CN109269476A - Aerophotogrammetry system and method based on IMU/DGPS - Google Patents
Aerophotogrammetry system and method based on IMU/DGPS Download PDFInfo
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- CN109269476A CN109269476A CN201811517455.5A CN201811517455A CN109269476A CN 109269476 A CN109269476 A CN 109269476A CN 201811517455 A CN201811517455 A CN 201811517455A CN 109269476 A CN109269476 A CN 109269476A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000005259 measurement Methods 0.000 claims abstract description 40
- 238000002955 isolation Methods 0.000 claims abstract description 19
- 238000012795 verification Methods 0.000 claims abstract description 5
- 238000000691 measurement method Methods 0.000 claims abstract description 3
- 238000012545 processing Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000012937 correction Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims description 4
- 238000013507 mapping Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 230000003247 decreasing effect Effects 0.000 abstract description 2
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 230000003287 optical effect Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
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- 238000009825 accumulation Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Multimedia (AREA)
- Image Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses a kind of aerophotogrammetry system and method based on IMU/DGPS, measuring system includes that positioning and orientation system, light-coupled isolation module and middle picture measure camera, the pulse output end that middle picture measures camera connects the low level triggering end of positioning and orientation system by light-coupled isolation module, then measurement method obtains image data and image elements of exterior orientation by acquisition raw video, Event data and verification data；The present invention can capture the raw video of high quality, also the corresponding high precision position attitude data of image can accurately be resolved, guarantee the quality and precision of survey and mapping, solves the problems such as weight, volume of integrated system, unmanned plane is carried by POS system and carries out low altitude photogrammetry, and single rack time can obtain 100km25cm orthography needed for data be greatly decreased as control measurement workload, shorten the aerial survey production cycle, improve job area and operating efficiency without laying large number of ground control point.
Description
Technical field
The present invention relates to aerophotogrammetry technical fields, more particularly to the aerophotogrammetry system based on IMU/DGPS
And method.
Background technique
Currently, traditional aerophotogrammetry, which generallys use big load navigation aircraft, carries professional aerial surveying camera, collocation high-precision
POS system (Position Orientation System；Positioning and orientation system) obtain aerophotograph elements of exterior orientation (x, y, z,
φ, ω, κ), the country is had become at present to reduce field process amount, this kind of Digital Photogrammetric Systems such as ground control point laying quantity
The most commonly used one of the Integrated Solution of outer high-altitude photo survey engineering.
Aerophotogrammetry can galore express the minor detail surveyed in area, be that planning and designing, geology monitoring etc. are a variety of
Application field provides the scalability image achievement intuitively with abundant details.The accurate elements of exterior orientation for solving image is to take the photograph
The key of shadow measurement, relies primarily on many and diverse aerial triangulation and large number of ground control point to solve indirectly for a long time, work
Work amount is big, the period is long；It is difficult to obtain taking the photograph for degree of precision again in the region that plateau, desert etc. are difficult to create large number of ground control point
Shadow Measurement results.In recent years, unmanned plane because of it flexibly, the advantages such as facilitate, taking the photograph as camera carrying platform and applied to low latitude
Shadow measures this field and is promoted rapidly.Under normal conditions, UAV flight takes the photograph by the slr camera of distortion correction
Shadow measurement, automatically controls unmanned plane by flight control system and enters prebriefed pattern, takes the photograph a control camera exposure in predetermined boat,
Measurement drawing work is completed in the case where laying many photo control points.But it due to the endurance and load limitation of unmanned plane, can not take
The measurement camera and high-precision POS system for carrying profession are not only only capable of completing small range surveying and mapping, and the camera precision carried is not
Height is unable to reach the requirement standard of aerophotogrammetry.
Summary of the invention
The object of the present invention is to provide aerophotogrammetry systems and method based on IMU/DGPS, can greatly reduce
Field operation control points layout quantity improves the photogrammetric operating efficiency of large-scale aviation, carries out high efficiency, high-precision and big model
The low altitude photogrammetry enclosed, and it is small to capture picture quality height, amount of distortion, while improving image and POS data matching degree, in turn
Measurement result accuracy is improved, further, also has both the advantages that light-weight and integrated level is high.
The technical solution adopted by the present invention are as follows:
Aerophotogrammetry system based on IMU/DGPS, it is characterised in that: including positioning and orientation system, light-coupled isolation module and
Middle picture measures camera, and middle picture measures camera and is arranged on unmanned plane, and the pulse output end that middle picture measures camera passes through light
The low level triggering end of coupling isolation module connection positioning and orientation system；The positioning and orientation system includes POS computer, inertia survey
Measure unit, airborne DGPS antenna and ground DGPS base station receiver, POS computer, Inertial Measurement Unit and airborne DGPS antenna
It is arranged on unmanned plane, ground DGPS base station receiver is arranged in ground receiver website；Inertial Measurement Unit and airborne DGPS
The output end of antenna is electrically connected POS computer, and airborne DGPS antenna is mutually communicated with DGPS base station receiver.
Further, the light-coupled isolation module includes optocoupler, and optocoupler primary side anode connects external 3.3V DC power supply, light
Picture measures the exposed pulse output end of camera in the connection of coupling primary side cathode, and middle picture measures the output of camera exposure pulse output end
5V exposed pulse level, optical coupling secondary edges collector are separately connected the low level triggering end of optocoupler primary side anode and POS computer.
It further, further include camera support and POS bracket for connecting unmanned plane, camera support includes parallel up and down
And top plate interconnected and bottom plate, Inertial Measurement Unit are arranged on top plate, bottom plate, which is equipped with, is used for mounting hole, middle picture amount
The fuselage for surveying camera is fixedly mounted in mounting hole and middle picture measures camera lens and is arranged downward, and DGPS antenna and POS are calculated
Machine is arranged on POS bracket.
Further, the camera support and POS frame bottom have been evenly arranged multiple dampers.
The invention also discloses a kind of Aerial Photogrammetries based on IMU/DGPS, comprising the following steps:
A, boat takes the photograph preparation: picture measurement camera in calibration, image camera elements of interior orientation and distortion parameter in acquisition, meanwhile, it is complete
At the installation and debugging of ground receiver site apparatus；
B, raw video, Event data and verification data are acquired；Detailed process are as follows:
B1: middle picture measures camera and receives exposed pulse signal and open camera shutter；
B2: when shutter is opened to half, middle picture, which measures camera exposure pulse, becomes 0V from 5V, and optocoupler be connected and triggers POS and counts
Calculation machine；
B3: middle picture measures camera exposure and acquires raw video, and POS computer marks and records moment Event data, ground
Receiving station is synchronous to obtain the moment calibration field calibration data；The Event data include GPS data and IMU data；
C, image data and image elements of exterior orientation are obtained:
Image elements of exterior orientation acquisition process the following steps are included:
C1: difference after the Airborne GPS data that DGPS antenna obtains are carried out with the base station GPS data for obtaining ground receiver website
GPS processing；
C2: the processing data of virtual deferential GPS obtained by step c1 and IMU data are subjected to join operation；
C3: calibration data are subjected to eccentricity component amendment；
C4: the operation result in conjunction with obtained by step c2 and step c3 gained correction result solve the corresponding elements of exterior orientation of image data
Value.
The invention has the following advantages:
(1) camera is measured by integrated positioning orientation system and middle picture, has both imaging precision and the low latitude of high-altitude photo measurement
Photogrammetric flexibility can capture the raw video of high quality, also can accurately resolve the corresponding high precision position appearance of image
State data guarantee the quality and precision of survey and mapping, solve the problems such as weight, volume of integrated system；Meanwhile the present invention is logical
It crosses POS system and carries unmanned plane progress low altitude photogrammetry, single rack time can obtain 100km25cm orthography needed for data,
Without laying large number of ground control point, be greatly decreased as control measurement workload, shorten the aerial survey production cycle, improve job area and
Operating efficiency；
(2) the synchronous progress that camera exposure with POS system record Event data are realized by light-coupled isolation module, guarantees it
Matching degree, and then measurement accuracy is improved, while POS system can also be made to be in un-activation shape in the unexposed capturing video of camera
State avoids the matching for recording useless Event data interference images data and POS data.
Detailed description of the invention
Fig. 1 is the result schematic diagram of aerophotogrammetry system in the present invention；
Fig. 2 is the circuit diagram of light-coupled isolation module in the present invention；
Fig. 3 is the flow chart of Aerial Photogrammetry in the present invention.
Description of symbols:
1, airborne DGPS antenna；2, POS computer；3, POS bracket；4, damper；5, Inertial Measurement Unit；6, middle picture measures
Camera；7, camera support；8, light-coupled isolation module.
Specific embodiment
The invention discloses a kind of aerophotogrammetry system and measurement method based on IMU/DGPS；
As shown in Figure 1, aerophotogrammetry system includes that positioning and orientation system, light-coupled isolation module 8 and middle picture measure camera
6, middle picture measures camera 6 and is arranged on unmanned plane, and the pulse output end that middle picture measures camera 6 passes through light-coupled isolation module 8
Connect the low level triggering end of positioning and orientation system；The positioning and orientation system include POS computer 2, Inertial Measurement Unit 5,
Airborne DGPS antenna 1 and ground DGPS base station receiver, POS computer 2, Inertial Measurement Unit 5 and airborne DGPS antenna 1 are all provided with
It sets on unmanned plane, ground DGPS base station receiver is arranged in ground receiver website；Inertial Measurement Unit 5 and airborne DGPS antenna
1 output end is electrically connected POS computer 2, and airborne DGPS antenna 1 and DGPS base station receiver mutually communicates；
Aerial Photogrammetry successively the following steps are included:
A, boat takes the photograph preparation: picture measurement camera 6 in calibration, image camera elements of interior orientation and distortion parameter in acquisition, meanwhile, it is complete
At the installation and debugging of ground receiver site apparatus；
B, raw video, Event data and verification data are acquired；Detailed process are as follows:
B1: middle picture measures camera 6 and receives exposed pulse signal and open camera shutter；
B2: when shutter is opened to half, middle picture, which measures 6 exposed pulse of camera, becomes 0V from 5V, and optocoupler be connected and triggers POS and counts
Calculation machine 2；
B3: middle picture measures the exposure acquisition raw video of camera 6, and POS computer 2 marks and records moment Event data, ground
Face receiving station is synchronous to obtain the moment calibration field calibration data；The Event data include GPS data and IMU data；
C, image data and image elements of exterior orientation are obtained:
Image elements of exterior orientation acquisition process the following steps are included:
C1: the Airborne GPS data that airborne DGPS antenna 1 obtains are carried out with the base station GPS data for obtaining ground receiver website
Virtual deferential GPS processing；
C2: the processing data of virtual deferential GPS obtained by step c1 and IMU data are subjected to join operation；
C3: calibration data are subjected to eccentricity component amendment；
C4: the operation result in conjunction with obtained by step c2 and step c3 gained correction result solve the corresponding elements of exterior orientation of image data
Value.
For a better understanding of the present invention, technical scheme is described further with reference to the accompanying drawing.
As shown in Figure 1, the invention discloses a kind of aerophotogrammetry system based on IMU/DGPS, including positioning and directing
System, light-coupled isolation module 8, middle picture measure camera 6, camera support 7 and POS bracket 3 for connecting unmanned plane, camera branch
Frame 7 includes parallel up and down and top plate interconnected and bottom plate, and Inertial Measurement Unit 5 is arranged on top plate, and bottom plate, which is equipped with, to be used
In mounting hole, the fuselage that middle picture measures camera 6 is fixedly mounted in mounting hole and middle picture measures 6 camera lens of camera court and divides into
It sets, airborne DGPS antenna 1 and POS computer 2 are arranged on POS bracket 3, and camera support 7 and 3 bottom of POS bracket are evenly arranged
There are multiple dampers 4, shake every write-downs to equipment.The pulse output end that middle picture measures camera 6 passes through light-coupled isolation
The low level triggering end of the connection positioning and orientation system of module 8.
Positioning and orientation system includes POS computer 2, Inertial Measurement Unit 5, airborne DGPS antenna 1 and the ground base station DGPS
Receiver, POS computer 2, Inertial Measurement Unit 5 and airborne DGPS antenna 1 are arranged on unmanned plane, and the ground base station DGPS connects
Receipts machine is arranged in ground receiver website；The output end of Inertial Measurement Unit 5 and airborne DGPS antenna 1 is electrically connected POS calculating
Machine 2, airborne DGPS antenna 1 and DGPS base station receiver mutually communicate.
The present invention measures camera 6 by middle picture and integrates with POS system, small in size, light-weight, can be light-duty by unmanned plane etc.
Flying platform carries, quick response aerophotogrammetry task.Meanwhile middle picture measurement camera 6 can capture the original of high quality
Image, high resolution, amount of distortion are small, and can solve the corresponding high precision position attitude data of image using IMU/DGPS technology.
The image data and POS data of high quality are to obtain high-precision mapping product to lay a good foundation, and it is big to can be widely applied to low latitude
Scale bar is photogrammetric.
Middle picture measures camera 6 and preferably flies to think using Phase One() iXU180 camera, resolution ratio is 10328 × 7760,
Collocation Luo Dunside 50mm tight shot, weight is only 1.7kg.The camera is specially designed for aerophotogrammetry, tool
There are external power source interface, camera control pulse input interface and exposure signal output interface, external power source interface being capable of power supply machine
Shooting uses for a long time, and the pulse signal that camera control pulse input interface receives external equipment for camera is triggered and exposed；Phase
Machine exposure signal output interface connects positioning and orientation system, for triggering the position at positioning and orientation system record camera exposure moment
Posture information.Furthermore camera has the function of mass data storage ability and image shift compensation, can use in aerophotogrammetry
To offset the bring motion-blurred in the very fast situation of the speed of a ship or plane.
Positioning and orientation system (POS) uses the Tian Bao Trimble() AP20, it is mainly used for acquisition, storage measures camera exposure
The position and attitude data at moment.The data that positioning and orientation system can obtain Global Navigation Satellite System and inertial navigation system
Information carries out fusion resolving, obtains the parameters such as space coordinate, rotation angle, speed, acceleration and the angular speed of sensor, and have
Event flag (Event mark) function receives the signal of camera exposure moment output, marks and store position appearance in the same time
The data informations such as state.
As shown in Fig. 2, light-coupled isolation module 8 includes optocoupler, optocoupler primary side anode is straight by the external 3.3V of resistance R1 connection
Galvanic electricity source, R1=1K Ω, picture measures the exposed pulse output end of camera 6 in the connection of optocoupler primary side cathode, and middle picture measures camera
6 exposed pulse output ends export 5V exposed pulse level, and optical coupling secondary edges collector passes through the external 3.3V direct current of resistance R2 connection
Source, R2=1K Ω, and the low level triggering end of optical coupling secondary edges collector connection POS computer 2.
After middle picture measures the energization of camera 6, exposed pulse (MEP) output is 5V low level, and camera shutter opens half
When, MEP output becomes 0V low level, and since positioning and orientation system is low level triggering, i.e. camera exposure intermediate time exports
Low level pulse triggers POS system and records Event data.When measurement camera is not powered on, MEP is 0V low level, can be triggered
POS system records Event data；The Event data of camera and unexposed capturing video at this time, POS system record are useless, will do
Disturb the matching of image data and POS data.
The principle of light-coupled isolation module 8 in the present invention are as follows: give optical coupling module power supply using external 3.3V power supply, when camera plus
When electric, MEP is 5V level, and optocoupler access failure, OUT terminal is 3.3V level, will not trigger POS record Event data；When camera exposes
Light, when MEP becomes 0V level, optocoupler is connected, and OUT terminal is 0V low level, and triggering POS records Event data.When camera is not powered on
When, optocoupler access failure, OUT terminal is 3.3V level, will not trigger POS record Event data.It is realized by light-coupled isolation module 8
Camera exposure and POS system record Event data correspond.
The invention also discloses a kind of Aerial Photogrammetries based on IMU/DGPS, as shown in figure 3, including following step
It is rapid:
A, boat takes the photograph preparation: picture measurement camera 6 in calibration, image camera elements of interior orientation and distortion parameter in acquisition, meanwhile, it is complete
At the installation and debugging of ground receiver site apparatus；
B, raw video, Event data and verification data are acquired；Detailed process are as follows:
B1: middle picture measures camera 6 and receives exposed pulse signal and open camera shutter；
B2: when shutter is opened to half, middle picture, which measures 6 exposed pulse of camera, becomes 0V from 5V, and optocoupler be connected and triggers POS and counts
Calculation machine 2；
B3: middle picture measures the exposure acquisition raw video of camera 6, and POS computer 2 marks and records moment Event data, ground
Face receiving station is synchronous to obtain the moment calibration field calibration data；The Event data include GPS data and IMU data；
C, image data and image elements of exterior orientation are obtained:
Image elements of exterior orientation acquisition process the following steps are included:
C1: the Airborne GPS data that airborne DGPS antenna 1 obtains are carried out with the base station GPS data for obtaining ground receiver website
Virtual deferential GPS processing；
C2: the processing data of virtual deferential GPS obtained by step c1 and IMU data are subjected to join operation；
C3: calibration data are subjected to eccentricity component amendment；
C4: the operation result in conjunction with obtained by step c2 and step c3 gained correction result solve the corresponding elements of exterior orientation of image data
Value.
The working principle of positioning and orientation system in the present invention are as follows: camera 6 is measured by middle picture and captures raw video data,
The POS sensing data (inertia measurement data and GPS data) that the camera exposure moment is acquired by POS system, in aerial survey task
After, difference processing after carrying out to GPS data carries out Combined Calculation with IMU data, finally obtains foreign side corresponding with image
Bit element.
POS system is by the accelerometer and gyroscope of Inertial Measurement Unit 5 with the frequency measurement speed and tendency of 200Hz
The variation of angle is added to these changing values known initial value, calculates carrier current position, rate and tendency.Acceleration
Meter and gyroscope are not fully accurate, and inertial measurement system can be with time gradually accumulated error.It is constantly obtained by GPS receiver
The data such as the independent position of carrier, rate are taken, data renewal frequency 5Hz corrects inertia measurement frequently during the motion to control
Make its accumulation of error.
The parameter setting of positioning and orientation system (POS) mainly includes the following aspects:
1), the determination of photo centre spatial position
The carrier phase of the GPS receiver record of DGPS antenna and one or more terrestrial references station to positioning and orientation system is seen
After being surveyed data processing and with inertia measurement data aggregate resolve, obtain each moment epoch of observation Airborne GPS day
The spatial position at phase of line center, the reachable ± 5cm of horizontal direction precision, vertical direction precision ± 10cm.Phase is measured in middle picture
When machine 6 and integrated positioning and orientation system, GPS antenna phase center and measurement camera projection centre relative positional relationship are kept not
Become, the spatial position of camera projection centre can be obtained by coordinate conversion.
2) determination of image attitude parameter
Reflect the roll angle of IMU by the attitude data obtained to positioning and orientation system data calculationφ, pitch angleθAnd course angleψ, roll angle and pitch angle measurement precision are ± 0.015 °, and course angle measurement accuracy is 0.035 °.Due to IMU and measure camera collection
At when IMU three axis accelerometer coordinate system and measure camera image space auxiliary coordinates between there are angular deviation (Δφ,Δω,Δ κ), therefore to resolve obtain attitude data carry out space coordinates angular transformation calculate i.e. obtain image attitude parameter (φ,ω,κ)。
3) camera exposure and POS mark time synchronization
Middle picture measures camera 6 and positioning and orientation system work is independent from each other, the epoch-making moment of GPS signalT iWith measurement phase
The time of exposure of machineT jIt is often asynchronous.Since the aircraft speed of a ship or plane is very fast, short time offset will cause biggish range error；Root
According to measure camera exposure pulse recording IMU attitude parameter also due to time irreversibility and there are errors, to influence to position
Precision.
External equipment sends picture in pulse control and measures the exposure of camera 6, and middle picture measures camera 6 at the centre of exposure
Output pulse signal is carved, after light-coupled isolation module 8, low level pulse triggers positioning and orientation system, when marking and recording this
GPS the and IMU data at quarter.The middle picture measurement 6 exposure photography time of camera is extremely short, vehicle flight speeds during exposure photography
Relatively at the uniform velocity, to realize that time migration is eliminated using the method that linear interpolation or lower order polynomial expressions are fitted.When the number of DGPS antenna
It is greater than 1Hz according to turnover rate, by two adjacent GPS epochT iWithT i+1(T i<T j<T i+1) aerial position linear interpolation go outT j
The aerial position at moment realizes that it meets the required precision purpose of aerophotogrammetry.
The present invention measures camera 6 by middle picture and integrates with high-precision POS system, ensure that the high quality and survey of raw video
The high-precision of figure is drawn, it is compact-sized, convenient for being applied to the light weights flying platform such as unmanned plane.System has single rack time 100km2
The acquisition capability of the above 5cm resolution image data can considerably reduce field operation control points layout quantity, improve photography and survey
The production efficiency of amount
It should be pointed out that the present invention can be realized the photogrammetric application of low latitude large-scale aviation, height can not only be applied to
Original, desert etc. are difficult to create the photogrammetric of large number of ground control point region, can also be applied to highway, railway, electric power, water conservancy etc.
It is photogrammetric in line project planning exploration, while the photography that also can apply to Fundamental Geographic Information System in the construction of smart city is surveyed
Reflect the numerous areas such as the high-resolution data acquisition of geological hazard condition data in amount, emergency disaster relief.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that, still may be used
To modify to technical solution documented by previous embodiment, or some or all of the technical features are equal
Replacement, and these are modified or replaceed, the model for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (5)
1. the aerophotogrammetry system based on IMU/DGPS, it is characterised in that: including positioning and orientation system, light-coupled isolation module
Camera is measured with middle picture, middle picture measures camera and is arranged on unmanned plane, and the pulse output end that middle picture measures camera passes through
The low level triggering end of light-coupled isolation module connection positioning and orientation system；The positioning and orientation system includes POS computer, inertia
Measuring unit, airborne DGPS antenna and ground DGPS base station receiver, POS computer, Inertial Measurement Unit and DGPS days airborne
Line is arranged on unmanned plane, and ground DGPS base station receiver is arranged in ground receiver website；Inertial Measurement Unit and airborne
The output end of DGPS antenna is electrically connected POS computer, and airborne DGPS antenna is mutually communicated with DGPS base station receiver.
2. the aerophotogrammetry system and method according to claim 1 based on IMU/DGPS, it is characterised in that: described
Light-coupled isolation module includes optocoupler, and optocoupler primary side anode connects external 3.3V DC power supply, picture in the connection of optocoupler primary side cathode
The exposed pulse output end of camera is measured, middle picture measures camera exposure pulse output end and exports 5V exposed pulse level, optocoupler
Secondary side collector is separately connected the low level triggering end of optocoupler primary side anode and POS computer.
3. the aerophotogrammetry system according to claim 2 based on IMU/DGPS, it is characterised in that: further include being used for
The camera support and POS bracket of unmanned plane are connected, camera support includes parallel up and down and top plate interconnected and bottom plate, inertia
Measuring unit is arranged on top plate, and bottom plate, which is equipped with, is used for mounting hole, and the fuselage that middle picture measures camera is fixedly mounted on installation
In hole and middle picture measures camera lens and is arranged downward, and DGPS antenna and POS computer are arranged on POS bracket.
4. the aerophotogrammetry system according to claim 3 based on IMU/DGPS, it is characterised in that: the camera branch
Frame and POS frame bottom have been evenly arranged multiple dampers.
5. a kind of measurement method based on the aerophotogrammetry system described in claim 1 based on IMU/DGPS, feature
It is: the following steps are included:
A, boat takes the photograph preparation: picture measurement camera in calibration, image camera elements of interior orientation and distortion parameter in acquisition, meanwhile, it is complete
At the installation and debugging of ground receiver site apparatus；
B, raw video, Event data and verification data are acquired；Detailed process are as follows:
B1: middle picture measures camera and receives exposed pulse signal and open camera shutter；
B2: when shutter is opened to half, middle picture, which measures camera exposure pulse, becomes 0V from 5V, and optocoupler be connected and triggers POS and counts
Calculation machine；
B3: middle picture measures camera exposure and acquires raw video, and POS computer marks and records moment Event data, ground
Receiving station is synchronous to obtain the moment calibration field calibration data；The Event data include GPS data and IMU data；
C, image data and image elements of exterior orientation are obtained:
Image elements of exterior orientation acquisition process the following steps are included:
C1: difference after the Airborne GPS data that DGPS antenna obtains are carried out with the base station GPS data for obtaining ground receiver website
GPS processing；
C2: the processing data of virtual deferential GPS obtained by step c1 and IMU data are subjected to join operation；
C3: calibration data are subjected to eccentricity component amendment；
C4: the operation result in conjunction with obtained by step c2 and step c3 gained correction result solve the corresponding elements of exterior orientation of image data
Value.
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