本申请是申请日为2016年07月21日、申请号为201610579121.5、发明名称为“一种基于POS设备与数字航测相机的校验方法及装置”的申请的分案申请。This application is a divisional application of an application with an application date of July 21, 2016, an application number of 201610579121.5, and an invention titled "A verification method and device based on POS equipment and a digital aerial survey camera".
技术领域technical field
本发明涉及测量与遥感技术，尤其涉及一种基于POS设备与数字航测相机的校验方法及装置。The invention relates to measurement and remote sensing technology, in particular to a verification method and device based on POS equipment and a digital aerial survey camera.
背景技术Background technique
惯性测量单元(IMU，Inertial Measurement Uint)/差分全球定位系统(DGPS，Differential Global Positioning System)辅助航空摄影测量技术在国际上属于新兴技术，随着技术进步和应用实践日益成熟，并逐步应用到航空遥感的各个领域。 IMU/DGPS系统已经成为数字航摄仪以及机载激光扫描系统的必备装备。目前，通过在IMU/DGPS系统中加装定位定向系统(POS，Position and Orientation System)设备，形成航空遥感集成系统，可直接测定IMU/DGPS系统的姿态参数，通过对IMU、DGPS数据进行联合处理，可以快速获取测图所需的高精度外方位元素。Inertial Measurement Unit (IMU, Inertial Measurement Uint)/DGPS, Differential Global Positioning System (DGPS, Differential Global Positioning System) assisted aerial photogrammetry technology is an emerging technology in the world. various fields of remote sensing. The IMU/DGPS system has become the necessary equipment for digital aerial cameras and airborne laser scanning systems. At present, through the installation of positioning and orientation system (POS, Position and Orientation System) equipment in the IMU/DGPS system, an integrated aerial remote sensing system can be formed, which can directly measure the attitude parameters of the IMU/DGPS system, and through joint processing of IMU and DGPS data , which can quickly obtain the high-precision exterior orientation elements required for mapping.
但该航空遥感集成系统，存在系统误差，其系统误差的来源如下：However, the integrated aerial remote sensing system has systematic errors, and the sources of the system errors are as follows:
①IMU/DGPS系统随时间累计的漂移误差；① The drift error accumulated by the IMU/DGPS system over time;
②系统集成误差；② System integration error;
③系统时间同步误差；③System time synchronization error;
④地球曲率引起的误差；④ Error caused by the curvature of the earth;
⑤大气折光差。⑤ Atmospheric refractive difference.
其中，第一项误差属于航空遥感集成系统本身固有的误差，对于航空遥感集成系统的漂移误差，主要是陀螺仪所固有的随机误差，在相应POS数据后处理软件中可通过相应多项式模型予以拟合处理；Among them, the first error belongs to the inherent error of the aerial remote sensing integrated system itself. For the drift error of the aerial remote sensing integrated system, it is mainly the inherent random error of the gyroscope, which can be simulated by the corresponding polynomial model in the corresponding POS data post-processing software. joint processing;
后两项属于传统摄影测量固有的误差，可直接引用传统摄影测量的研究成果和经验公式；The last two items belong to the inherent errors of traditional photogrammetry, and the research results and empirical formulas of traditional photogrammetry can be directly quoted;
第二项和第三项属于集成系统引进的误差，即在航空遥感集成系统中，由于POS设备与数字航测相机集成而引进的误差，称之为系统集成误差。其中，The second and third items belong to the error introduced by the integrated system, that is, in the integrated system of aerial remote sensing, the error introduced due to the integration of POS equipment and digital aerial survey camera is called system integration error. in,
由三个角元素和三个线元素组成的外方位元素的偏移值(偏心分量)是引起系统集成误差的主要因素。外方位元素是用于描述摄影中心的空间坐标值和姿态的参数，其中，三个线元素用于描述摄影中心的空间坐标值；另外三个角元素用于描述像片的空间姿态。理想情况下，在POS设备辅助航空摄影测量时， IMU一般与数字航测相机紧密固联。IMU本体坐标系与数字航测相机的本体坐标系的对应的轴应该平行，但由于集成安装的原因，将IMU与数字航测相机固联之后，两坐标系的相应轴实际是不可能平行的，相应轴间的夹角称为偏心角，分解在三个方向，形成三个角元素，该偏心角在实际应用中必须检校，并在坐标转换中予以考虑。The offset value (eccentric component) of the outer orientation element, which consists of three corner elements and three line elements, is the main factor that causes system integration errors. Outer orientation elements are parameters used to describe the spatial coordinates and attitude of the photographic center, among which, three line elements are used to describe the spatial coordinates of the photographic center; the other three corner elements are used to describe the spatial attitude of the photo. Ideally, when POS equipment assists aerial photogrammetry, the IMU is generally closely connected with the digital aerial survey camera. The corresponding axes of the body coordinate system of the IMU and the body coordinate system of the digital aerial survey camera should be parallel, but due to integrated installation, after the IMU and the digital aerial survey camera are fixedly connected, the corresponding axes of the two coordinate systems are actually impossible to be parallel. The angle between the axes is called the eccentric angle, which is decomposed in three directions to form three angular elements. The eccentric angle must be checked in practical applications and taken into account in coordinate conversion.
地球曲率以及数字航测相机内方位元素中焦距的变化引起线元素分量的偏移值。地球曲率的影响表现在摄影测量区域网平差中采用的数学模型的坐标系统与确定区域网绝对空间位置的控制点坐标系统不一致。航摄条件的变化引起焦距的变化从而使得航空摄影测量地面坐标产生变化。The curvature of the earth and the change of the focal length in the azimuth element in the digital aerial camera cause the offset value of the line element component. The influence of the curvature of the earth is manifested in the inconsistency between the coordinate system of the mathematical model used in the photogrammetric block adjustment and the coordinate system of the control points that determine the absolute spatial position of the block network. The change of aerial photography conditions causes the change of focal length, which makes the ground coordinates of aerial photogrammetry change.
对于系统时间同步误差，由于航摄飞机的飞行速度一般为50～550km/h。由于短时间内，飞行速度不可能发生太大变化，假设线性内插误差是POS观测历元距离的1％。对于飞行速度为600km/h的飞机和输出频率为200Hz的航空遥感集成系统，时间同步误差约为0.8cm。因而，对于摄影测量而言，这一数量级完全可以忽略不计。For the system time synchronization error, the flight speed of the aerial photography aircraft is generally 50-550km/h. Since the flight speed cannot change much in a short period of time, it is assumed that the linear interpolation error is 1% of the distance of the POS observation epoch. For an aircraft with a flight speed of 600km/h and an integrated aerial remote sensing system with an output frequency of 200Hz, the time synchronization error is about 0.8cm. Therefore, for photogrammetry, this order of magnitude is completely negligible.
目前，对于POS设备与数字航测相机集成而引进的系统集成误差，还没有有效的校验方法。At present, there is no effective calibration method for the system integration errors introduced by the integration of POS equipment and digital aerial survey cameras.
发明内容Contents of the invention
有鉴于此，本发明实施例提供一种基于POS设备与数字航测相机的校验方法及装置，能够对系统集成误差进行有效校验。In view of this, an embodiment of the present invention provides a verification method and device based on a POS device and a digital aerial survey camera, which can effectively verify system integration errors.
第一方面，本发明实施例提供一种基于POS设备与数字航测相机的校验方法，包括：In the first aspect, an embodiment of the present invention provides a verification method based on a POS device and a digital aerial survey camera, including:
利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素；Using the attitude information recorded by the POS device, after conversion, the initial value of the outer orientation element of the direct geolocation of the image is obtained, and the outer orientation element is obtained as the true value by using the single-chip resection method, and the outer orientation element is calculated;
采用基于POS设备的位置姿态参数和基于GPS设备辅助空三的外方位元素交互验证的方法，对获取的多传感器数据进行检核；Using the method of interactive verification based on the position and attitude parameters of the POS device and the outer orientation elements based on the GPS device-assisted air triangulation, the acquired multi-sensor data is checked;
利用所述影像直接地理定位外方位元素初值以及直接利用控制点绝对定向，均匀采集检校场外业检查点，进行校验；Using the image to directly geolocate the initial value of the outer orientation element and directly using the absolute orientation of the control point to evenly collect the inspection points outside the inspection site for verification;
利用所求测区的外方位元素安置定向；Use the outer orientation elements of the survey area to place the orientation;
利用所求测区的外方位元素安置定向包括：Using the outer orientation elements of the survey area to arrange orientation includes:
利用测区曝光时刻IMU姿态获取验证飞行曝光点的姿态；Obtain and verify the attitude of the flight exposure point by using the IMU attitude at the exposure time of the measuring area;
利用验证的飞行曝光点的姿态以及获取的偏心角元素及偏心线元素，验证飞行影像的外方位元素；Use the verified attitude of the flight exposure point and the obtained eccentric angle elements and eccentric line elements to verify the outer orientation elements of the flight image;
利用验证的飞行影像的外方位元素进行DG精度验证；Use the outer orientation elements of the verified flight images to verify the DG accuracy;
所述利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素包括：The posture information recorded by the POS device is converted to obtain the initial value of the image direct geolocation outer orientation element, and the single-chip resection method is used to obtain the outer orientation element as the true value, and the outer orientation element is solved to include:
通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值；Calculate the true value of the outer orientation element of the digital aerial survey camera by encrypting the ground calibration field through air three;
与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距，所述偏心角为在IMU与数字航测相机固联后，两坐标系的相应轴间的夹角；Compared with the angular elements of the digital aerial survey camera calculated by the integrated navigation, the eccentricity angle and eccentric distance are calculated by the least square method. The eccentricity angle is the angle between the corresponding axes of the two coordinate systems after the IMU and the digital aerial survey camera are fixedly connected. ;
所述偏心距求解按下式：The eccentricity solution is as follows:
式中，In the formula,
为影像的三个外方位元素； are the three outer orientation elements of the image;
为IMU中心与相机中心的矢量分别在X轴、Y轴以及Z轴方向的投影，即X轴偏心距、Y轴偏心距以及Z轴偏心距， It is the projection of the vectors of the IMU center and the camera center in the X-axis, Y-axis and Z-axis directions respectively, that is, the X-axis eccentricity, the Y-axis eccentricity and the Z-axis eccentricity,
式中，为XS的均值；In the formula, is the mean value of XS ;
通过组合导航数据处理之后得到； Obtained after processing the combined navigation data;
将计算的偏心角和偏心距改正整个测区的POS数据，计算出整个测区影像的外方位元素，外方位角元素的计算公式如下：Correct the POS data of the entire survey area with the calculated eccentricity and eccentricity, and calculate the outer azimuth element and outer azimuth element of the entire survey area image The calculation formula is as follows:
式中，In the formula,
为地心坐标系到地面辅助坐标系的旋转矩阵； is the rotation matrix from the geocentric coordinate system to the ground auxiliary coordinate system;
为导航坐标系到地心坐标系的选择矩阵； is the selection matrix from the navigation coordinate system to the geocentric coordinate system;
为IMU本体坐标系到导航坐标系的旋转矩阵； is the rotation matrix from the IMU body coordinate system to the navigation coordinate system;
为像空间坐标系到航摄仪本体坐标系的旋转矩阵； is the rotation matrix from the image space coordinate system to the aerial camera body coordinate system;
为偏心角组成的旋转矩阵； is the rotation matrix composed of eccentric angles;
通过解算数据和已有的固有关系得到。 It is obtained by solving the data and the existing inherent relationship.
结合第一方面，在第一方面的第一种实施方式中，所述通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值包括：In combination with the first aspect, in the first implementation manner of the first aspect, the calculation of the true value of the outer orientation element of the digital aerial survey camera by performing aerial three-dimensional encryption on the ground calibration field includes:
在测区布设足够数量控制点，空三加密求解影像的外方位元素，作为外方位元素真值；A sufficient number of control points are laid out in the survey area, and the outer azimuth element of the image is solved by spatial three encryption, which is used as the true value of the outer azimuth element;
所述在测区布设足够数量控制点，空三加密求解影像的外方位元素，作为外方位元素真值包括：A sufficient number of control points are laid out in the survey area, and the outer orientation element of the image is solved by spatial three encryption, as the true value of the outer orientation element includes:
对影像进行处理，获取测区满足要求的影像；Process the images to obtain images that meet the requirements of the survey area;
对获取的影像进行单片后方交会；Perform single-slice resection on the acquired images;
获取像点坐标；Get image point coordinates;
利用空三加密求解影像，获取检校飞行影像的外方位元素真值。Use aerotriangulation to solve the image, and obtain the true value of the outer orientation element of the calibration flight image.
结合第一方面，在第一方面的第二种实施方式中，所述与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距包括：With reference to the first aspect, in the second implementation manner of the first aspect, the calculation of the eccentricity angle and eccentricity through the least squares method includes:
对获取的POS数据进行处理，解算出数字航测相机的曝光时间，制作成 Mark文件导入组合导航后处理软件，利用所述组合导航后处理软件获取测区曝光时刻IMU姿态、IMU中心的西安80坐标；Process the acquired POS data, calculate the exposure time of the digital aerial survey camera, make a Mark file and import it into the integrated navigation post-processing software, and use the integrated navigation post-processing software to obtain the IMU attitude at the exposure time of the measurement area and the Xi'an 80 coordinates of the IMU center ;
获取地面辅助坐标系中央原点的经纬度；Obtain the latitude and longitude of the central origin of the ground auxiliary coordinate system;
构建误差方程式，求解偏心角的最佳估计；Construct the error equation to solve the best estimate of the eccentricity angle;
所述求解偏心角的最佳估计包括：The best estimate of the solution eccentricity includes:
利用测区曝光时刻IMU姿态获取检校曝光点的姿态；Use the IMU attitude at the exposure time of the measurement area to obtain the attitude of the calibration exposure point;
获取检校控制点坐标；Obtain the coordinates of the calibration control point;
依据所述检校曝光点的姿态、检校控制点坐标以及外方位元素真值，获取偏心角元素及偏心线元素。According to the posture of the calibration exposure point, the coordinates of the calibration control point and the true value of the outer orientation element, the eccentric angle element and the eccentric line element are obtained.
结合第一方面，在第一方面的第三种实施方式中，所述将计算的偏心角和偏心距改正整个测区的POS数据，计算出整个测区影像的外方位元素包括：In combination with the first aspect, in the third implementation manner of the first aspect, the POS data of the entire survey area is corrected by the calculated eccentric angle and eccentric distance, and the calculation of the outer orientation elements of the entire survey area image includes:
将求解得到的偏心角的最佳估计代入预先设置的公式，结合POS数据求解测区所需要的外方位角元素；Substituting the best estimate of the eccentric angle obtained from the solution into the preset formula, and combining the POS data to solve the outer azimuth element required by the survey area;
利用组合导航输出的位置参数与外方位线元素真值之间的关系解求偏心距和偏心角；Using the relationship between the position parameters output by the integrated navigation and the true value of the outer bearing line elements to solve the eccentricity and eccentricity angle;
将求解的偏心角偏心距用来改正所求测区POS数据，获取所求测区的外方位元素。Use the solved eccentric angle and eccentric distance to correct the POS data of the measured area and obtain the outer orientation elements of the measured area.
第二方面，本发明实施例提供一种基于POS设备与数字航测相机的校验装置，包括：外方位元素解算模块、检核模块、校验模块以及安置定向模块，其中，In the second aspect, an embodiment of the present invention provides a verification device based on POS equipment and a digital aerial survey camera, including: an outer orientation element calculation module, a verification module, a verification module, and a placement and orientation module, wherein,
外方位元素解算模块，用于利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素；The outer orientation element calculation module is used to convert the attitude information recorded by the POS device to obtain the initial value of the outer orientation element for direct geolocation of the image, and use the single-chip resection method to obtain the outer orientation element as the true value, and calculate the outer orientation element ;
检核模块，用于采用基于POS设备的位置姿态参数和基于GPS设备辅助空三的外方位元素交互验证的方法，对获取的多传感器数据进行检核；The checking module is used to check the multi-sensor data obtained by adopting the method of interactive verification based on the position and attitude parameters of the POS equipment and the outer orientation elements based on the GPS equipment-assisted air triangulation;
校验模块，用于利用所述影像直接地理定位外方位元素初值以及直接利用控制点绝对定向，均匀采集检校场外业检查点，进行校验；The verification module is used to use the image to directly geolocate the initial value of the outer orientation element and directly use the absolute orientation of the control point to evenly collect the field inspection points of the inspection site for verification;
安置定向模块、用于利用所求测区的外方位元素安置定向；A placement orientation module is used to arrange orientation using the outer orientation elements of the measured area;
利用所求测区的外方位元素安置定向包括：Using the outer orientation elements of the survey area to arrange orientation includes:
利用测区曝光时刻IMU姿态获取验证飞行曝光点的姿态；Obtain and verify the attitude of the flight exposure point by using the IMU attitude at the exposure time of the measuring area;
利用验证的飞行曝光点的姿态以及获取的偏心角元素及偏心线元素，验证飞行影像的外方位元素；Use the verified attitude of the flight exposure point and the obtained eccentric angle elements and eccentric line elements to verify the outer orientation elements of the flight image;
利用验证的飞行影像的外方位元素进行DG精度验证；Use the outer orientation elements of the verified flight images to verify the DG accuracy;
所述外方位元素解算模块包括：真值计算单元、偏心角距计算单元以及外方位元素计算单元，其中，The outer orientation element calculation module includes: a true value calculation unit, an eccentric angular distance calculation unit, and an outer orientation element calculation unit, wherein,
真值计算单元，用于通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值；The true value calculation unit is used to calculate the true value of the outer orientation element of the digital aerial survey camera by encrypting the ground calibration field through air three;
偏心角距计算单元，用于与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距，所述偏心角为在IMU与数字航测相机固联后，两坐标系的相应轴间的夹角；The eccentric angular distance calculation unit is used to compare with the angular elements of the digital aerial survey camera calculated by the integrated navigation, and calculate the eccentric angle and eccentric distance by the least square method. The eccentric angle is after the IMU and the digital aerial survey camera are fixedly connected. The angle between the corresponding axes of the system;
所述偏心距求解按下式：The eccentricity solution is as follows:
式中，In the formula,
为影像的三个外方位元素； are the three outer orientation elements of the image;
为IMU中心与相机中心的矢量分别在X轴、Y轴以及Z轴方向的投影，即X轴偏心距、Y轴偏心距以及Z轴偏心距， It is the projection of the vectors of the IMU center and the camera center in the X-axis, Y-axis and Z-axis directions respectively, that is, the X-axis eccentricity, the Y-axis eccentricity and the Z-axis eccentricity,
式中，为XS的均值；In the formula, is the mean value of XS ;
通过组合导航数据处理之后得到； Obtained after processing the combined navigation data;
外方位元素计算单元，用于将计算的偏心角和偏心距改正整个测区的POS 数据，计算出整个测区影像的外方位元素，外方位角元素的计算公式如下：The outer azimuth element calculation unit is used to correct the calculated eccentricity angle and eccentricity to the POS data of the entire survey area, and calculate the outer azimuth element and outer azimuth element of the entire survey area image The calculation formula is as follows:
式中，In the formula,
为地心坐标系到地面辅助坐标系的旋转矩阵； is the rotation matrix from the geocentric coordinate system to the ground auxiliary coordinate system;
为导航坐标系到地心坐标系的选择矩阵； is the selection matrix from the navigation coordinate system to the geocentric coordinate system;
为IMU本体坐标系到导航坐标系的旋转矩阵； is the rotation matrix from the IMU body coordinate system to the navigation coordinate system;
为像空间坐标系到航摄仪本体坐标系的旋转矩阵； is the rotation matrix from the image space coordinate system to the aerial camera body coordinate system;
为偏心角组成的旋转矩阵； is the rotation matrix composed of eccentric angles;
通过解算数据和已有的固有关系得到。 It is obtained by solving the data and the existing inherent relationship.
结合第二方面，在第二方面的第一种实施方式中，所述真值计算单元包括：影像获取子单元、交会子单元、像点坐标获取子单元以及真值计算子单元，其中，With reference to the second aspect, in the first implementation manner of the second aspect, the truth value calculation unit includes: an image acquisition subunit, an intersection subunit, an image point coordinate acquisition subunit, and a truth value calculation subunit, wherein,
影像获取子单元，用于对影像进行处理，获取测区满足要求的影像；The image acquisition subunit is used to process the image and acquire the image that meets the requirements of the survey area;
交会子单元，用于对获取的影像进行单片后方交会；The rendezvous subunit is used to perform single-slice resection on the acquired images;
像点坐标获取子单元，用于获取像点坐标；The image point coordinate acquisition subunit is used to obtain the image point coordinates;
真值计算子单元，用于利用空三加密求解影像，获取检校飞行影像的外方位元素真值。The truth value calculation sub-unit is used to solve the image using aerotriangulation encryption, and obtain the true value of the outer orientation element of the calibration flight image.
结合第二方面，在第二方面的第二种实施方式中，所述偏心角距计算单元包括：处理子单元、经纬度获取子单元以及估计子单元，其中，With reference to the second aspect, in the second implementation manner of the second aspect, the eccentricity calculation unit includes: a processing subunit, a longitude and latitude acquisition subunit, and an estimation subunit, wherein,
处理子单元，用于对获取的POS数据进行处理，解算出数字航测相机的曝光时间，制作成Mark文件导入组合导航后处理软件，利用所述组合导航后处理软件获取测区曝光时刻IMU姿态、IMU中心的西安80坐标；The processing sub-unit is used to process the acquired POS data, solve the exposure time of the digital aerial survey camera, make a Mark file and import it into the integrated navigation post-processing software, and use the integrated navigation post-processing software to obtain the IMU attitude, Xi'an 80 coordinates of the center of the IMU;
经纬度获取子单元，用于获取地面辅助坐标系中央原点的经纬度；The latitude and longitude acquisition subunit is used to acquire the latitude and longitude of the central origin of the ground auxiliary coordinate system;
估计子单元，用于构建误差方程式，求解偏心角的最佳估计；所述求解偏心角的最佳估计包括：An estimation subunit is used to construct an error equation to solve the best estimate of the eccentric angle; the best estimate of the solved eccentric angle includes:
利用测区曝光时刻IMU姿态获取检校曝光点的姿态；Use the IMU attitude at the exposure time of the measurement area to obtain the attitude of the calibration exposure point;
获取检校控制点坐标；Obtain the coordinates of the calibration control point;
依据所述检校曝光点的姿态、检校控制点坐标以及外方位元素真值，获取偏心角元素及偏心线元素。According to the posture of the calibration exposure point, the coordinates of the calibration control point and the true value of the outer orientation element, the eccentric angle element and the eccentric line element are obtained.
结合第二方面，在第二方面的第三种实施方式中，所述外方位元素计算单元包括：第一求解子单元、偏心角距获取子单元以及第二求解子单元，其中，With reference to the second aspect, in the third implementation manner of the second aspect, the outer orientation element calculation unit includes: a first solving subunit, an eccentric angular distance obtaining subunit, and a second solving subunit, wherein,
第一求解子单元，用于将求解得到的偏心角的最佳估计代入预先设置的公式，结合POS数据求解测区所需要的外方位角元素；The first solving sub-unit is used for substituting the best estimate of the eccentric angle obtained from the solution into a preset formula, and combining the POS data to solve the outer azimuth element required by the survey area;
偏心角距获取子单元，用于利用组合导航输出的位置参数与外方位线元素真值之间的关系解求偏心距和偏心角；The eccentric angular distance acquisition subunit is used to solve the eccentric distance and eccentric angle by using the relationship between the position parameter output by the combined navigation and the true value of the outer bearing line element;
第二求解子单元，用于将求解的偏心角偏心距用来改正所求测区POS数据，获取所求测区的外方位元素。The second solving sub-unit is used to use the solved eccentric angle and eccentric distance to correct the POS data of the measured area, and obtain the outer orientation element of the measured area.
本发明实施例提供的一种基于POS设备与数字航测相机的校验方法及装置，通过利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素；采用基于POS设备的位置姿态参数和基于GPS设备辅助空三的外方位元素交互验证的方法，对获取的多传感器数据进行检核；利用所述影像直接地理定位外方位元素初值以及直接利用控制点绝对定向，均匀采集检校场外业检查点，进行校验，能够对系统集成误差进行有效校验。The embodiment of the present invention provides a verification method and device based on POS equipment and a digital aerial survey camera. By using the attitude information recorded by the POS equipment, the initial value of the outer orientation element of the image is obtained after conversion, and the single-chip resection is used. The method obtains the outer orientation element as the true value, and calculates the outer orientation element; adopts the method of interactive verification based on the position and attitude parameters of the POS device and the outer orientation element based on the GPS equipment-assisted air triangulation, and checks the acquired multi-sensor data; The image directly geo-locates the initial value of the outer orientation element and directly utilizes the absolute orientation of the control point to evenly collect and verify the off-site inspection points, which can effectively verify the system integration error.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1为本发明的实施例一基于POS设备与数字航测相机的校验方法流程示意图；Fig. 1 is a schematic flow chart of a verification method based on a POS device and a digital aerial survey camera according to an embodiment of the present invention;
图2为本发明的实施例二基于POS设备与数字航测相机的校验装置结构示意图。FIG. 2 is a schematic structural diagram of a verification device based on a POS device and a digital aerial survey camera according to Embodiment 2 of the present invention.
具体实施方式Detailed ways
下面结合附图对本发明实施例进行详细描述。Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
应当明确，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本发明保护的范围。It should be clear that the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
图1为本发明的实施例一基于POS设备与数字航测相机的校验方法流程示意图，如图1所示，本实施例的方法可以包括：Fig. 1 is a schematic flow chart of an embodiment of the present invention-based verification method of a POS device and a digital aerial survey camera. As shown in Fig. 1, the method of this embodiment may include:
步骤101，利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素；Step 101, using the posture information recorded by the POS device, after conversion, the initial value of the outer orientation element of the direct geolocation of the image is obtained, and the outer orientation element is obtained as the true value by using the single-chip resection method, and the outer orientation element is calculated;
本实施例中，数字航测相机和IMU关系的检校是指偏心角和偏心距的检校。作为一可选实施例，利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素包括：In this embodiment, the verification of the relationship between the digital aerial survey camera and the IMU refers to the verification of the eccentricity angle and the eccentricity distance. As an optional embodiment, the attitude information recorded by the POS device is used to obtain the initial value of the outer orientation element of the direct geolocation of the image after conversion, and the single-chip resection method is used to obtain the outer orientation element as the true value, and the calculation of the outer orientation element includes:
通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值；Calculate the true value of the outer orientation element of the digital aerial survey camera by encrypting the ground calibration field through air three;
与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距；Compared with the angular elements of the digital aerial survey camera calculated by the integrated navigation, the eccentricity angle and eccentricity are calculated by the least square method;
将计算的偏心角和偏心距改正整个测区的POS数据，计算出整个测区影像的外方位元素。Correct the POS data of the entire survey area with the calculated eccentric angle and eccentric distance, and calculate the outer azimuth elements of the image of the entire survey area.
本实施例中，需要在检校场地面布设一定数量的像控点，需要仪器RTK。根据获取的数据分为POS数据与影像数据。In this embodiment, a certain number of image control points need to be arranged on the ground of the calibration site, and the instrument RTK is required. According to the acquired data, it is divided into POS data and image data.
本实施例中，在系统集成误差中，偏心角和偏心分量的求解是集成系统检校的关键技术，而进行集成检校的目的是得到集成系统误差，即求解偏心角和线元素偏心分量。即通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值；与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距的具体流程如下：In this embodiment, in the system integration error, the solution of eccentricity angle and eccentricity component is the key technology of integrated system calibration, and the purpose of integrated calibration is to obtain the integrated system error, that is, to solve the eccentricity angle and line element eccentricity component. That is to calculate the true value of the outer azimuth element of the digital aerial survey camera by encrypting the ground calibration field through air three; compare with the angle element of the digital aerial survey camera calculated by the integrated navigation, and calculate the specific process of eccentricity angle and eccentricity by the least square method as follows:
在IMU与数字航测相机固联后，两坐标系的相应轴间的夹角为偏心角，分解在三个方向，形成三个角元素，记为ex、ey、ez。After the IMU is fixedly connected to the digital aerial survey camera, the angle between the corresponding axes of the two coordinate systems is the eccentric angle, which is decomposed in three directions to form three angular elements, which are denoted asex ,ey , andez .
航摄仪(数字航测相机)本体坐标系(c)到IMU本体坐标系(b)的旋转矩阵由IMU与数字航测相机之间固定的安装角度(偏心角)确定，如式1.1所示：The rotation matrix of the aerial camera (digital aerial survey camera) body coordinate system (c) to the IMU body coordinate system (b) is determined by the fixed installation angle (eccentricity angle) between the IMU and the digital aerial survey camera, as shown in formula 1.1:
式中，In the formula,
ex、ey、ez均为一个微小量(＜3°)，因而，该旋转矩阵可采用微分旋转矩阵即可，如式(1.2)所示：ex , ey , and ez are all small quantities (<3°), so the rotation matrix can be a differential rotation matrix, as shown in formula (1.2):
本实施例中，如何利用上述由偏心角元素组成的旋转矩阵，建立航空遥感集成系统后处理数据与摄影测量外方位元素之间的关系，是系统集成误差检校的关键。根据坐标系统转换关系，构建式(1.3)：In this embodiment, how to use the above-mentioned rotation matrix composed of eccentric angle elements to establish the relationship between the post-processing data of the aerial remote sensing integration system and the external orientation elements of photogrammetry is the key to system integration error correction. According to the transformation relationship of the coordinate system, formula (1.3) is constructed:
式中，In the formula,
为像空间坐标系到地面辅助坐标系的旋转矩阵；即所要求解的摄影测量外方位角元素。 It is the rotation matrix from the image space coordinate system to the ground auxiliary coordinate system; that is, the outer azimuth element of the photogrammetry to be solved.
为地心坐标系到地面辅助坐标系的旋转矩阵； is the rotation matrix from the geocentric coordinate system to the ground auxiliary coordinate system;
为导航坐标系到地心坐标系的选择矩阵； is the selection matrix from the navigation coordinate system to the geocentric coordinate system;
为IMU本体坐标系到导航坐标系的旋转矩阵； is the rotation matrix from the IMU body coordinate system to the navigation coordinate system;
为像空间坐标系到航摄仪本体坐标系的旋转矩阵； is the rotation matrix from the image space coordinate system to the aerial camera body coordinate system;
为偏心角组成的旋转矩阵。 is the rotation matrix composed of eccentric angles.
本实施例中，可以通过解算数据和已有的固有关系得到，因而，如果能够确定由偏心角组成的旋转矩阵即则可直接确定外方位角元素In this example, It can be obtained by solving the data and the existing inherent relationship. Therefore, if the rotation matrix composed of eccentric angles can be determined, that is Then the outer azimuth element can be directly determined
本实施例中，偏心距求解可按式(1.4)：In this embodiment, the eccentricity can be solved according to formula (1.4):
式中，In the formula,
为影像的三个外方位元素； are the three outer orientation elements of the image;
为IMU中心与相机中心的矢量分别在X轴、Y轴以及Z轴方向的投影，即X轴偏心距、Y轴偏心距以及Z轴偏心距。例如， It is the projection of the vectors of the IMU center and the camera center in the X-axis, Y-axis, and Z-axis directions, namely, the X-axis eccentricity, the Y-axis eccentricity, and the Z-axis eccentricity. E.g,
式中，为XS的均值。In the formula, is the mean ofXS .
可通过组合导航数据处理之后得到，例如，使用Inertial Explorer软件，通过添加基站GPS数据、移动站数据、IMU数据，进行全球导航卫星系统(GNSS， GlobalNavigation Satellite System)解算，然后，与IMU数据松组合解算，再进行组合与平滑，得到该参数。 It can be obtained after combined navigation data processing, for example, using Inertial Explorer software, by adding base station GPS data, mobile station data, and IMU data to perform Global Navigation Satellite System (GNSS, GlobalNavigation Satellite System) calculation, and then loosen with IMU data Combination calculation, and then combination and smoothing, get the parameter.
结合检校场求解的外方位元素真值，即可求得偏心距。将求解的偏心距代入式(1.4)，可得到测区外方位线元素，即旋转矩阵：Combined with the true value of the outer orientation element solved by the calibration field, the eccentricity can be obtained. Substituting the solved eccentricity into formula (1.4), the element of the bearing line outside the survey area can be obtained, that is, the rotation matrix:
由外方位线元素以及外方位角元素，可以得到外方位元素。The outer bearing element can be obtained from the outer bearing line element and the outer bearing angle element.
本实施例中，POS所获得的外方位元素经过偏心角和线元素偏心分量(偏心距)的改正得到测区其他影像外方位元素。In this embodiment, the outer orientation elements obtained by the POS are corrected by the eccentric angle and the eccentric component (eccentric distance) of the line elements to obtain the outer orientation elements of other images in the survey area.
本实施例中，通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值包括：In this embodiment, the true value of the outer orientation element of the digital aerial survey camera is calculated by encrypting the ground calibration field through aerial three-dimensional encryption, including:
在测区布设足够数量控制点，空三加密求解影像的外方位元素，作为外方位元素真值。A sufficient number of control points are arranged in the survey area, and the outer orientation element of the image is solved by spatial three encryption, which is used as the true value of the outer orientation element.
本实施例中，根据影像覆盖范围内一定数量的分布合理的地面控制点(已知其像点和地面点的坐标)，利用共线条件方程求解像片外方位元素。In this embodiment, according to a certain number of reasonably distributed ground control points (the coordinates of their image points and ground points are known) within the coverage of the image, the collinear conditional equation is used to solve the orientation elements outside the image.
作为一可选实施例，在测区布设足够数量控制点，空三加密求解影像的外方位元素，作为外方位元素真值包括：As an optional embodiment, a sufficient number of control points are laid in the survey area, and the outer orientation element of the image is solved by spatial three encryption, as the true value of the outer orientation element includes:
A01，对影像进行处理，获取测区满足要求的影像；A01, process the image and obtain the image that meets the requirements of the survey area;
A02，对获取的影像进行单片后方交会；A02, performing single-slice resection on the acquired images;
A03，获取像点坐标；A03, obtaining image point coordinates;
A04，利用空三加密求解影像，获取检校飞行影像的外方位元素真值。A04, use aerotriangulation encryption to solve the image, and obtain the true value of the outer orientation element of the calibration flight image.
本实施例中，作为一可选实施例，与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距包括：In this embodiment, as an optional embodiment, compared with the angular elements of the digital aerial survey camera calculated by the integrated navigation, the calculation of the eccentricity angle and eccentricity by the least square method includes:
A11，对获取的POS数据进行处理，解算出数字航测相机的曝光时间，制作成Mark文件导入组合导航后处理软件，利用所述组合导航后处理软件获取测区曝光时刻IMU姿态、IMU中心的西安80坐标；A11, process the acquired POS data, calculate the exposure time of the digital aerial survey camera, make a Mark file and import it into the integrated navigation post-processing software, and use the integrated navigation post-processing software to obtain the IMU attitude at the exposure time of the measurement area, the Xi'an of the IMU center 80 coordinates;
A12，获取地面辅助坐标系中央原点的经纬度；A12, obtain the latitude and longitude of the central origin of the ground auxiliary coordinate system;
A13，构建误差方程式，求解偏心角的最佳估计。A13, construct the error equation to solve the best estimate of the eccentricity angle.
本实施例中，求解偏心角的最佳估计包括：In this embodiment, the best estimate for solving the eccentricity angle includes:
B11，利用测区曝光时刻IMU姿态获取检校曝光点的姿态；B11, using the IMU attitude at the exposure time of the measurement area to obtain the attitude of the calibration exposure point;
B12，获取检校控制点坐标；B12, obtain the coordinates of the calibration control point;
B13，依据所述检校曝光点的姿态、检校控制点坐标以及外方位元素真值，获取偏心角元素及偏心线元素。B13. Obtain the eccentric angle element and the eccentric line element according to the posture of the calibration exposure point, the coordinates of the calibration control point, and the true value of the outer orientation element.
本实施例中，作为一可选实施例，将计算的偏心角和偏心距改正整个测区的POS数据，计算出整个测区影像的外方位元素包括：In this embodiment, as an optional embodiment, the calculated eccentricity angle and eccentricity are corrected for the POS data of the entire survey area, and the calculated outer orientation elements of the entire survey area image include:
A14，将求解得到的偏心角的最佳估计代入预先设置的公式，结合POS数据求解测区所需要的外方位角元素；A14, substituting the best estimate of the eccentric angle obtained from the solution into the preset formula, and combining the POS data to solve the outer azimuth element required by the survey area;
A15，利用组合导航输出的位置参数与外方位线元素真值之间的关系解求偏心距和偏心角；A15, using the relationship between the position parameter output by the integrated navigation and the true value of the outer bearing line element to solve the eccentricity and eccentricity angle;
A16，将求解的偏心角偏心距用来改正所求测区POS数据，获取所求测区的外方位元素。A16, use the calculated eccentric angle and eccentric distance to correct the POS data of the measured area to obtain the outer orientation elements of the measured area.
步骤102，采用基于POS设备的位置姿态参数和基于GPS设备辅助空三的外方位元素交互验证的方法，对获取的多传感器数据进行检核；Step 102, using the method of interactive verification based on the position and attitude parameters of the POS device and the outer orientation elements based on the GPS device-assisted air triangulation, to check the acquired multi-sensor data;
步骤103，利用所述影像直接地理定位外方位元素初值以及直接利用控制点绝对定向，均匀采集检校场外业检查点，进行校验。Step 103, use the image to directly geolocate the initial value of the outer orientation element and directly use the absolute orientation of the control point to uniformly collect the inspection points outside the inspection site for verification.
本实施例中，作为一可选实施例，该方法还包括：In this embodiment, as an optional embodiment, the method further includes:
利用所求测区的外方位元素安置定向。Use the outer orientation elements of the survey area to place the orientation.
本实施例中，作为一可选实施例，利用所求测区的外方位元素安置定向包括：In this embodiment, as an optional embodiment, using the outer orientation elements of the measured area to arrange orientation includes:
利用测区曝光时刻IMU姿态获取验证飞行曝光点的姿态；Obtain and verify the attitude of the flight exposure point by using the IMU attitude at the exposure time of the measuring area;
利用验证的飞行曝光点的姿态以及获取的偏心角元素及偏心线元素，验证飞行影像的外方位元素；Use the verified attitude of the flight exposure point and the obtained eccentric angle elements and eccentric line elements to verify the outer orientation elements of the flight image;
利用验证的飞行影像的外方位元素进行DG精度验证。DG accuracy verification is performed using the outer orientation elements of the verified flight images.
本实施例提供的基于POS设备与数字航测相机的校验方法。可用于直接地理定向(DG)，进一步缩短内业工期，提高工作效率。This embodiment provides a verification method based on the POS device and the digital aerial camera. It can be used for Direct Geographic Orientation (DG) to further shorten the internal construction period and improve work efficiency.
本实施例中，检校数据是利用SW-LiDAR系统在湖北襄阳飞行的数据，检校参数的解算及验证步骤如下：In this embodiment, the calibration data is the data of using the SW-LiDAR system to fly in Xiangyang, Hubei. The calculation and verification steps of the calibration parameters are as follows:
1)在测区布设足够数量控制点，此像控点是西安80坐标系。空三加密求解影像的外方位元素，作为真值。1) Set up a sufficient number of control points in the survey area, and the image control points are in the Xi'an 80 coordinate system. The outer orientation element of the image is solved by air triangulation encryption, which is used as the truth value.
本步骤中，空三加密求解影像的外方位元素包括：依次利用内定向、相对定向、绝对定向以及平差的方法，可直接输出每张影像的外方位元素(真值)，即外方位元素中的三个线元素：XS、YS、ZS。In this step, the spatial three-encryption method to solve the outer orientation elements of the image includes: sequentially using the methods of inner orientation, relative orientation, absolute orientation, and adjustment to directly output the outer orientation element (true value) of each image, that is, the outer orientation element The three line elements in : XS , YS , ZS .
2)解算出相机的曝光时间，制作成Mark文件导入组合导航软件IE。利用组合导航后处理软件获取曝光时刻IMU姿态、IMU中心的西安80坐标。2) Calculate the exposure time of the camera, make a Mark file and import it into the integrated navigation software IE. Use the integrated navigation post-processing software to obtain the IMU attitude at the exposure time and the Xi'an 80 coordinates of the IMU center.
本步骤中，解算出相机的曝光时间包括：相机曝光时间是以GPS时间为基准，相机曝光的脉冲信号一方面触发相机曝光，一方面被控制器记录。之后只需要用软件提取。In this step, calculating the exposure time of the camera includes: the exposure time of the camera is based on the GPS time, and the pulse signal of the camera exposure triggers the exposure of the camera on the one hand, and is recorded by the controller on the other hand. Afterwards only need to extract with software.
IMU姿态、IMU中心的西安80坐标对应Xb辅、Yb辅、Zb辅。The IMU attitude and the Xi'an 80 coordinates of the IMU center correspond to Xb-assist , Yb-assist , and Zb-assist .
3)获取地面辅助坐标系测区中央原点的经纬度(L0，B0)。3) Obtain the latitude and longitude (L0 , B0 ) of the central origin of the survey area of the ground auxiliary coordinate system.
本步骤中，利用GPS记录WGS-84大地坐标(L，B)获取地面辅助坐标系测区中央原点的经纬度(L0，B0)。In this step, the longitude and latitude (L0 , B0 ) of the central origin of the survey area of the ground auxiliary coordinate system is obtained by using the GPS record WGS-84 geodetic coordinates (L, B).
4)构建误差方程式，求解偏心角的最佳估计。4) Construct the error equation to solve the best estimate of the eccentricity angle.
5)将解算得到偏心角代入公式，结合POS数据求解测区所需要的外方位角元素。5) Substitute the calculated eccentric angle into the formula, and combine the POS data to solve the outer azimuth elements required for the survey area.
本步骤中，公式指POS数据包含三个角元素和三个线元素。具体指IMU 的三个姿态角和空间的三个坐标。In this step, the formula refers to POS data contains three corner elements and three line elements. Specifically, it refers to the three attitude angles of the IMU and the three coordinates of the space.
6)利用组合导航输出的位置参数与外方位线元素真值之间的关系解求偏心距和偏心角。6) Use the relationship between the position parameters output by the integrated navigation and the true value of the outer bearing line elements to solve the eccentricity and eccentricity angle.
7)将求解的偏心角以及偏心距用来改正所求测区POS数据，获取所求测区的外方位元素。7) Use the solved eccentric angle and eccentric distance to correct the POS data of the measured area, and obtain the outer orientation elements of the measured area.
8)用所求测区的外方位元素安置定向。8) Set the orientation with the outer orientation elements of the measured area.
本步骤中，利用已经获取的每张影像改正后的外方位元素。可以无需控制点，直接地理定向(DG)。作为摄影测量基础数据用于后期的数据生产。In this step, use the corrected outer orientation elements of each acquired image. Direct Geographic Orientation (DG) is possible without control points. As the basic data of photogrammetry, it is used for later data production.
图2为本发明的实施例二基于POS设备与数字航测相机的校验结构示意图，如图2所示，本实施例的装置可以包括：外方位元素解算模块21、检核模块22 以及校验模块23，其中，Fig. 2 is a schematic diagram of the verification structure based on the second embodiment of the present invention based on the POS device and the digital aerial survey camera. As shown in Fig. Test module 23, wherein,
外方位元素解算模块21与检核模块22相连，检核模块22还与校验模块23 相连。The outer orientation element calculation module 21 is connected to the verification module 22 , and the verification module 22 is also connected to the verification module 23 .
外方位元素解算模块21，用于利用POS设备记录的姿态信息，进行转换后得到影像直接地理定位外方位元素初值，利用单片后方交会方法获取外方位元素作为真值，解算外方位元素；The outer orientation element calculation module 21 is used to convert the attitude information recorded by the POS device to obtain the initial value of the outer orientation element of the direct geolocation of the image, and use the single-chip resection method to obtain the outer orientation element as the true value, and calculate the outer orientation element;
本实施例中，作为一可选实施例，外方位元素解算模块21包括：真值计算单元、偏心角距计算单元以及外方位元素计算单元(图中未示出)，其中，In this embodiment, as an optional embodiment, the outer orientation element calculation module 21 includes: a true value calculation unit, an eccentric angular distance calculation unit, and an outer orientation element calculation unit (not shown in the figure), wherein,
真值计算单元与偏心角距计算单元相连，偏心角距计算单元还与外方位元素计算单元相连。The true value calculation unit is connected with the eccentric angular distance calculation unit, and the eccentric angular distance calculation unit is also connected with the outer orientation element calculation unit.
真值计算单元，用于通过对地面检校场通过空三加密，计算出数字航测相机的外方位元素真值；The true value calculation unit is used to calculate the true value of the outer orientation element of the digital aerial survey camera by encrypting the ground calibration field through air three;
本实施例中，作为一可选实施例，真值计算单元在测区布设足够数量控制点，空三加密求解影像的外方位元素，作为外方位元素真值，包括：影像获取子单元、交会子单元、像点坐标获取子单元以及真值计算子单元，其中，In this embodiment, as an optional embodiment, the truth value calculation unit arranges a sufficient number of control points in the survey area, and the spatial three encryption solves the outer orientation element of the image as the true value of the outer orientation element, including: image acquisition subunit, rendezvous Subunit, image point coordinate acquisition subunit and truth value calculation subunit, wherein,
影像获取子单元，用于对影像进行处理，获取测区满足要求的影像；The image acquisition subunit is used to process the image and acquire the image that meets the requirements of the survey area;
交会子单元，用于对获取的影像进行单片后方交会；The rendezvous subunit is used to perform single-slice resection on the acquired images;
像点坐标获取子单元，用于获取像点坐标；The image point coordinate acquisition subunit is used to obtain the image point coordinates;
真值计算子单元，用于利用空三加密求解影像，获取检校飞行影像的外方位元素真值。The truth value calculation sub-unit is used to solve the image using aerotriangulation encryption, and obtain the true value of the outer orientation element of the calibration flight image.
偏心角距计算单元，用于与组合导航计算出数字航测相机的角元素对比，通过最小二乘法计算出偏心角和偏心距；The eccentric angular distance calculation unit is used to compare with the angular elements of the digital aerial survey camera calculated by the integrated navigation, and calculate the eccentric angle and eccentric distance by the least square method;
本实施例中，作为一可选实施例，偏心角距计算单元包括：处理子单元、经纬度获取子单元以及估计子单元，其中，In this embodiment, as an optional embodiment, the eccentric angular distance calculation unit includes: a processing subunit, a longitude and latitude acquisition subunit, and an estimation subunit, wherein,
处理子单元与经纬度获取子单元相连，经纬度获取子单元还与估计子单元相连。The processing subunit is connected with the latitude and longitude acquisition subunit, and the latitude and longitude acquisition subunit is also connected with the estimation subunit.
处理子单元，用于对获取的POS数据进行处理，解算出数字航测相机的曝光时间，制作成Mark文件导入组合导航后处理软件，利用所述组合导航后处理软件获取测区曝光时刻IMU姿态、IMU中心的西安80坐标；The processing sub-unit is used to process the acquired POS data, solve the exposure time of the digital aerial survey camera, make a Mark file and import it into the integrated navigation post-processing software, and use the integrated navigation post-processing software to obtain the IMU attitude, Xi'an 80 coordinates of the center of the IMU;
经纬度获取子单元，用于获取地面辅助坐标系中央原点的经纬度；The latitude and longitude acquisition subunit is used to acquire the latitude and longitude of the central origin of the ground auxiliary coordinate system;
估计子单元，用于构建误差方程式，求解偏心角的最佳估计；所述求解偏心角的最佳估计包括：An estimation subunit is used to construct an error equation to solve the best estimate of the eccentric angle; the best estimate of the solved eccentric angle includes:
利用测区曝光时刻IMU姿态获取检校曝光点的姿态；Use the IMU attitude at the exposure time of the measurement area to obtain the attitude of the calibration exposure point;
获取检校控制点坐标；Obtain the coordinates of the calibration control point;
依据所述检校曝光点的姿态、检校控制点坐标以及外方位元素真值，获取偏心角元素及偏心线元素。According to the posture of the calibration exposure point, the coordinates of the calibration control point and the true value of the outer orientation element, the eccentric angle element and the eccentric line element are obtained.
外方位元素计算单元，用于将计算的偏心角和偏心距改正整个测区的POS 数据，计算出整个测区影像的外方位元素。The outer azimuth element calculation unit is used to correct the calculated eccentricity angle and eccentricity to the POS data of the entire survey area, and calculate the outer azimuth element of the image of the entire survey area.
本实施例中，作为一可选实施例，外方位元素计算单元包括：第一求解子单元、偏心角距获取子单元以及第二求解子单元，其中，In this embodiment, as an optional embodiment, the outer orientation element calculation unit includes: a first solving subunit, an eccentric angular distance obtaining subunit, and a second solving subunit, wherein,
第一求解子单元与偏心角距获取子单元相连，偏心角距获取子单元还与第二求解子单元相连。The first solving subunit is connected with the eccentric angular distance obtaining subunit, and the eccentric angular distance obtaining subunit is also connected with the second solving subunit.
第一求解子单元，用于将求解得到的偏心角的最佳估计代入预先设置的公式，结合POS数据求解测区所需要的外方位角元素；The first solving sub-unit is used for substituting the best estimate of the eccentric angle obtained from the solution into a preset formula, and combining the POS data to solve the outer azimuth element required by the survey area;
偏心角距获取子单元，用于利用组合导航输出的位置参数与外方位线元素真值之间的关系解求偏心距和偏心角；The eccentric angular distance acquisition subunit is used to solve the eccentric distance and eccentric angle by using the relationship between the position parameter output by the combined navigation and the true value of the outer bearing line element;
第二求解子单元，用于将求解的偏心角偏心距用来改正所求测区POS数据，获取所求测区的外方位元素。The second solving sub-unit is used to use the solved eccentric angle and eccentric distance to correct the POS data of the measured area, and obtain the outer orientation element of the measured area.
检核模块22，用于采用基于POS设备的位置姿态参数和基于GPS设备辅助空三的外方位元素交互验证的方法，对获取的多传感器数据进行检核；The checking module 22 is used to check the multi-sensor data obtained by adopting the method of interactive verification based on the position and attitude parameters of the POS equipment and the outer orientation elements based on the GPS equipment-assisted air three;
校验模块23，用于利用所述影像直接地理定位外方位元素初值以及直接利用控制点绝对定向，均匀采集检校场外业检查点，进行校验。The verification module 23 is used to use the image to directly geolocate the initial value of the outer orientation element and directly use the absolute orientation of the control point to evenly collect the field inspection points of the inspection site for verification.
本实施例中，作为一可选实施例，该装置还包括：In this embodiment, as an optional embodiment, the device further includes:
安置定向模块24，用于利用所求测区的外方位元素安置定向。The placement and orientation module 24 is configured to use the outer orientation elements of the measured area to place the orientation.
本实施例中，安置定向模块24与校验模块23相连。作为一可选实施例，利用所求测区的外方位元素安置定向包括：In this embodiment, the placement and orientation module 24 is connected to the verification module 23 . As an optional embodiment, using the outer azimuth elements of the measured area to arrange orientation includes:
利用测区曝光时刻IMU姿态获取验证飞行曝光点的姿态；Obtain and verify the attitude of the flight exposure point by using the IMU attitude at the exposure time of the measuring area;
利用验证的飞行曝光点的姿态以及获取的偏心角元素及偏心线元素，验证飞行影像的外方位元素；Use the verified attitude of the flight exposure point and the obtained eccentric angle elements and eccentric line elements to verify the outer orientation elements of the flight image;
利用验证的飞行影像的外方位元素进行DG精度验证。DG accuracy verification is performed using the outer orientation elements of the verified flight images.
本实施例的装置，可以用于执行图1所示方法实施例的技术方案，其实现原理和技术效果类似，此处不再赘述。The device of this embodiment can be used to implement the technical solution of the method embodiment shown in FIG. 1 , and its implementation principle and technical effect are similar, and will not be repeated here.
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。It should be understood that various parts of the present invention can be realized by hardware, software, firmware or their combination.
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present invention. All should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.
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| CN201710945299.1ACN108279024B (en) | 2016-07-21 | 2016-07-21 | A verification method and device based on POS equipment and digital aerial survey camera |
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| CN201610579121.5ACN106052718B (en) | 2016-07-21 | 2016-07-21 | A verification method and device based on POS equipment and digital aerial survey camera |
| CN201710945299.1ACN108279024B (en) | 2016-07-21 | 2016-07-21 | A verification method and device based on POS equipment and digital aerial survey camera |
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| CN201610579121.5AExpired - Fee RelatedCN106052718B (en) | 2016-07-21 | 2016-07-21 | A verification method and device based on POS equipment and digital aerial survey camera |
| CN201710945299.1AExpired - Fee RelatedCN108279024B (en) | 2016-07-21 | 2016-07-21 | A verification method and device based on POS equipment and digital aerial survey camera |
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