CN103364012B - Multi-area array aerial camera platform calibration method with constraint condition - Google Patents
Multi-area array aerial camera platform calibration method with constraint condition Download PDFInfo
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Abstract
The invention discloses a multi-area array aerial camera platform calibration method with a constraint condition. The method includes: employing a data acquisition strategy of multiple cross flying camera station exposure to acquire multiple groups of sub-images with an adjacent virtual image overlap degree of more than 80%; making use of the control point of a ground calibration field to calculate a photographing centre distance of sub-cameras and a sub-camera line element; during aerotriangulation, conducting bundle block adjustment, according to the control point coordinate, the connection points among matched sub-images, and the external orientation element initial value, establishing a model through a collinearity equation, adopting the photographing centre distance of the sub-cameras as a given value, i.e. taking the sub-camera line element constant as the constraint condition, and taking platform calibration parameters as a whole to perform calculation to solve the angle elements in the external orientation elements of the sub-images. According to the calibration method, a lot of uniformly distributed connection points are matched, precision of the platform calibration parameters is improved through the constraint condition, higher stitching precision of the generated virtual images can be guaranteed, and the mapping precision can be higher.
Description
Technical field
The present invention relates to aerophotogrammetry technical field, more particularly to a kind of multiaspect battle array aerial surveying camera of Problem with Some Constrained Conditions is put down
Platform calibration method.
Background technology
Aerial camera decades in world wide successful Application, in past two ten years, photogrammetric number
Gradually develop to the direction of digital camera according to obtaining means.From from the aspect of currently manufactured technique and economic factor two, single number
Code-phase machine cannot also replace traditional film aerial camera.In order to meet the aerophotographic need of big film size using more economical means
Ask, some companies employ many camera lens combination cameras.At present in the world many camera lenses of main flow combine aerial digital camera product master
To include the big film size aerial digital camera of UltraCam series, the big film size aerial digital cameras of DMC, it is domestic then have SWDC-4 with
The big film size aerial digital cameras of TOPDC-4.
Multiaspect battle array aerial surveying camera is based on this principle, and by way of installing four digital cameras on platform tool is obtained
There is the splicing image of ground coverage on a large scale.The platform calibration of multiaspect battle array aerial surveying camera is exactly accurately to obtain camera and virtual projection
The process of relative position relation between face, high-precision virtual image can be generated according to platform calibration parameter from sub-image.It is flat
Platform calibration is the committed step that virtual image is generated from sub-image.Only accurately it is aware of sub-image relative with virtual image outer
The element of orientation, could generate spliced virtual image according to projective transformation formula.If platform calibration parameter exists larger
Error, then the culture point in virtual image can not will correctly reflect the spatial relation of the point.
Platform calibration can accurately calculate sub-image to the relative elements of exterior orientation of virtual image, make what is generated after splicing
Virtual image is equivalent to a high-precision central projection image, it is ensured that the precision of image data source.
In prior art, more using cross overlay region mode platform calibration：This platform calibration method can adopt same
Four sub-images of moment exposure, in cross overlay region junction point is matched, and carries out bundle adjustment.The method is using overlap
The junction point in area is calculated, on the basis of wherein 1 camera, calculate remaining 3 it is relative outer between camera and virtual image
The element of orientation.
The shortcoming of prior art：Cross overlay region mode platform calibration requires to be distributed in the overlay region of four sub-images
Even junction point, and quantity is no less than 30～50.Group image overlap area scope is less, or overlay region image texture is poor,
Cannot match ideal quantity and be evenly distributed junction point when, the method cannot accurately calculate platform calibration parameter.
The content of the invention
It is an object of the invention to provide a kind of multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions, with solution
State problem.
In order to achieve the above object, the technical scheme is that what is be achieved in that：
A kind of multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions, comprises the steps：
Using cross flying it is multiple take the photograph station exposure obtain adjacent virtual image overlap degree more than 80% multigroup sub-image, and
Carry out the connection Point matching of multiple sub-images；
Using the control point of ground calibration field, photo centre's distance and sub- camera line element of sub- camera are calculated；
When aerial triangulation is carried out, bundle block adjustment is carried out, according to the sub- shadow after control point coordinates, matching
Junction point as between, and the elements of exterior orientation initial value of each sub-image sets up model by collinearity equation, by the photography of sub- camera
Centre distance as given value, will sub- camera line element constant as constraints, it is whole using platform calibration parameter as one
Body is resolved, and solves angle element in sub-image elements of exterior orientation；
Wherein, each is taken the photograph on station and is provided with four cameras, and each is taken the photograph station synchronization and exposes four sub-images.
Compared with prior art, this have the advantage that：
A kind of multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions that the present invention is provided, analyzes its principle and understands：
First, take the photograph station exposure and obtain multigroup sub-image of the adjacent virtual image overlap degree more than 80% using multiple, and carry out multiple sub- shadows
The connection Point matching of picture；Because taking the matching between a large amount of sub-images, it is clear that the overlapping region that multiple sub-images are constituted is relative
Traditional four sub-images composition cross overlay region is bigger, and degree of overlapping is higher, so expands the matching range of junction point, and
The junction point being evenly distributed in a large number can be matched；Then using the control point of ground calibration field, in calculating the photography of sub- camera
Heart distance and sub- camera line element；Certainly, the data such as line element between acquisition photo centre distance and sub- camera are to realize calibration
First committed step of method.Through above-mentioned pretreatment operation, data basis can be provided for founding mathematical models；
Then, when aerial triangulation is carried out, bundle block adjustment is carried out, after control point coordinates, matching
Sub-image between junction point, and the elements of exterior orientation initial value and collinearity equation of each sub-image set up model, by sub- camera
Photo centre's distance as given value, will the sub- camera line element constant as constraints, platform calibration parameter is made
Resolved for an entirety, solved angle element in sub-image elements of exterior orientation；At this moment calculative unknown number is sub- camera
Setting angle, that is, the angle element in sub-image elements of exterior orientation（Will sub- camera line element constant as constraints,
Solve angle element in sub-image elements of exterior orientation）.So, according to 3 angle elements from camera（Correction）To adjust each phase
The anglec of rotation of the machine to virtual face so that the anglec of rotation of 4 sub-images to virtual image is symmetrical, and then calibration operation is completed, this
The elements of exterior orientation of each photo that sample is solved is more accurate, and calibration more meets the practical situation of camera placement.
Therefore, the platform calibration method is applied to the multiaspect battle array aerial surveying camera of connecting method combination.The traditional cross of contrast is overlapped
Area's platform calibration method, group image overlap area scope is less, or overlay region image texture is poor, it is impossible to match ideal quantity
And be evenly distributed junction point when, it is impossible to accurately calculate the shortcoming of platform calibration parameter；A large amount of points are matched using the method
The uniform junction point of cloth simultaneously improves the precision of platform calibration parameter by constraints, ensures the virtual image splicing essence for generating
Du Genggao, mapping accuracy is higher.
Platform calibration method provided by the present invention its essence is, increased on the basis of using bundle adjustment and be directed to
The line element restrictive condition of multiaspect battle array aerial surveying camera ad hoc structure, is solved the platform calibration parameter of sub- camera as an entirety
Calculate, so that platform calibration parameter more meets the actual placement situation of camera.
Description of the drawings
Fig. 1 is that the flow process of the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 be Problem with Some Constrained Conditions provided in an embodiment of the present invention multiaspect battle array aerial surveying camera platform calibration method in four sub- shadows
As the projection relation schematic diagram with virtual image；
Fig. 3 is in the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions provided in an embodiment of the present invention in Fig. 2 four
The photo centre of individual sub-image and the relation schematic diagram of virtual image photo centre；
Fig. 4 is to take the photograph in the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions provided in an embodiment of the present invention in Fig. 2
The picture point error schematic diagram that shadow center vertical line of direction elements displacement causes；
Fig. 5 be Problem with Some Constrained Conditions provided in an embodiment of the present invention multiaspect battle array aerial surveying camera platform calibration method in sub-image angle
The error schematic diagram that element imbalance causes.
Specific embodiment
Below by specific embodiment and combine accompanying drawing the present invention is described in further detail.
Referring to Fig. 1, a kind of multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions is embodiments provided, wrapped
Include following steps：
Step S100, using cross flying it is multiple take the photograph station exposure obtain adjacent virtual image overlap degree more than 80% it is multigroup
Sub-image, and carry out the connection Point matching of multiple sub-images；
Step S200, using the control point of ground calibration field, calculate photo centre's distance and sub- camera line element of sub- camera
Element；
Step S300, when aerial triangulation is carried out, carry out bundle block adjustment, according to control point coordinates,
The junction point between sub-image after matching somebody with somebody, and the elements of exterior orientation initial value of each sub-image sets up model by collinearity equation, by son
Photo centre's distance of camera as given value, will the sub- camera line element constant as constraints, by platform calibration
Parameter is resolved as an entirety, solves angle element in sub-image elements of exterior orientation；
Wherein, each is taken the photograph on station and is provided with four cameras, and each is taken the photograph station synchronization and exposes four sub-images.
In embodiments of the present invention, first, take the photograph station exposure and obtain adjacent virtual image overlap degree more than 80% using multiple
Multiple sub-images, and carry out the connection Point matching of multiple sub-images；Because taking the matching of a large amount of multiple sub-images, it is clear that many
Four relatively conventional sub-images of overlapping region that sub-image is constituted constitute that cross overlay region is bigger, and degree of overlapping is higher, this
Sample expands the matching range of junction point, it is possible to match the junction point being evenly distributed in a large number；Then ground calibration field is utilized
Control point, calculate photo centre's distance and sub- camera line element of sub- camera；Certainly, photo centre's distance and sub- camera are obtained
Between the data such as line element be to realize first committed step of calibration method.Can be foundation through above-mentioned pretreatment operation
Mathematical model provides data basis；
Then, when aerial triangulation is carried out, bundle block adjustment is carried out, after control point coordinates, matching
Sub-image between junction point, and the elements of exterior orientation initial value and collinearity equation of each sub-image set up model, by sub- camera
Photo centre's distance as given value, will the sub- camera line element constant as constraints, platform calibration parameter is made
Resolved for an entirety, solved angle element in sub-image elements of exterior orientation；At this moment calculative unknown number is sub- camera
Setting angle, that is, the angle element in sub-image elements of exterior orientation（Sub- camera line element constant will be determined as constraint
Condition, solves angle element in sub-image elements of exterior orientation）.So, according to 3 angle elements from camera（Correction）It is each to adjust
The anglec of rotation of the individual camera to virtual face so that the anglec of rotation of 4 sub-images to virtual image is symmetrical, and then complete calibration behaviour
Make, the elements of exterior orientation of each photo for so solving is more accurate, calibration more meets the practical situation of camera placement.
Therefore, because the elements of exterior orientation that sub- camera line element directly calculates sub-image as restrictive condition is increased, with
The platform calibration parameter that this is extrapolated is more accurate, can truly reflect the actual positional relationship between sub- camera, and then ensures generation
Virtual image splicing precision it is higher, mapping accuracy is higher.
Meanwhile, the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions provided in an embodiment of the present invention is to calibration field model
Enclose requirement less, can carry out in ground calibration field, reduce the cost needed for flight calibration.
Below the above steps to the embodiment of the present invention in the specific implementation is described in detail：
Further, before step 100（I.e. described employing cross flying is multiple to be taken the photograph station exposure and obtains adjacent virtual image
Multigroup sub-image of the degree of overlapping more than 80%, and carry out before the connection Point matching of multiple sub-images）, also comprise the steps：
Step R100, by each take the photograph station on arrange four sub- cameras be fastened on platform using high intensity support, four
Distance between sub- camera is fixed, using four sub- cameras as an entirety.
It is preferred that in step s 200, the control point of utilization ground calibration field, calculate the photo centre of sub- camera away from
From and sub- camera line element, comprise the steps：
Step S201, using the control point of ground calibration field, sub- camera is calculated by space resection's method
Line element meansigma methodss between photo centre's distance and sub- camera；
Line element meansigma methodss between step S202, the sub- camera that will repeatedly calculate are used as sub- camera line element.
The aerial triangle of regional network of the bundle block adjustment using the light shafts of a width aerial map picture as adjustment unit is surveyed
Amount method；Aerial triangulation utilizes the space geometry relation between aerophoto and photographing object, according to a small amount of image dipole method
Point, calculates the elements of exterior orientation of unknown point；
It should be noted that：Obtain the data such as the line element between photo centre's distance and sub- camera and realize calibration method
First committed step.Can be that subsequent optical beam method adjustment and founding mathematical models provide data through above-mentioned pretreatment operation
Basis.
It should be noted that：Fastened using high intensity support when being installed to platform due to sub- camera, the distance between sub- camera
Hardly change, an entirety is considered as, referring to Fig. 2.Photo centre's distance of sub- camera can be examined using ground
The control point of drill ground, is calculated by space resection's method.
When calculating the elements of exterior orientation of sub- camera by ground calibration field resection, it may appear that angle element solution is not sufficiently stable
Phenomenon, can find the seam of image in the splicing image for directly generating.But the distance for taking the photograph station due to ground control point distance is only
About 40m, for the flying height of aerophotography 700m, the same ground photography base-height ratio taken the photograph between the sub- camera in station is changed into taking the photograph in the air
About 17.5 times of shadow.Analyze from experimental data, the line element difference between sub- camera tends to relatively stable, and close design load,
The meansigma methodss of multiple measurement are taken as sub- camera line element.
When resolving due to empty three there is dependency in line element with angle element, and the little deviation of line element can pass through angle element
Compensate, consider the physical arrangement of camera, can examine on platform using photo centre's distance of sub- camera as given value
School parameter is resolved as an entirety, more meets the practical situation of camera placement.At this moment calculative unknown number is son
Angle element in the setting angle of camera, that is, sub-image elements of exterior orientation.
Specifically, as shown in figure 3, according to the physical arrangement of camera placement, crossing photo centre's fitting one of four sub-images
Individual plane M (referring to Fig. 3), center of gravity O of four photo centres can be as the photo centre of virtual image, due to camera shooting center
Position is relatively stable, to cross O points parallel to S1S3 lines direction as Y-axis, to cross O points parallel to S4S3 lines direction as X
Axle, sets up rectangular coordinate system in space O-XYZ（That is right-handed coordinate system O-XYZ）, O-XYZ is one and sets up in four sub- camera shootings
One auxiliary coordinates of heart line element relation.The plane coordinates of four photo centres in O-XYZ is given value (Dai,Dbi)。
4 estrade cameras synchronously expose during photography, and photo centre's spacing very little, it is believed that four photo centres are in O-
Z coordinate in XYZ is equal.In fact, due to the impact of mechanical erection and hardware self structure, the photo centre of sub- camera is to flat
There is the maximum distance less than 10mm in face M.It is horizontal image that image rectification will be inclined, and rectification error will not be produced in theory.
Below by taking horizontal image as an example, carry out analytical photography center Z-direction and take the impact that approximation is brought.
Illustrate, as shown in figure 4, camera focus are f, flying height is H, and photo centre is S, and A is ground point.Length is P
Ground line segment MA image plane projected length be l1, when S vertically translates dS to S ', above-ground route MA is in image plane
Projected length be changed into l2, picture point error dl that dS causes can be calculatedV。
P be A points to photo centre floor projection M distance, four spell viewing field of camera angles is about 96 ° * 74 °, then along long side
The maximum of direction P is 1.11H, is 0.75H along the maximum of broadside P.
Work as f=47mm, during H=700m, the picture point error that the error of photo centre vertical direction 10mm causes in long side direction
About 0.52um, the picture point error caused in broadside is about 0.35um, and the picture point max value of error of corner is about 0.63um,
I.e. maximum picture point error is less than 0.1 pixel, and this value is less the closer to image center.Therefore, sub- camera shooting center is to M
Deviation on splice image result affect it is very little, be negligible, it is believed that four photo centres are in O-XYZ
Z coordinate is equal, i.e. Dz1=Dz2=Dz3=Dz4=0.
So by above-mentioned analysis, the deviation at sub- camera shooting center to M affects very on the result for splicing image
It is little.Therefore, using photo centre's distance of sub- camera as given value, although there is deviation, but the deviation to splicing image
As a result affect very little, be negligible, so resolved platform calibration parameter as an entirety, precision can be more
It is high.
Concrete each step is as follows：
It is preferred that in step S300, it is described when aerial triangulation is carried out, carry out bundle block adjustment, root
According to the junction point between the sub-image after control point coordinates, matching, and the elements of exterior orientation initial value of each sub-image is by conllinear side
Cheng Jianli models, using photo centre's distance of sub- camera as given value, will the sub- camera line element constant as constraint
Condition, is resolved platform calibration parameter as an entirety, solves angle element in sub-image elements of exterior orientation, including as follows
Step：
Step S301, the physical arrangement disposed according to camera, the photo centre for crossing four sub-images is fitted plane M,
Center of gravity O of four photo centres can be relatively stable as the photo centre of virtual image, camera shooting center, to cross O points
Parallel to S1S3 lines direction as Y-axis, right-handed coordinate system O-XYZ is set up, O-XYZ is one and sets up in four sub- camera shootings
One auxiliary coordinates of heart line element relation（Referring to Fig. 3）；
The plane coordinates of four sub- camera shooting centers in O-XYZ is (Dai,Dbi, 0), wherein Dai,DbiFor known
Value, if the anglec of rotation of the sub-image in virtual image coordinate system isWhereinFor given value, then son
Photo centre coordinate (the X of camerasc,Ysc,Zsc) be：
Wherein：
Wherein：R is spin matrix,For the angle element of virtual image, (XS,YS,ZS) photograph for virtual image
Center line element；
Step S302, the mathematical model for setting up collinearity equation；Wherein, the corresponding spin matrix of sub-image is Rc=R*RiAnd
ValueThen collinearity equation is：
Step S303, by Xsc,Ysc,ZscUse XS,YS,ZSFunction representation, to drawing error equation after above formula linearisation
For：
Wherein, each coefficient is corresponded to respectively in above formula：
Step S304, for No. 1 camera, it is known that corresponding angle element local derviation item is zero, to use matrix notation
The error equation of expression is：
v=At+Bu+Cs-l
Wherein：
C=0, is the anglec of rotation initial value of 1 work song camera relative virtual image；
At the beginning of the anglec of rotation for 2 work song camera relative virtual images
Initial value；
For the anglec of rotation of 3 work song camera relative virtual images
Initial value；
For the anglec of rotation of 4 work song camera relative virtual images
Initial value；
Step S305, for control point, corresponding Δ X Δs Y/delta Z items are zero；Per group of four sub-images, one system number of correspondence
Matrix A and unknown number t, each object space point one group of u of correspondence, per individual sub- one group of camera correspondence
By virtual image elements of exterior orientation A, object space point coordinates B, the anglec of rotation C parameter of sub- camera relative virtual image just
Picpointed coordinate (the x of initial value and each observation stationi,yi) the error equation iterative calculation is substituted into, until numerical convergence
To threshold value；
The rotation of 1 work song camera to virtual face is adjusted according to the correction value of 2,3, the 4 work song camera anglecs of rotation after resolving
Angle, so that virtual image is symmetrical with the anglec of rotation of 4 sub-images；
Wherein：There are 9 unknown numbers in matrix s；In matrix sΔω2Δκ2For 2 work song camera relative virtual cameras
The correction value of angle element；Δω3Δκ3For the correction value of 3 work song camera relative virtual camera angle elements；Δω4Δ
κ4For the correction value of 4 work song camera relative virtual camera angle elements.
It should be noted that：If being provided with m group virtual images, n observation station, p object space point, q control point, then according to sight
Measured value can list 2n equation, wherein there is+9 unknown numbers of 6m+3 (p-q), relative to traditional bundle adjustment 9 be increased
Individual platform calibration unknown parameters number, and the line element constant and No. 1 camera of sub- camera are introduced in collinearity equation to virtual shadow
Used as constraints, the platform calibration parameter for so solving more meets the practical situation that sub- camera is installed to the angle element constant of picture；
Analysis more than is not as can be seen that constraints here directly translates into increase conditional equation, but table
Now for known quantity substitution, and in collinearity equation linearisation local derviation coefficient change.
It should be noted that：Collinearity equation（I.e. object point, picture point and photo centre are located on straight line）It is whole modeling
Key；
Further, after step S300（In i.e. described solution sub-image elements of exterior orientation after the element of angle）, also wrap
Include following steps：
The focal length of step S400, selection 47mm as virtual image；
Step S500, using the coordinate system set up parallel to M and by virtual image photo centre as virtual image
Image space auxiliary coordinates；
When step S600, the angle element of four sub- cameras of calculating, a sub- camera is selected as principal phase machine, select other sons
Camera calculates respectively the anglec of rotation from camera to the principal phase machine as from camera；
The anglec of rotation in virtual face is determined on the basis of step S700, selection principal phase machine, and is determined and is adjusted sub-image to virtually
The rotation relationship in face.
It is preferred that in step S600, during the angle element of described four sub- cameras of calculating, selecting a sub- camera as master
Camera, selects other sub- cameras as from camera, and the anglec of rotation from camera to the principal phase machine is calculated respectively, including following step
Suddenly：
Step S601,1 work song camera of selection select 2,3,4 work song cameras as from camera, by 1 work song as principal phase machine
Camera to the anglec of rotation in virtual face is set to an initial fixed value, according to the transitive relation of angle element, from camera relative to master
The anglec of rotation of camera can be converted to the anglec of rotation from camera relative to virtual face, and platform calibration parameter so to be asked is actual to be
39 angle elements from camera.
It is preferred that in step S700, the anglec of rotation for selecting to determine virtual face on the basis of principal phase machine, and determine and adjust
Whole sub-image comprises the steps to the rotation relationship in virtual face：
Step S701,1 work song camera of selection are used as principal phase machine；
Step S702, the axial geometric average direction of four sub- camera key lights is taken as the primary optical axis side of virtual camera
To adjusting principal phase machine to the anglec of rotation fixed value in virtual face from the angle element correction of camera according to 3 so that 4 sub- shadows
The anglec of rotation of picture to virtual image is symmetrical.
In order to avoid different sub- cameras and the angle of M planes differ greatly, cause and project to pixel sampling after virtual image
Ratio is uneven, and (Fig. 5, dotted line is symmetrical sub-image drop shadow spread, and solid line is that asymmetrically distributed sub-image projects model
Enclose), the axial geometric average of four sub- camera key lights is taken as the key light direction of principal axis of virtual camera, can be according to 3 during calculating
It is individual from the angle element correction of camera adjusting principal phase machine to the anglec of rotation fixed value in virtual face so that 4 sub-images are to virtual
The anglec of rotation of image is as symmetrical as possible.
In prior art, because image ground coverage is big, ground calibration field cannot meet the requirement of the method, cross
The data that overlay region mode platform calibration can only be obtained by airflight are carried out, and it is relatively costly that calibration is tested.But this
The calibration method that bright embodiment is provided is less to calibration field area requirement, can carry out in ground calibration field, reduces flight inspection
Cost needed for school.
It will be understood by those skilled in the art that the embodiment of the present invention provides calibration method, ultimate principle is flux of light method
Block aerial triangulation, the Ray Of Light that the method is constituted using every photo as compensating computation elementary cell, with altogether
Line equation, by each light beam in the rotation and translation in space, makes the light of common point between model as the basic equation of adjustment
Line realizes optimal intersection, and whole region is brought in known control point coordinate system.So to set up region-wide
Unified error equation, solution tries to achieve the elements of exterior orientation of each photo and the geographical coordinates of pass point.Obviously sub- phase is being constrained
After machine line element, the elements of exterior orientation of each photo of solution and the geographical coordinates of pass point are more accurate, for calibration parameter
Accuracy Design has prior meaning.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (4)
1. the multiaspect battle array aerial surveying camera platform calibration method of a kind of Problem with Some Constrained Conditions, it is characterised in that comprise the steps：
Take the photograph station exposure and obtain multigroup sub-image of the adjacent virtual image overlap degree more than 80% using cross flying is multiple, and carry out
The connection Point matching of multiple sub-images；
Using the control point of ground calibration field, photo centre's distance and sub- camera line element of sub- camera are calculated；
When aerial triangulation is carried out, bundle block adjustment is carried out, according between the sub-image after control point coordinates, matching
Junction point, and the elements of exterior orientation initial value of each sub-image sets up model by collinearity equation, by the photo centre of sub- camera
Distance as given value, will sub- camera line element constant as constraints, enter platform calibration parameter as an entirety
Row is resolved, and solves angle element in sub-image elements of exterior orientation；
Wherein, each is taken the photograph on station and is provided with four cameras, and each is taken the photograph station synchronization and exposes four sub-images；
The employing cross flying is multiple to be taken the photograph station exposure and obtains multigroup sub-image of the adjacent virtual image overlap degree more than 80%, and
Before carrying out the connection Point matching of multiple sub-images, also comprise the steps：
Each is taken the photograph the four sub- cameras arranged on station to be fastened on platform using high intensity support, the distance between four sub- cameras
It is fixed, using four sub- cameras as an entirety；
The control point of utilization ground calibration field, calculates photo centre's distance and sub- camera line element of sub- camera, including such as
Lower step：
Using the control point of ground calibration field, by space resection's method calculate sub- camera photo centre's distance and
Line element meansigma methodss between sub- camera；
Line element meansigma methodss between the sub- camera that will be calculated are used as sub- camera line element；
It is described to carry out bundle block adjustment when aerial triangulation is carried out, according to the sub- shadow after control point coordinates, matching
Junction point as between, and the elements of exterior orientation initial value of each sub-image sets up model by collinearity equation, by the photography of sub- camera
Centre distance as given value, will sub- camera line element constant as constraints, it is whole using platform calibration parameter as one
Body is resolved, and solves angle element in sub-image elements of exterior orientation, is comprised the steps：
According to the physical arrangement of camera placement, the photo centre for crossing four sub-images is fitted plane M, four photo centres
Center of gravity O can set up rectangular coordinate system in space O-XYZ, the rectangular coordinate system in space O- as the photo centre of virtual image
XYZ is an auxiliary coordinates for setting up four sub- camera shooting centrage element relations；
The plane coordinates of four sub- camera shooting centers in O-XYZ is (Dai,Dbi, 0), wherein Dai,DbiFor given value, if
The anglec of rotation of the sub-image in virtual image coordinate system beWhereinFor given value, then sub- camera
Photo centre coordinate (Xsc,Ysc,Zsc) be：
Wherein：
Wherein：R is spin matrix,For the angle element of virtual image, (XS,YS,ZS) it is virtual image photo centre
Line element；
Set up the mathematical model of collinearity equation；Wherein, the corresponding spin matrix of sub-image is Rc=R*RiAnd
ValueThen collinearity equation is：
By Xsc,Ysc,ZscUse XS,YS,ZSFunction representation, to showing that error equation is after above formula linearisation：
Wherein, each coefficient is corresponded to respectively in above formula：
For No. 1 cameraFor, it is known that corresponding angle element local derviation item is zero, with the error side of matrix notation
Formula is：
V=At+Bu+Cs-l
Wherein：
C=0, is the anglec of rotation initial value of 1 work song camera relative virtual image；
For the anglec of rotation initial value of 2 work song camera relative virtual images；
The anglec of rotation for 3 work song camera relative virtual images is initial
Value；
The anglec of rotation for 4 work song camera relative virtual images is initial
Value；
U=[Δ X Δ Y Δ Z]T
L=[lx ly]T
V=[vx vy]T
For control point, corresponding Δ X Δs Y/delta Z items are zero；Per group of four sub-images, one group of coefficient matrices A of correspondence and unknown number
T, each object space point one group of u of correspondence, per individual sub- one group of camera correspondenceΔωiΔκi；
By virtual image elements of exterior orientation A, object space point coordinates B, the anglec of rotation C parameter of sub- camera relative virtual image it is initial
Picpointed coordinate (the x of value and each observation stationi,yi) the error equation iterative calculation is substituted into, until numerical convergence is arrived
Threshold value；
The anglec of rotation of 1 work song camera to virtual face is adjusted according to the correction value of 2,3, the 4 work song camera anglecs of rotation after resolving, with
So that virtual image is symmetrical with the anglec of rotation of 4 sub-images；
Wherein：There are 9 unknown numbers in matrix s；In matrix sΔω2 Δκ2For 2 work song camera relative virtual camera angles unit
The correction value of element；Δω3 Δκ3For the correction value of 3 work song camera relative virtual camera angle elements；Δω4 Δκ4For 4
The correction value of work song camera relative virtual camera angle element.
2. the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions as claimed in claim 1, it is characterised in that
After angle element in the solution sub-image elements of exterior orientation, also comprise the steps：
47mm is selected as the focal length of virtual image；
Using the coordinate system set up parallel to M and by virtual image photo centre as virtual image image space auxiliary coordinate
System；
During the angle element of four sub- cameras of calculating, select a sub- camera as principal phase machine, select other sub- cameras as slave phase
Machine, calculates respectively the anglec of rotation from camera to the principal phase machine；
The anglec of rotation that virtual face is determined on the basis of principal phase machine is selected, and is determined and is adjusted sub-image to the rotation relationship in virtual face.
3. the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions as claimed in claim 2, it is characterised in that
During the angle element of described four sub- cameras of calculating, select a sub- camera as principal phase machine, select other sub- camera conducts
From camera, the anglec of rotation from camera to the principal phase machine is calculated respectively, comprise the steps：
1 work song camera is selected as principal phase machine, 2,3,4 work song cameras is selected as from camera, by 1 work song camera to virtual face
The anglec of rotation is set to an initial fixed value, according to the transitive relation of angle element, can relative to the anglec of rotation of principal phase machine from camera
To be converted to the anglec of rotation from camera relative to virtual face, it is 39 from camera that platform calibration parameter so to be asked is actual
Angle element.
4. the multiaspect battle array aerial surveying camera platform calibration method of Problem with Some Constrained Conditions as claimed in claim 3, it is characterised in that
The anglec of rotation for selecting to determine virtual face on the basis of principal phase machine, and determine and adjust sub-image to the rotation pass in virtual face
System, comprises the steps：
1 work song camera is selected as principal phase machine；
The key light direction of principal axis of the geometric average direction as virtual camera of four sub- camera primary optical axis is taken, according to 3 from camera
Angle element correction is adjusting principal phase machine to the anglec of rotation fixed value in virtual face so that the rotation of 4 sub-images to virtual image
Angle symmetrical.
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| CN106500729B (en) * | 2016-11-29 | 2019-05-17 | 武汉大学 | A kind of smart phone self-test calibration method without controlling information |
| CN106885585B (en) * | 2016-12-30 | 2020-01-21 | 自然资源部国土卫星遥感应用中心 | Integrated calibration method of satellite-borne photogrammetry system based on light beam adjustment |
| CN107885701B (en) * | 2017-11-07 | 2021-02-09 | 中国科学院电子学研究所 | Conjugate gradient method light beam method block adjustment method based on variational method |
| CN110395390B (en) * | 2019-07-17 | 2024-03-29 | 中国电建集团西北勘测设计研究院有限公司 | Multi-rotor unmanned aerial vehicle image-control-point-free three-dimensional modeling and mapping device and method |
| CN112634133B (en) * | 2020-12-07 | 2022-04-29 | 武汉大学 | Multi-lens multi-area-array aerial camera calibration and virtual image splicing method based on cloud control |
| CN113203400B (en) * | 2021-05-12 | 2022-11-11 | 青岛环海海洋工程勘察研究院有限责任公司 | Survey equipment installation measurement method and survey equipment installation measurement system without surveying ship dock |
| CN113902626B (en) * | 2021-08-23 | 2023-05-05 | 桂林理工大学 | Orthorectification method for extra constraint condition of ultra-wide linear array image |
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