国家坐标系下机载传感器的直接对地目标定位
发布时间：2019-06-02 06:27
【摘要】：自上世纪末GPS/INS组合导航技术被成功地引入航空摄影测量领域以来,对地目标定位的数据处理流程出现了相当大的变化。在严格检校出机载成像传感器、GPS和INS之间的几何关系之后,机载POS系统就能够高精度地输出成像传感器的外方位元素并直接用于地形图测图,这种方法通常被称为直接对地目标定位。与传统的间接对地目标定位方法相比,直接对地目标定位不再需要布测地面控制点,也不需要进行空中三角测量,因此可以大幅度降低航空摄影测量的内外业工作量。然而,由于缺少地面控制点和像方连接点的约束,利用直接对地目标定位方法计算出的地面点坐标非常容易受到系统误差的影响。 航空摄影测量的各种数据成果最终都需要纳入到某种形式的国家坐标系,因此内业数据处理时一般直接选取该坐标系作为对地目标定位的计算坐标系。然而,由于国家坐标系并不是一种笛卡尔空间直角坐标系,而通常是采用等角地图投影,对地目标定位过程会不可避免地受到多种几何变形因素的影响。特别是对于直接对地目标定位方法,由于具有数据外推的性质,各种几何变形会直接传播到地面点坐标中。因此,为了提高国家坐标系下直接对地目标定位结果的精度,必须对这些几何变形进行高精度的改正。 本文围绕国家坐标系下机载传感器的直接对地目标定位这一核心问题展开研究,主要内容包括： 1)机载POS数据向国家坐标系转换方法的理论分析和精度评定 为了实现国家坐标系下的直接对地目标定位,首先需要将机载POS数据处理软件输出的轨迹数据高精度地转换到国家坐标系下。本文详细推导了有代表性的三种姿态转换方法(旋转矩阵法、补偿矩阵法和坐标转换法)的计算公式,并设计了高精度的试验方法对这些姿态转换算法和两种商业软件(Applanix公司POSPac软件和Leica公司的IPAS CO软件)进行精度评定。试验结果显示旋转矩阵法的姿态转换误差完全可以忽略不计,而且计算代价通常小于其他方法,因此是最为推荐的机载POS姿态转换方法。而两种商业软件的姿态转换结果并不十分理想,最大误差已经超过了机载POS硬件系统的理论测量误差。 2)国家坐标系下直接对地目标定位的几何变形模型 本文对国家坐标系下直接对地目标定位过程中出现的几何变形进行了系统的分析,归纳出四类共七种几何变形因素,具体包括一种尺度变形(基准尺度变形)、一种高程变形(地球曲率变形)、两种长度变形(空间直线与大地线之间的长度变形和大地线与投影线之间的长度变形)和三种角度变形(标高差变形、截面差变形和方向改化),其中基准尺度变形、标高差变形和截面差变形是现有参考文献中没有研究过的。 3)国家坐标系下机载激光雷达数据直接对地目标定位的几何变形改正算法 本文推导了国家坐标系下机载激光雷达数据直接对地目标定位地图投影变形改正的高精度和实用计算公式。试验结果证明实用公式的计算精度远高于传统公式,而只需要多付出25%的计算代价；高精度改正公式的计算残差则几乎可以忽略不计。 4)国家坐标系下航空影像直接对地目标定位的几何变形改正算法 本文推导了国家坐标系下航空影像直接对地目标定位几何变形改正几种传统算法(传统地球曲率改正方法、改变航高法和改变主距法两种长度变形改正方法)的计算公式并设计了数种改进算法：等效竖直影像法、改变像方坐标法、改变物方坐标法和前方交会预测法。试验结果证明等效竖直影像法完全不受影像倾角变化的影响而且不会增加任何的计算量,性能优于传统的地球曲率改正方法；改变物方坐标法基本不会受到地形起伏的影响,计算精度通常优于两种传统的长度变形改正方法(改变航高法和改变主距法)；前方交会预测法可以将几何变形改正残差限制到可以忽略的程度,能够满足高精度的应用需求。
[Abstract]:Since the GPS/ INS combined navigation technology has been successfully introduced into the field of aerophotogrammetry since the end of the last century, there has been a considerable change in the data processing flow of the location of the ground target. After rigorous inspection of the geometrical relationship between the airborne imaging sensors, GPS and INS, the on-board POS system can output the outer bearing elements of the imaging sensor with high precision and directly used for topographic mapping, which is often referred to as a direct-to-ground target location. Compared with the traditional indirect target positioning method, the direct-to-ground target positioning is no longer required to test the ground control point, and the aerial triangulation is not required, so that the workload of the internal and external industries of the aerial photography measurement can be greatly reduced. However, due to the lack of the constraint of the ground control point and the image square connection point, the ground point coordinate calculated by the direct-to-ground target positioning method is very easy to be affected by the system error. The various data results of aerial photogrammetry will eventually need to be incorporated into some form of national coordinate system, so that the coordinate system is directly selected as the calculation coordinate of the positioning of the target in the inner industry data processing. However, due to the fact that the national coordinate system is not a Cartesian space rectangular coordinate system, it is usually an equal-angle map projection, and the positioning process of the ground object is inevitably affected by various geometric deformation factors. in particular for a direct-to-ground target location method, various geometric distortion can be spread directly to that ground point coordinate due to the nature of the extrapolation of the data, Therefore, in order to improve the accuracy of the direct-to-ground target positioning results in the national coordinate system, it is necessary to change the geometric deformation with high precision In this paper, the core problem of the direct-to-ground target location of the on-board sensors in the national coordinate system is studied, mainly Capacity includes:1) The theory of the conversion of the on-board POS data to the national coordinate system In order to realize the direct-to-ground target location under the national coordinate system, it is necessary to convert the trace data output by the on-board POS data processing software with high precision. In this paper, the representative three-position conversion methods (rotation matrix method, compensation matrix method and coordinate conversion) are derived in detail in this paper. The calculation formula of the method is given, and the high-precision test method is designed for these attitude conversion algorithms and the IPAS CO software of the two kinds of commercial software. The results show that the attitude transition error of the rotation matrix method is completely negligible, and the calculation cost is usually less than that of other methods, so it is the most recommended on-board PO The attitude transition of the two commercial software is not ideal, and the maximum error has exceeded the on-board POS hardware system The theoretical measurement error of the theory. In this paper, the geometric deformation model of the target location is analyzed and summarized in the paper on the geometric deformation of the direct-to-ground target positioning in the national coordinate system. The four types of seven geometric deformation factors, including one kind of scale deformation (reference scale deformation), one kind of elevation deformation (earth curvature deformation), two length deformation (the length deformation between the space straight line and the earth line and the length deformation between the earth line and the projection line) and the three The deformation of the reference scale, the deformation of the elevation difference and the deformation of the cross-section are the prior art. in that absence of a study in the reference (3) the airborne lidar data on the national coordinate system is directly In this paper, the direct-to-ground target location map projection of the airborne lidar data under the national coordinate system is derived in this paper. The experimental results show that the calculation accuracy of the practical formula is much higher than that of the traditional formula, but only 25% of the calculation cost is required, and the high-precision correction of the utility model the calculation residual of the formula is almost negligible.4) The aerial image in the national coordinate system In this paper, the geometric deformation correction algorithm based on the direct-to-ground target location is derived, and the geometric deformation of the target positioning of the aerial image under the national coordinate system is derived. Several improvement algorithms have been designed to correct several traditional algorithms (the traditional method for correcting the curvature of the earth, the method of changing the high-altitude method and the method of changing the two-length deformation of the main-distance method), and several improved algorithms are designed: the equivalent vertical image method, the change of the image The results of the test show that the equivalent vertical image method is not affected by the change of the image inclination, and no calculation amount is added, and the performance is better than that of the traditional method for correcting the curvature of the earth. The variable-object coordinate method is not affected by the relief of the terrain, and the calculation accuracy is generally superior to the two traditional methods of length deformation correction (change of the high-altitude method and the change of the main-distance method), and the forward intersection prediction method can limit the geometric deformation correction residual to the available method.
【学位授予单位】：武汉大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：P231
本文编号：2490895
[Abstract]:Since the GPS/ INS combined navigation technology has been successfully introduced into the field of aerophotogrammetry since the end of the last century, there has been a considerable change in the data processing flow of the location of the ground target. After rigorous inspection of the geometrical relationship between the airborne imaging sensors, GPS and INS, the on-board POS system can output the outer bearing elements of the imaging sensor with high precision and directly used for topographic mapping, which is often referred to as a direct-to-ground target location. Compared with the traditional indirect target positioning method, the direct-to-ground target positioning is no longer required to test the ground control point, and the aerial triangulation is not required, so that the workload of the internal and external industries of the aerial photography measurement can be greatly reduced. However, due to the lack of the constraint of the ground control point and the image square connection point, the ground point coordinate calculated by the direct-to-ground target positioning method is very easy to be affected by the system error. The various data results of aerial photogrammetry will eventually need to be incorporated into some form of national coordinate system, so that the coordinate system is directly selected as the calculation coordinate of the positioning of the target in the inner industry data processing. However, due to the fact that the national coordinate system is not a Cartesian space rectangular coordinate system, it is usually an equal-angle map projection, and the positioning process of the ground object is inevitably affected by various geometric deformation factors. in particular for a direct-to-ground target location method, various geometric distortion can be spread directly to that ground point coordinate due to the nature of the extrapolation of the data, Therefore, in order to improve the accuracy of the direct-to-ground target positioning results in the national coordinate system, it is necessary to change the geometric deformation with high precision In this paper, the core problem of the direct-to-ground target location of the on-board sensors in the national coordinate system is studied, mainly Capacity includes:1) The theory of the conversion of the on-board POS data to the national coordinate system In order to realize the direct-to-ground target location under the national coordinate system, it is necessary to convert the trace data output by the on-board POS data processing software with high precision. In this paper, the representative three-position conversion methods (rotation matrix method, compensation matrix method and coordinate conversion) are derived in detail in this paper. The calculation formula of the method is given, and the high-precision test method is designed for these attitude conversion algorithms and the IPAS CO software of the two kinds of commercial software. The results show that the attitude transition error of the rotation matrix method is completely negligible, and the calculation cost is usually less than that of other methods, so it is the most recommended on-board PO The attitude transition of the two commercial software is not ideal, and the maximum error has exceeded the on-board POS hardware system The theoretical measurement error of the theory. In this paper, the geometric deformation model of the target location is analyzed and summarized in the paper on the geometric deformation of the direct-to-ground target positioning in the national coordinate system. The four types of seven geometric deformation factors, including one kind of scale deformation (reference scale deformation), one kind of elevation deformation (earth curvature deformation), two length deformation (the length deformation between the space straight line and the earth line and the length deformation between the earth line and the projection line) and the three The deformation of the reference scale, the deformation of the elevation difference and the deformation of the cross-section are the prior art. in that absence of a study in the reference (3) the airborne lidar data on the national coordinate system is directly In this paper, the direct-to-ground target location map projection of the airborne lidar data under the national coordinate system is derived in this paper. The experimental results show that the calculation accuracy of the practical formula is much higher than that of the traditional formula, but only 25% of the calculation cost is required, and the high-precision correction of the utility model the calculation residual of the formula is almost negligible.4) The aerial image in the national coordinate system In this paper, the geometric deformation correction algorithm based on the direct-to-ground target location is derived, and the geometric deformation of the target positioning of the aerial image under the national coordinate system is derived. Several improvement algorithms have been designed to correct several traditional algorithms (the traditional method for correcting the curvature of the earth, the method of changing the high-altitude method and the method of changing the two-length deformation of the main-distance method), and several improved algorithms are designed: the equivalent vertical image method, the change of the image The results of the test show that the equivalent vertical image method is not affected by the change of the image inclination, and no calculation amount is added, and the performance is better than that of the traditional method for correcting the curvature of the earth. The variable-object coordinate method is not affected by the relief of the terrain, and the calculation accuracy is generally superior to the two traditional methods of length deformation correction (change of the high-altitude method and the change of the main-distance method), and the forward intersection prediction method can limit the geometric deformation correction residual to the available method.
【学位授予单位】：武汉大学
【学位级别】：博士
【学位授予年份】：2014
【分类号】：P231
【相似文献】
相关期刊论文 前10条
1 ;国家测绘局制定启用2000国家坐标系实施方案[J];城市勘测;2008年05期
2 雷伟伟;姜斌;;国家坐标系与城市坐标系转换方法的探讨[J];测绘科学;2010年01期
3 蒋硕;;对假设坐标系与国家坐标系转换问题的浅析[J];科技与企业;2014年09期
4 雷勇;;国家坐标系与施工坐标系的转换方法探讨[J];毕节学院学报;2009年04期
5 贾志强;;1980国家坐标系向某市地方独立坐标系的转换[J];测绘与空间地理信息;2010年01期
6 赵祖军;张玮;;建筑坐标系和国家坐标系特殊关系的解析[J];电力勘测设计;2010年02期
7 姜德才;张文;罗京辉;陈继伟;高峰;段彩梅;;不同国家坐标系下子午线收敛角计算公式及其精度分析[J];测绘与空间地理信息;2013年10期
8 何佳;韩燕;张献州;罗文彬;;国家坐标系与基于工程投影面的地方坐标系坐标变换通用计算模型研究[J];城市勘测;2007年03期
9 饶德庆;李金平;刘长星;;矿区独立坐标系的建立及同国家坐标系的转换[J];科技信息;2010年23期
10 赵双明;左正立;陆宇红;徐军;;集成POS的机载三线阵传感器几何定位[J];测绘与空间地理信息;2008年04期
相关重要报纸文章 前1条
1 立实;国家测绘局制定启用2000国家坐标系实施方案[N];中国测绘报;2008年
相关博士学位论文 前1条
1 沈翔;国家坐标系下机载传感器的直接对地目标定位[D];武汉大学;2014年
，本文编号：2490895
本文链接：https://www.wllwen.com/kejilunwen/dizhicehuilunwen/2490895.html
