值作为初始值，将相对距离作为边长观测值，组成一个近似等边三角形，三个等腰三角形的共四个三角形构成的三角网，采用自由网平差方法进行平差，获取高精度的坐标值进行导航与定位。并结合陀螺仪所测航向值进行点间内插，可构成一个简易的惯导系统。
采用本研究的多GPS导航定位系统，可实时测定飞行平台的坐标，实测瞬时定位精度可达到1m左右。
3、在线相机标定技术：目前的相机标定均设置专门的相机检校场，检校场一般设置在野外或大体型建筑上，检校时相机仍然在地面或高层建筑上进行数据采集。而航拍相机在工作时是安装在飞行平台上的，其工作状态与地面存在着较大差别。本文研究的相机标定技术，是将相机直接安置在飞行平台上，检校时起飞至检校场上空，按正常工作状态进行拍摄采集数据，据此进行相机检校。在此种状态下检校得到的参数，与相机实际工作时的参数才是一致的。
相机内方位元素定标通过在地面布设大量的地面控制点构成地面试验场，采用全野外方法量测控制点空间坐标。以实验室几何定标数据、像点坐标、控制点空间坐标、摄影时刻的摄站坐标以及相机姿态角作为输入数据，通过数据解算得到最终所需的在轨内方位元素。通过空间后方交会及区域网空中三角测量的方法解算相机在摄影时刻的摄站坐标和姿态，可提高外方位元素精度，最终提高几何定标的精度。
获取影像的分辨率的主要方法是在航空摄影同时，在野外布设分辨率靶标，然后通过对摄取的试验场靶标影像及相关数据的分析处理，得到影像的分辨率。另外是通过解算影像MTF获得影像分辨率，即对影像获取的MTF检测靶标进行采样，计算得到边扩散函数和点扩散函数，根据刃边法和脉冲法解算得到MTF；提取辐射状靶标在影像中的最大可分辨位置及到靶标中心的距离，结合靶标布设信息解算影像分辨率。
4、影像快速匹配技术：针对无人飞行器数据量大，照片幅面相对较小，照片数量较多的特点，本文根据前述的多GPS定位与双陀螺姿态控制系统得到的高精度相机中心坐标及姿态数据（POS），采用SIFT算法，编写了基于POS数据及SIFT算法的影像快速匹配程序，对影像进行快速匹配，可在飞行现场进行影像质量检查，并可获取快速的正射影像图。
首先构建影像序列并利用POS数据确定影像的初始视差，从而可计算出相邻影像的重叠范围。然后利用SIFT算子在相邻影像重叠范围内进行特征点的提取并进行匹配，对匹配的结果根据连续像对相对定向的误差方程进行可靠性判断，以剔除误匹配的点。
During the period of modernization, to complete different measuring scales and types of the highefficiency and high-precision plotting method is needed because the mapping task is heavy. Photographicsurveying surely will play a very import role in it. Surveying and mapping workers always dream to doengineering survey by using non-measurement digital camera and a set of automatic and low altitudephotographic surveying system which could satisfy the need of high-accuracy survey. Quick to obtain theresult, low in operating cost and better to handle are the characteristics of low altitude photographicsurveying. Low altitude photographic surveying system is an aerial photography system. In the system,carrying digital cameras, the unmanned aerial vehicle flies to catch regular overlapping images with theflight altitude lower than1000meters.
According to the actual requirement, by analyzing the unmanned aerial vehicle made by the writerhimself, this paper deals with the study of the precise attitude control, the multi-GPS navigation, the cameraonline calibration, the quick matching of images, etc. Proven by the practical test, the system could meetthe requirement of large scale topography formation.
The innovation points of this paper are as follows:
1. The basic of the system is a stable platform with double gyroscopes. With the precision of0.5, oneof the two gyroscopes is placed on the platform to determine the attitude value of the platform; the otherone is arranged on the camera to determine the attitude value of the camera. The gyroscope on the platformis used to control the camera by determining the attitude value; the gyroscope on the camera is used toobtain high precision POS data. The purpose of using two gyroscopes is to do difference correction toeliminate the impact of the magnetic floating. If one gyroscope breaks down, the other one could amend theresult in accordance with related method of calculation.
Considering the error the gyroscopes might have during the measuring process, the filter of Kalmanwhich is based on the time series algorithm is adopted to eliminate the random error while usinggyroscopes. Also the subsection interpolation compensation method is used to eliminate the scale factorerror of the gyroscopes. Because of the improvement of the precision and reliability of the gyroscopemeasurement, the precision of the attitude control theory of the aerospace camera reaches1degree.Influenced by the effect of the mechanical behavior, the actual measurement precision achieves to within2degree.
2. The multi-GPS navigation system. To increase the precision of the location of the navigation GPSto get high-precision location information, only4navigation GPS are located on the flying platformbecause the unmanned aerial vehicle is with low load. During the flight, the flying platform is swiftlymoved, but the4GPS on the platform are relatively static with known relative position and distance.Taking the coordinate value the GPS get as the original value, taking the relative distance as the observationlength, there is an approximate equilateral triangle, which makes a triangulation network with other threeisosceles triangles. By using free net adjustment methods to adjust, the high-precision coordinate value is obtained to navigate and locate. Intersite interpolated with the heading value from the gyroscopes, thesimple intertial navigation system is formed.
Adopting the multi-GPS navigation system, the coordinate of the flying platform could be real-timedetermined and the precision of the actual measurement instantaneous positioning could reach to about1meter.
3. Online camera calibration technique. At present in order to do camera calibration there are specialcamera inspection places, which are usually set outdoors or on the top of high building. The numbercollecting is done by the camera while it is outdoors and collecting the data. But the aerial video cameraworks on the flying platform, which is different from working on the floor. The camera calibrationtechnique in this study is placed the camera directly on the flying platform, flying to the camera inspectionplace, shoots, collects data and calibrates. The data got in this condition is in accordance with the data thecamera collects during the work.
Azimuth element calibration in the camera measures the space coordinates of the large number ofcontrol points which are set on the ground to form the testing ground. By calculating the data including thegeometric calibration laboratory data, photo coordinates, control points space coordinates, shootingposition coordinates while shooting, and the attitude angle of the camera, finally the inside azimuth elementis obtained. By the way of space resection and block aerial triangulation, the shooting position coordinatesand attitudes are calculated when shooting, which could improve the exterior orientation element precisionand the geometric correction precision.
The main method to get the resolution ratio of images is to place resolution targets in the wild whiledoing aerial photographs; then analyze the resolution target images of the testing ground to obtain theresolution ratio of the images. And by calculating MTF of images to get the resolution ratio of images, thatis to say, by using the MTF from the images to sample the targets, calculate the edge spread function andpoint spread function and calculate MTF according to the edge method and pulse method.
4. The quick image matching technology. Since the unmanned aerial vehicle’s characteristicsincluding large amount of data, relatively smaller size of the images, large number of the images, this paperuses SIFT to write the quick image matching program based on POS data and SIFT according to thehigh-precision camera central coordinates and attitude data from the multi-GPS location and doublegyroscopes attitude control system. By using the program, the image quality is checked while flying andthe orthograph map could be quickly got.
Firstly the image sequence is set up and the coverage of the adjacent image can be calculated bydetermining the initial visual difference with the POS data. Then the characteristics of SIFT operators in thecoverage of the adjacent image is picked up and matched. The results from the former process are judged totest its dependability according to the error equation of continuous image pairs of relative orientation.Finally the mismatched points are got rid of.
引文
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