GNSS high precision assisted unmanned plane aerotriangulation method

Abstract

The invention discloses a GNSS high-precision assisted unmanned aerial vehicle three-dimensional measurement method, which uses an airborne GNSS receiver, a GNSS base station receiver, and a camera for synchronous observation, including: the airborne GNSS receiver accurately records the exposure time of the camera, and uses a carrier After the phase difference is decomposed and calculated, the centimeter-level position information of the antenna is obtained, and then the outer bearing line element at the exposure time of the camera is obtained by interpolation, which is used as the starting data. Combined with a small number of ground control points, the aerial triangulation software is used for automatic processing, and each image is obtained. The outer orientation elements of the film, and then produce the required 4D image. The present invention adopts the method of differential positioning, and uses the GNSS differential position information corrected by the eccentricity to replace the position information of the exposure point, so as to obtain the line elements in the outer orientation elements required in aerial photogrammetry, which greatly improves the accuracy of the UAV. The efficiency of low-altitude photogrammetry reduces field workload.

Description

technical field [0001] The invention relates to the field of low-altitude photogrammetry, in particular to a GNSS high-precision assisted UAV aerial three-dimensional measurement method. Background technique [0002] Traditional aerial photogrammetry is mostly used to solve small-scale mapping of large areas. For the problem of large-scale mapping of small areas that has emerged in the field of measurement in recent years, if conventional aerial photography is still used, it often results in high cost and poor flexibility. , are greatly affected by the weather, etc., so low-altitude triangulation technology based on low-altitude unmanned aerial vehicles and conventional digital cameras has become a hot issue in the field of photogrammetry in recent years. Usually, the data acquisition devices used are generally low-altitude photography platforms (UAVs, unmanned airships, etc.) and ordinary multi-lens integrated small data cameras (Canon 5D_Mark II). It is easily affected by...

AI Technical Summary

Problems solved by technology

However, there are the following deficiencies in this scheme: 1) The description of the composition of the entire system is not clear enough; 2) The role of the two sensors, GNSS and IMU, in this scheme is not clear

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