CN108050995A - It is a kind of based on the oblique photograph of DEM without photo control point Hang Shece areas merging method - Google Patents
It is a kind of based on the oblique photograph of DEM without photo control point Hang Shece areas merging method Download PDFInfo
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Abstract
Area's merging method is surveyed without photo control point based on the oblique photograph of DEM the invention discloses a kind of.This method comprises the following steps：Step 1, each Hang Shece areas DEM regional extents are calculated based on unmanned plane POS data；Step 2, based on Hang Shece areas DEM regional extents using each survey area's regular grid digital elevation model of point-by-point interpolating method structure；Step 3, foundation《Low latitude digital airborne photography specification》In flight-line design proper calculation survey area DEM reference plane height, and determine two-by-two it is adjacent survey area between flying height difference critical value；Step 4, it is poor based on actual flying height between the calculating of unmanned plane POS data two-by-two adjacent survey area；Step 5, flying height difference critical value is less than using actual flying height difference and carries out merger as according to surveying area, finally draw the Hang Shece areas merger collection that can carry out aerotriangulator calculation together.Compared to traditional artificial merging method, method of the invention is substantially improved in terms of the matching accuracy rate in Hang Shece areas and division efficiency.
Description
Technical field
The present invention relates to a kind of oblique photographs for being based on digital elevation model (Digital Elevation Model, DEM)
Without photo control point Hang Shece areas merging method.
Background technology
Going out for the aerial triangulation technology of (DGPS) is positioned with the development of parallel computing and based on differential GPS
Existing, magnanimity, unordered, multiresolution image fast and dense are matched as possibility.Wherein it is currently in leading level
Context Capture (former Smart3D) automatized three-dimensional reconstruction software, in no POS data and control point (GCP)
It can realize the rapid automatized production of extensive outdoor scene threedimensional model.However it is surveyed in the unmanned plane aeroplane photography of large area mountain area
During amount, cruising time, hypsography unmanned plane need to be divided into photographing region more when boat being caused to be taken the photograph due to
Ge Hangshece areas.In order to avoid increasing outdoor scene threedimensional model splicing number and leading to problems such as what model accuracy reduced due to splicing
Occur carrying out aerial triangulation, it is necessary to as far as possible merge multiple Hang Shece areas.
In recent years, both at home and abroad for the research of the aerial triangulation precision in single Hang Shece areas have been achieved with much into
Fruit, influence of the distribution method including photo control point to the aerial triangulation precision in single Hang Shece areas greatly reduce outer
Influence of the industry control points layout to aerial triangulation precision；Bundle block adjustment is to aerial triangulation under different parameters
Precision influences, and optimizes the algorithm during aerial triangulation.But at present, for the merger master in no photo control point Hang Shece areas
Traditional artificial method is used, traditional artificial merging method more falls behind, and being summed up mainly has the following：
(1) merger of Hang Shece areas does not have judge index
Traditional artificial merging method is to attempt to merge in multiple Hang Shece areas by personal experience to carry out aerial triangle survey
Amount, judges the precise manner of its result, if addition Hang Shece areas can be continued to, until the sky in addition Hang Shece areas
Until intermediate cam measurement result can not be oriented accurately.This traditional artificial method carries out completely by the experience of data processing personnel
Merger, matching accuracy rate and division are extremely inefficient.
(2) the aeroplane photography data processing of large area mountain area can not be applied to
Traditional artificial merging method relied in large area mountain area aeroplane photography data handling procedure control point quantity,
The factors such as precision, laying mode.However the hypsography reason in mountain area causes the flying height difference between Hang Shece areas often larger,
Also difficult compared with cities and towns many in the acquisition of mountain area control point simultaneously, this results in traditional artificial merging method that can not be applied to big rule
The aeroplane photography data processing of mould mountain area.
The deficiency of traditional artificial merging method is used without photo control point Hang Shece areas above, for extensive mountain area aeroplane photography
Accurate matching, quick division, the production of outdoor scene threedimensional model of data all cause larger difficulty.What is more important, due to
Multiple Hang Shece areas merge progress aerial triangulation precision and are limited by initial data precision, error compensation method, photo control point laying side
The many factors such as method, regional network geometry intensity, the efficiency using the progress Hang Shece area's merger of traditional artificial method is very low, causes people
The waste of power, hardware resource.
The content of the invention
It is an object of the invention to determine to influence Hang Shece areas merge carry out aerial triangulation precision principal element and
Index, while using these factors as the basis of Hang Shece areas merger, a kind of automatic merging method is provided, is realized to no photo control point
Accurate, the quick merger in Hang Shece areas, to substitute traditional artificial matching division methods.
The technical solution adopted by the present invention is as follows：
It is a kind of that area's merging method is surveyed without photo control point based on the oblique photograph of DEM, it is as follows：
Step 1, POS data, which calculates, surveys area's DEM regional extents：
Obtain each survey area's unmanned plane POS data；The latitude and longitude coordinates at four angles in POS data Zhong Ce areas are filtered out, by hanging down
Straight projection pattern determines to survey the latitude and longitude coordinates at area four angles of DEM regional extents；
Step 2, each survey area's regular grid digital elevation model is built：
After the regional extent for determining each survey area DEM, using each regular grid number for surveying area of point-by-point interpolating method structure
Elevation model；
Step 3, flying height difference critical value calculates：
First, each reference plane height for surveying area's regular grid digital elevation model is calculated, formula is as follows：
Wherein, hBaseTo survey the datum elevation of area's digital elevation model；hiTo survey digital elevation model grid points in area
Height value；N is the grid points for surveying digital elevation model in area；
Then, determine that the adjacent flying height difference critical value surveyed between area, formula are as follows two-by-two using the difference of datum elevation：
Wherein, △ h are adjacent survey area A and survey the flying height difference critical value between area B, hBase A、hBase BTo survey area A and surveying area B numbers
The reference plane height of elevation model, nA、nBIt respectively surveys area A and surveys the grid points of digital elevation model in area B；
Step 4, the adjacent difference for surveying the terrain clearance average value between area two-by-two is calculated based on unmanned plane POS data, as
Actual flying height two-by-two between adjacent survey area is poor；
Step 5, the generation of area's merger collection is surveyed：Area is surveyed using certain survey area as starting, and is determined adjacent with starting survey area's surrounding
Survey area；If area is surveyed in starting and the adjacent actual flying height difference surveyed between area is less than flying height difference critical value, this adjacent survey area can
To survey area's merger with starting, conversely, then this adjacent survey area does not survey area's merger with starting, and this adjacent survey area is re-used as starting
It surveys area's cycle criterion to go down, until each area and merger Hou Ce areas of surveying is by as until once area is surveyed in starting；It finally obtains
The merger collection after area's merger is surveyed, merger Ji Lice areas can carry out aerotriangulator calculation together.
In view of it is boat without the principal element that influence Hang Shece areas merge progress aerial triangulation precision in the case of photo control point
Flying height between She Ce areas is poor, based on Flight Line Reference face difference in height of the present invention between Hang Shece areas DEM, realizes to nothing
The merger in photo control point Hang Shece areas.Compared to traditional artificial merging method, the matching of method of the invention in Hang Shece areas is accurate
It is substantially improved in terms of true rate and division efficiency, therefore, there is stronger borrow to the processing of large area mountain area aeroplane photography data
Meaning of reflecting and higher application value.
Description of the drawings
Fig. 1 is that the present invention calculates Hang Shece area DEM regional extent figures using POS data；
Fig. 2 is regular grid digital elevation model figure；
Fig. 3 is the schematic diagram that adjacent Hang Shece areas reference plane determines flying height difference critical value；
Fig. 4 is merging method flow chart；
Fig. 5 is that (somber point is positive She Hangshece areas to the distribution of all Hang Shece areas POS data, pitch black in the embodiment of the present invention
Color is inclination Hang Shece areas) figure；
Fig. 6 is Tu5Hang Shece areas POS data partial enlarged view；
Fig. 7 is each Hang Shece areas DEM regional extent figures in the embodiment of the present invention；
Fig. 8 is Air China of embodiment of the present invention She Ce areas merger result figure.
Specific embodiment
The present invention technical thought be：Influence Hang Shece areas merge the main of empty three precision in the case of first analyzing no photo control point
Factor is that the flying height between Hang Shece areas is poor, is then advised with the flight-line design based on DEM in the digital airborne photography specification of low latitude
Based on model, automation merger is carried out to no photo control point Hang Shece areas.Main step is as follows：The first step, based on unmanned plane POS
Data calculate each Hang Shece areas DEM regional extents；Second step uses point-by-point interpolating method based on Hang Shece areas DEM regional extents
Build each survey area's regular grid digital elevation model；3rd step, foundation《Low latitude digital airborne photography specification》In flight-line design
Proper calculation Hang Shece area DEM reference planes height simultaneously determines the flying height difference critical value between Hang Shece areas adjacent two-by-two；4th step,
Actual flying height is poor between calculating adjacent Hang Shece areas two-by-two based on unmanned plane POS data；5th step is less than boat with actual flying height difference
Height difference critical value is to carry out merger according to Hang Shece areas, and the boat that aerotriangulator calculation can be carried out together by finally drawing is taken the photograph
Survey area's merger collection.
The specific implementation process of the above method is：
(1) POS data calculates Hang Shece areas DEM regional extents
Mainly there is POS that aerial triangle is aided in survey in relation to the direct object positioning of air remote sensing based on POS system at present
Two kinds of amount and direct sensor orientation.Qiao Chuan, Ding Yalin et al. (" wide-angle tilt imaging aerial camera object positioning "
[J] optical precision engineerings, 2017,25 (07):1714-1726) have studied the wide-angle tilt imaging pair based on ASTER-GDEM
Ground target is located in that hypsography larger area is more accurate, since the inclination angle of oblique photograph camera is smaller, can use POS
Picpointed coordinate upright projection in data determines ground DEM regional extent coordinates, and main flow is as follows：
(1.a) data processing：Each Hang Shece areas unmanned plane POS data screens four, the She Ce areas angle picture point O that sails1、O2、O3、
O4Coordinate and terrain clearance；
(1.b) according to Hang Shece areas POS data, upright projection determines four angle O of ground regional extent1 ’、O2 ’、O3 ’、O4 ’It sits
Mark, wherein (lati,lngi,hi) for the coordinate and terrain clearance in unmanned plane POS data, (lati,lngi) it is ground DEM areas
Domain scope apex coordinate, as shown in Figure 1.
(2) each Hang Shece areas regular grid digital elevation model is built
After the regional extent of each Hang Shece areas DEM is determined, it is thus necessary to determine that the boat between adjacent Hang Shece areas DEM two-by-two
Height difference critical value.Regular grid digital elevation model is established to Hang Shece areas as shown in Fig. 2, wherein with point-by-point interpolating method first
h1,h2…hnThe elevation of respectively each grid, unit m.
(3) flying height difference critical value calculates
(3.a) calculates Hang Shece areas datum elevation：Foundation《Low latitude digital airborne photography specification》In unmanned plane flying height
Calculation formula (3-1) calculates each Hang Shece areas Regular network model reference plane height；
Wherein, hBaseFor Hang Shece areas datum elevation, unit m；hiFor the height value of DEM grid points in Hang Shece areas,
Unit is m；N is DEM grid points in Hang Shece areas.
(3.b) calculates the flying height difference critical value between adjacent Hang Shece areas two-by-two：In the digital airborne photography specification of low latitude
When using DEM designs, Hang Shece areas reference plane height is calculated regulation by formula (3-1), therefore, the benchmark in adjacent Hang Shece areas
Face difference in height is flying height difference critical value, as shown in Figure 3.It is determined using the difference of datum elevation between adjacent Hang Shece areas two-by-two
Flying height difference critical value, such as formula (3-2).
Wherein, flying height difference critical values of the △ h between Hang Shece areas A and B, hBase A、hBase BFor the reference plane of Hang Shece areas A and B
Highly, nA、nBRespectively Hang Shece areas A and B digital elevation model grid numbers, hiIt is that Hang Shece areas A and B digital elevation models are every
The height value of a grid.
(4) the actual flying height two-by-two between adjacent Hang Shece areas is poor
(4.a) data preparation：Each Hang Shece areas unmanned plane POS data；
The difference of (4.b) terrain clearance average value in adjacent Hang Shece areas unmanned plane POS data two-by-two is poor for actual flying height.
(5) Hang Shece areas collect generation
Actual flying height according to adjacent Hang Shece areas POS data is poor and critical based on the flying height difference that Hang Shece areas DEM is drawn
Value carries out merger to Hang Shece areas, and the realization process of method is as shown in figure 4, be broadly divided into four steps：1. selected starting boat
She Ce areas；②Hang Shece areas DEM regional extents；3. calculate the flying height difference critical value between adjacent Hang Shece areas DEM；4. with POS
Based on flying height difference critical value between the poor and adjacent Hang Shece areas DEM of the actual flying height that data calculate, to Hang Shece areas into
Row merger, the final She Ce areas merger result that must sail.
1) starting Hang Shece areas are selected.A selected Ge Hangshece areas are starting Hang Shece area a, and according to the Hang Shece areas
POS data upright projection is on Hang Shece areas DEM, obtaining starting Hang Shece area ground areas A.
2) the adjacent Hang Shece areas of surrounding and DEM regional extents are determined.Determine that four direction boat is taken the photograph according to starting Hang Shece area a
It is b, c, d, e to survey area, obtains corresponding Hang Shece areas DEM regional extents with step 1), B, C, D, E are adjacent DEM areas of Hang Shece areas
Domain scope.
3) each Hang Shece areas reference plane height and flying height are poor.Starting Hang Shece area A and adjacent boat is obtained using formula (3-1)
The reference plane height of She Ce areas B, C, D, E are respectively hBase A、hBase B、hBase C、hBase D、hBase EAnd calculate the flying height difference △ of A and B, C, D, E
hBaseFor | hBase A-hBase B|、|hBase A-hBase C|、|hBase A-hBase D|、|hBase A-hBase E|；
4) merger Hang Shece areas.According to survey area A draw with the terrain clearance average value in the POS data of B, C, D, E it is adjacent
The actual flying height difference Δ h in Hang Shece areas can take the photograph survey if actual flying height difference Δ h is less than corresponding flying height difference critical value with starting boat
Area A, which merges, carries out aerial triangulation encryption, and aerial triangle survey is carried out conversely, can not then merge together with starting Hang Shece area A
Amount encryption.The Hang Shece areas for not meeting division condition are set to new starting Hang Shece areas according to above-mentioned steps 1), 2), 3), 4) cycle
Go down, the end loop until the Hang Shece areas behind each Hang Shece areas and merging are by as once starting Hang Shece areas,
Finally obtain the Xin Hangshece areas after the merger of multiple Hang Shece areas or original individual Hang Shece areas.
Anhui Province Jinzhai County Mei Shan towns is selected to be described further as sample area to the present embodiment below.
First, trial zone overview
This about 305 square kilometres of Hang She trial zones Anhui Province Jinzhai County Mei Shan towns area.Due to Jinzhai County Mei Shan towns mountain
Ground waviness is larger, uses just penetrating+tilting navigate in downtown areas and take the photograph, difference twice is carried out using every course line wherein tilting
Camera angle boat is taken the photograph to reach five camera effects；And it is adopted in mountain area underpopulatio area using just penetrating boat and take the photograph mode and carry out data
Collection.
2nd, boat takes the photograph parameter and data preparation
Using grind certainly can the fixed-wing unmanned plane of automatic vertical landing one Sony DSC-RX1RM2 camera is installed, it is burnt
Away from for 35mm, 7952 pixel of film size size, 5304 pixel, course line terrain clearance 200-600m, course and sidelapping degree are
80%.It is data processing platform (DPP) generation outdoor scene threedimensional model with Context Capture4.46.Jinzhai County Mei Shan town 30m are differentiated
Rate DEM digital elevation models.20 to strong E5-2609v3,16G, NVIDIA Quadro M2000 work stations.According to unmanned plane
Cruising ability and Jinzhai County landform design 214 Ge Hangshece areas altogether, and 183 Ge Zheng She Hangshece areas and 31 tilt Hang Shece areas,
60125 images altogether, complete and partial enlargement Hang Shece areas POS data is as shown in Figure 5,6.
3rd, using above-mentioned data and merging method, the Xin Hangshece areas after the merger of multiple Hang Shece areas may finally be obtained,
As shown in Figure 8.
Claims (1)
1. a kind of survey area's merging method based on the oblique photograph of DEM without photo control point, which is characterized in that is as follows：
Step 1, POS data, which calculates, surveys area's DEM regional extents：
Obtain each survey area's unmanned plane POS data；The latitude and longitude coordinates at four angles in POS data Zhong Ce areas are filtered out, by vertically throwing
Shadow mode determines to survey the latitude and longitude coordinates at area four angles of DEM regional extents；
Step 2, each survey area's regular grid digital elevation model is built：
After the regional extent for determining each survey area DEM, using each regular grid digital elevation for surveying area of point-by-point interpolating method structure
Model；
Step 3, flying height difference critical value calculates：
First, each reference plane height for surveying area's regular grid digital elevation model is calculated, formula is as follows：
Wherein, hBaseTo survey the datum elevation of area's digital elevation model；hiTo survey the elevation of digital elevation model grid points in area
Value；N is the grid points for surveying digital elevation model in area；
Then, determine that the adjacent flying height difference critical value surveyed between area, formula are as follows two-by-two using the difference of datum elevation：
Wherein, △ h are adjacent survey area A and survey the flying height difference critical value between area B, hBase A、hBase BTo survey area A and surveying area's B digital elevations
The reference plane height of model, nA、nBIt respectively surveys area A and surveys the grid points of digital elevation model in area B；
Step 4, the adjacent difference for surveying the terrain clearance average value between area two-by-two is calculated based on unmanned plane POS data, as two-by-two
Actual flying height between adjacent survey area is poor；
Step 5, the generation of area's merger collection is surveyed：Area is surveyed using certain survey area as starting, and determines the survey adjacent with starting survey area's surrounding
Area；If area is surveyed in starting and the adjacent actual flying height difference surveyed between area is less than flying height difference critical value, this adjacent survey area can be with
Area's merger is surveyed in starting, conversely, then this adjacent survey area does not survey area's merger with starting, and this adjacent survey area is re-used as starting and surveys area
Cycle criterion is gone down, until each area and merger Hou Ce areas of surveying is by as until once area is surveyed in starting；It finally obtains and surveys area
Merger collection after merger, merger Ji Lice areas can carry out aerotriangulator calculation together.
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| CN111986320A (en) * | 2020-04-28 | 2020-11-24 | 南京国图信息产业有限公司 | DEM and oblique photography model space fitting optimization algorithm for smart city application |
| CN116385686A (en) * | 2023-05-29 | 2023-07-04 | 陕西省水利电力勘测设计研究院 | Live-action three-dimensional model reconstruction method and system based on irregular oblique photography |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111197986A (en) * | 2019-08-13 | 2020-05-26 | 苏州光之翼智能科技有限公司 | Real-time early warning and obstacle avoidance method for three-dimensional path of unmanned aerial vehicle |
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| CN111986320B (en) * | 2020-04-28 | 2024-01-30 | 南京国图信息产业有限公司 | Smart city application-oriented DEM and oblique photography model space fitting optimization method |
| CN116385686A (en) * | 2023-05-29 | 2023-07-04 | 陕西省水利电力勘测设计研究院 | Live-action three-dimensional model reconstruction method and system based on irregular oblique photography |
| CN116385686B (en) * | 2023-05-29 | 2023-08-11 | 陕西省水利电力勘测设计研究院 | Live-action three-dimensional model reconstruction method and system based on irregular oblique photography |
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