RTK and PPK system positioning correction compensation method and device for unmanned aerial vehicle

Abstract

The invention discloses an RTK and PPK system positioning correction compensation method and device for an unmanned aerial vehicle, and the method comprises the steps: enabling an RTK / PPK antenna to be installed on a platform which is provided with a pitching axis servo motor and a rolling axis servo motor, and carrying out the correction compensation of a pitching angle and a rolling angle of theunmanned aerial vehicle in an aerial photography process through the pitching axis servo motor and the rolling axis servo motor; and correcting and compensating the offset between the projection of the RTK / PPK antenna phase center and the optical center of the camera lens so as to acquire high-precision POS information acquisition of aerial photos. According to the invention, on-site real-time compensation and correction of the RTK / PPK antenna phase center and the camera lens optical center can be realized, high-precision POS information acquisition of aerial photography can be obtained onlyby setting one set of RTK / PPK system, and more than two RTK / PPK devices do not need to be installed on an unmanned aerial vehicle for positioning offset correction; an unmanned aerial vehicle body posture recording system does not need to be additionally arranged, and deviation rectification is conducted offline through software calculation.

Description

technical field [0001] The invention relates to the field of positioning technology, in particular to a method and device for positioning correction and compensation of UAV RTK and PPK systems. Background technique [0002] RTK (Real Time Kinematic) real-time dynamic positioning technology is a real-time differential GPS measurement technology based on carrier phase observation. PPK (post processed kinematic) technology, that is, dynamic post-processing technology, is a GPS that uses carrier phase for post-difference Positioning technology, RTK / PPK positioning technology can greatly improve the positioning accuracy of traditional GPS, and can obtain centimeter-level positioning accuracy. [0003] RTK / PPK positioning technology is used for UAV aerial photography, which can greatly improve the POS data accuracy of photos. Since the RTK / PPK positioning point is the phase center of the antenna, the antenna of the existing RTK / PPK system is fixed on the UAV. The structure, the R...

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Problems solved by technology

[0003] RTK / PPK positioning technology is used for UAV aerial photography, which can greatly improve the POS data accuracy of photos. Since the RTK / PPK positioning point is the phase center of the antenna, the antenna of the existing RTK / PPK system is fixed on the UAV. The structure, the RTK / PPK antenna and the camera lens have a certain distance, and the attitude of the UAV fuselage changes continuously during the aerial photography, which leads to the constant change of the distance between the projection position of the RTK / PPK antenna phase center and the optical center of the camera lens, which makes the aerial photo POS data deviation

[0004] At present, there are two ways to solve the tilt deviation of the UAV fuselage above. One is to install more than two RTK / PPK systems on the UAV to perform offset calculation and correction. This technology greatly increases the payload of the UAV. , the electronic equipment is more complicated; the second is to increase the attitude recording system of the drone body, record the attitude information of the fuselage in real time, and correct the deviation through software calculation offline. process, the software and hardware costs of the above two methods are relatively high

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