薛武, 张永生, 王涛, 于英, 曹彬才. 无人直升机面阵影像高精度对地定位[J]. 武汉大学学报 ( 信息科学版), 2019, 44(2): 246-253. DOI: 10.13203/j.whugis20170075
引用本文: 薛武, 张永生, 王涛, 于英, 曹彬才. 无人直升机面阵影像高精度对地定位[J]. 武汉大学学报 ( 信息科学版), 2019, 44(2): 246-253. DOI: 10.13203/j.whugis20170075
XUE Wu, ZHANG Yongsheng, WANG Tao, YU Ying, CAO Bincai. High Precision Positioning of Unmanned Helicopter with Area Array Images[J]. Geomatics and Information Science of Wuhan University, 2019, 44(2): 246-253. DOI: 10.13203/j.whugis20170075
Citation: XUE Wu, ZHANG Yongsheng, WANG Tao, YU Ying, CAO Bincai. High Precision Positioning of Unmanned Helicopter with Area Array Images[J]. Geomatics and Information Science of Wuhan University, 2019, 44(2): 246-253. DOI: 10.13203/j.whugis20170075

无人直升机面阵影像高精度对地定位

High Precision Positioning of Unmanned Helicopter with Area Array Images

  • 摘要: 为提高无人机对地定位精度,必须对系统进行几何标定与补偿。首先进行了直接地理定位实验,检验系统在不经过任何标定时的直接地理定位精度;然后进行了自由网光束法平差实验,以验证无地面控制点时系统的定位精度;最后进行了POS辅助自检校光束法平差,对内方位元素变化、相机畸变、IMU安置角进行标定和补偿,并验证了系统误差补偿后的直接地理定位精度。实验结果表明,未经几何标定的无人直升机直接地理定位的精度可满足应急条件下测绘保障要求;少量地面控制点的辅助下定位精度远优于1:500比例尺地形图测图的要求,可用于常规测绘生产;系统误差补偿后,直接地理定位精度有明显提升:平面精度提高46.37%,高程精度提高62.49%;系统误差标定和补偿方法正确、有效,无人直升机具有很好的测绘应用前景。

     

    Abstract: To improve the accuracy of unmanned helicopter, geometry calibration is compulsory. Direct geo-reference experiment is first carried out to verify system's accuracy without any calibration; and then the free network bundle adjustment experiment is undertaken to verify the positioning accuracy of the system without ground control points; finally, a self calibration bundle adjustment is undertaken to calibrate and compensate the camera distortion, interior elements changes, IMU alignment angle. Experimental results show that the unmanned helicopter has high positioning accuracy. The accuracy of direct geo-reference can meet the requirements of emergency mapping, and can be aided by a few ground control points, the positioning accuracy is much better than that of 1:500 mapping requirements, which can be used for conventional surveying and mapping production. After system error compensation, the direct geo-reference accuracy has improved significantly:the planar accuracy has improved by 46.37% and the height accuracy has improved by 62.49%. The flight test of Songshan calibration field shows that the method of calibration and compensation is correct and effective, and the unmanned helicopter has a good prospect for surveying and mapping applications.

     

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