A method and system for joint adjustment of optical images assisted by laser ranging

Abstract

The invention provides a method and system for joint adjustment of optical images assisted by laser ranging. The matching points of all images with the same name are used as the observation values ​​of the first type of image points, and the back-projection points of laser footprint points on a certain image and the back-projection points The matching points of the projected points on other images are taken as the observation value of the second type of image point, and the back projection points of the obtained laser footprint points on all images are taken as the observation value of the third type of image point, and the mean square of the distance from the accumulated point to the epipolar line is used As the direct observation value, the corresponding error equation is listed; for the second and third type of image point observations, the corresponding error equation is listed according to the collinear equation; at the same time, the laser footprint point is regarded as a low-precision control point , list the corresponding coordinate observation equations; and combine the GPS or POS error observation equations to form the laser ranging-assisted optical image joint adjustment model of the present invention, and use the least squares adjustment criterion to solve the precise outer orientation elements of the image. The invention can fully meet the requirement of high-precision earth observation and positioning under the condition of no direct ground control.

Description

technical field [0001] The invention belongs to the field of surveying and mapping science and technology, and relates to a combined optical image adjustment technology aided by laser ranging. Background technique [0002] With the development of sensor technology, integrating multiple sensors on some UAV platforms to give full play to the data acquisition capabilities of each sensor has increasingly become a research hotspot in the field of traditional surveying, mapping and remote sensing, and how to carry out joint processing of multi-sensor data is one of them. one of the key technologies. On the current reconnaissance platforms, part of the equipment is integrated with inertial integrated navigation devices, such as GPS / IMU, Beidou system, high-frequency optical cameras and laser measurement devices, which makes these platforms not only have conventional reconnaissance attributes, but also make them an attack weapon. At present, these platforms often use laser ranging...

AI Technical Summary

Problems solved by technology

At present, these platforms often use laser ranging for target positioning, which requires the laser to lock the target during target ranging, which is not conducive to emergency treatment in the case of multiple targets

In the field of traditional photogrammetry, the image taken by the optical camera is used for block adjustment to obtain the accurate internal and external orientation elements of the image, and then the front intersection method is used to obtain the ground position of the target. The advantage is that the accuracy of target positioning is better than that of laser positioning. method, the disadvantage is that the technical process is complex, and the processing time cannot meet the quasi-real-time requirements

In addition, due to the temporary nature of the mission of the reconnaissance platform, it is impossible to accurately predict the ground control situation in the target area in advance, so only the uncontrolled adjustment technology in the field of photogrammetry can be used, and the accuracy of this technology often depends on the accuracy of the platform observation equipment itself

Moreover, in the process of beam adjustment, a large number of object space points as unknowns increases the processing burden on the platform machine, which is not conducive to the popularization and application of this technology

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