A close-range photogrammetry system and measurement method capable of positioning and attitude determination

Abstract

The invention discloses a close-shot photography measurement system capable of realizing positioning and attitude determination and a close-shot photography measurement method capable of realizing positioning and attitude determination, belongs to the technical field of science of surveying and mapping, and particularly relates to a photography measurement technology. The system is subjected to real-time tracking and positioning by a prism mounted on a camera and a total station erected within a whole-visible range; a horizontal dial mounted below a holder at the bottom of the camera and a vertical dial mounted on the left side or right side of the camera are used for carrying out real-time attitude determination. By construction of a relation model of the prism, the horizontal dial, the vertical dial and the camera, positioning and attitude determination data are converted to the center of the camera, so that an image can be shot by the photography measurement, and information such as the position and attitude of the camera can be acquired. By use of a large-inclination-angle multi-base-line photography measurement algorithm and combination of line element and angle element initial values of the exterior orientation provided by a positioning and attitude determination system, large-inclination-angle and multi-base-line close-shot photography measurement can be quickly calculated; therefore, the efficiency and accuracy of image matching are improved, and the data processing precision is improved.

Description

technical field [0001] The invention relates to a close-range photogrammetry system capable of positioning and fixing an attitude and a measurement method, belonging to the field of surveying and mapping science and technology, and in particular to photogrammetry technology. The system uses the prism installed on the camera and the total station installed in the field of vision to track and position the system in real time, and uses the horizontal dial installed under the pan / tilt at the bottom of the camera and the vertical dial on the left / right side of the camera to track and locate the system in real time. The system performs real-time attitude determination. By establishing the relationship model between the prism, the horizontal dial, the vertical dial and the camera, the positioning and attitude data are converted to the center of the camera, so that the position and attitude of the camera can be obtained while taking images with photogrammetry technology. Background ...

AI Technical Summary

Problems solved by technology

[0010]The current photogrammetry system capable of positioning and attitude determination mainly integrates various advanced and expensive measuring instruments, which is complex in composition, difficult in data processing, and difficult to improve accuracy

[0011]POS system uses GPS for positioning, but GPS data output frequency is low, reliability is poor in high dynamic environment, and "cycle slip" phenomenon will occur; use IMU Attitude determination, but the IMU's attitude parameter error will accumulate rapidly with time

Although the combination of the two can learn from each other to a certain extent and improve the accuracy, if it is used in close-range photogrammetry, the accuracy is still difficult to meet the requirements

Therefore, the limitations of TS15 are that the device is not flexible enough, the lens resolution is low, and the accuracy is not high

[0014]It is also important that whether it is a positioning and attitude determination system composed of GPS / IMU or a combination of total station and camera, the price of the equipment is relatively expensive, and the data The processing model is also relatively complex, which brings a lot of workload for subsequent data processing

[0015] However, the traditional single-baseline stereo method of close-range photogrammetry is based on the simulation of the operator's visual stereoscopic observation. Analytical photogrammetry must consider the long-range and close-up of the subject according to the accuracy requirements, and the design of the photographic baseline and intersection angle is relatively complicated.

And if a stereo image pair is used as a unit, it is difficult to process according to a photographic area like aerial photogrammetry

Therefore, when the measured object has a special shape (such as a larger house or a tall tower), it is difficult to shoot and follow-up data processing

And the processing of single-baseline stereo is generally carried out according to the direct linear transformation of the non-measurement camera, and each image pair needs at least 6 control points, thus increasing the workload of the field

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