基于对偶四元数的无人机影像几何处理研究

发布时间：2018-06-19 15:55

本文选题：无人机遥感 + 摄影测量　；参考：《南京航空航天大学》2014年硕士论文

【摘要】：近年来，无人机遥感系统由于其机动灵活、成本低、分辨率高、便于高危地区探测等优点，已广泛应用于军事侦察、自然灾害监测与评估和土地利用调查等国防国民应用领域。无人机影像几何处理的关键问题在于明确无人机影像像平面坐标与地面坐标系之间的数学关系，以便对无人机影像进行三维空间地理信息提取。然而，无人机遥感影像具有姿态不稳定、像幅小、数量多等特点，传统航空摄影测量的方法往往无法进行。如何解决这一难题，这是目前无人机遥感影像处理的一个研究重点，，也是本文主要的研究方向。本文针对无人机遥感影像特点，提出了一种较为新颖的无人机影像几何处理方法。利用对偶四元数来描述摄影成像时无人机影像的位置和姿态，建立基于对偶四元数的连续像对相对定向模型，对无人机影像进行像方拼接。然后建立基于对偶四元数的GPS辅助光束法平差模型，将机载GPS数据与摄影测量观测值进行联合平差，求解像点坐标与地面点位置的对应关系，实现影像的地理定位。在理论研究的基础上对无人机影像进行实验，验证了本文所提方案的正确性。本文的研究成果将对无人机影像的镶嵌以及基于无人机影像的目标精确定位具有重要的参考价值。
[Abstract]:In recent years, UAV remote sensing system has been widely used in military reconnaissance, natural disaster monitoring and assessment, land use survey and other national defense applications due to its advantages of flexibility, low cost, high resolution and easy to detect high-risk areas. The key problem of UAV image geometric processing is to make clear the mathematical relation between plane coordinate and ground coordinate system of UAV image, so as to extract 3D spatial geographic information from UAV image. However, UAV remote sensing images have the characteristics of unstable attitude, small image amplitude and large number, so traditional aerial photogrammetry methods often can not be carried out. How to solve this problem is a research focus of UAV remote sensing image processing and the main research direction of this paper. According to the characteristics of UAV remote sensing image, a novel geometric processing method of UAV image is proposed in this paper. The dual quaternion is used to describe the position and attitude of UAV images in photographic imaging, and a continuous image pair relative orientation model based on dual quaternion is established, and the UAV images are spliced in image square. Then a GPS auxiliary beam adjustment model based on dual quaternion is established. The airborne GPS data and the photogrammetric observations are adjusted jointly to solve the corresponding relationship between the image coordinates and the position of the ground points and to realize the geographic location of the image. On the basis of theoretical research, the experimental results of UAV images verify the correctness of the proposed scheme. The research results of this paper will have important reference value for UAV image mosaic and target location based on UAV image.
【学位授予单位】：南京航空航天大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP751

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