轻小型无人机飞控测姿数据辅助测图精度分析
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摘要
针对轻小型无人机系统难以集成重量、尺寸较大的定姿定位系统,造成高精度传感器定姿定位数据缺失的问题,该文研究了基于无人机飞控系统定姿定位数据辅助测图的方法,统计分析了飞控系统姿态测量精度以及基于姿态数据辅助的测图精度。YS09无人机飞控系统姿态测量误差较大,姿态中误差低于±3°,航向中误差低于±5°。在直接地理定向的情况下,姿态角影响水平和高程测图精度,其中对平面精度影响小于0.1 H,对高程精度影响小于0.3 H;偏航角影响平面测图精度,影响约为0.098 H。结果表明:基于飞控姿态数据辅助测图精度较低,难以满足大比例测图的精度需求,仅适用于应急条件下对精度要求较低的测图需求。
For the small and small drone remote sensing mapping needs,it is difficult to integrate the fixed positioning system with large weight and large size for the small and small UAV system,which causes the problem of high-precision sensor positioning and positioning data missing.In this paper,the method based on UAV flight control system for positioning and positioning data assisted mapping is studied.The accuracy of attitude measurement of flight control system and the accuracy of mapping based on attitude data are analyzed statistically.The results show that the attitude measurement error of the YS09 UAV flight control system is large,the error in the attitude is less than±3°,and the error in the heading is less than ±5°.In the case of direct geographical orientation,the attitude angle affects the horizontal and elevation mapping accuracy,wherein the influence on the plane accuracy is less than 0.1 H,and the influence on the elevation accuracy is less than 0.3 H;the yaw angle affects the plane mapping accuracy,and the influence is about 0.098 H.It has been verified by experiments that the accuracy of the aided mapping based on the flight control attitude data is low,and it is difficult to meet the accuracy requirements of the large-scale mapping.It is only suitable for the mapping requirements under the emergency conditions and the lower precision requirements.
For the small and small drone remote sensing mapping needs,it is difficult to integrate the fixed positioning system with large weight and large size for the small and small UAV system,which causes the problem of high-precision sensor positioning and positioning data missing.In this paper,the method based on UAV flight control system for positioning and positioning data assisted mapping is studied.The accuracy of attitude measurement of flight control system and the accuracy of mapping based on attitude data are analyzed statistically.The results show that the attitude measurement error of the YS09 UAV flight control system is large,the error in the attitude is less than±3°,and the error in the heading is less than ±5°.In the case of direct geographical orientation,the attitude angle affects the horizontal and elevation mapping accuracy,wherein the influence on the plane accuracy is less than 0.1 H,and the influence on the elevation accuracy is less than 0.3 H;the yaw angle affects the plane mapping accuracy,and the influence is about 0.098 H.It has been verified by experiments that the accuracy of the aided mapping based on the flight control attitude data is low,and it is difficult to meet the accuracy requirements of the large-scale mapping.It is only suitable for the mapping requirements under the emergency conditions and the lower precision requirements.
引文
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[15]吴珍丽.POS辅助航测地形测图的关键技术研究[D].武汉:武汉大学,2010.(WU Zhenli.Study on key technology of POS aerial surveying terrain mapping[D].Wuhan:Wuhan University,2010.)
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[2]廖小罕,周成虎.轻小型无人机遥感发展报告[M].北京:科学出版社,2016.(LIAO Xiaohan,ZHOU Chenghu.Development report for light and small UAV remote sensing[M].Beijing:Science Press,2016.)
[3]毕凯,李英成,丁晓波,等.轻小型无人机航摄技术现状及发展趋势[J].测绘通报,2015(3):27-31,48.(BI Kai,LI Yingcheng,DING Xiaobo,et al.The status and development trend of aerial photography technology for light and small unmanned aerial vehicles[J].Bulletin of Surveying and Mapping,2015(3):27-31,48.)
[4]王金强.IMU/DGPS辅助航空摄影测量应用研究[D].昆明:昆明理工大学,2013.(WANG Jinqiang.Application of IMU/DGPS assist aerial photogrammetry[D].Kunming:Kunming University of Science and Technology,2013.)
[5]李学友.IMU/DGPS辅助航空摄影测量原理、方法及实践[D].郑州:信息工程大学,2005.(LI Xuyou.Principle,method and practice of IMU/DGPS assisted aerial photogrammetry[D].Zhengzhou:Information Engineering University,2005.)
[6]张雪萍.POS辅助航空摄影测量直接对地目标定位的关键技术研究[D].武汉:武汉大学,2010.(ZHANG Xueping.Study on key technology of POS assist aerial photogrammetry direct targeting to target[D].Wuhan:Wuhan University,2010.)
[7]LITHOPOULOS E.The applanix approach to GPS/INS Integration”in fritsch/spiller(eds),photogrammetric week 1999[Z].Germany:Wichmann Verlag,Heidelberg,1999:53-57.
[8]MOSTAFA M M R.Georeferencing airborne images from a multiple digital camera system by GPS/INS[J].University of Calgary,1999,6:1417-1423.
[9]MOSTAFA M M R,SCHWARZ K P.Digital image dereferencing from a multiple camera system by GPS/INS[J].ISPRS Journal of Photogrammetry and Remote Sensing,2001,56:1-12.
[10]方红卫,张耀.POS系统辅助航空摄影应用初探[J].科技信息(学术研究),2008(26):252-254.(FANG Hongwei,ZHANG Yao.Study on POS system aided aerial photography application[J].Science and Technology Information(Academic Research),2008(26):252-254.)
[11]LIAO M,LI Y,ZHANG L,et al.The application of precise point positioning in the IMU/GPS-supported photogrammetry[C]//Seventeenth China Symposium on Remote Sensing.[S.l.]:International Society for Optics and Photonics,2010:361-372.
[12]GUO D H,LI XING W U,WANG J C,et al.The application of IMU/DGPS-supported photogrammery[J].Remote Sensing for Land &Resources,2006,18(1):51-55.
[13]雍斌.基于MEMS的小型无人机飞控系统研究[D].南京:南京理工大学,2014.(YONG Bin.Study on small-scale UAV flight control system based on MEMS[D].Nanjing:Nanjing University of Science and Technology,2014.)
[14]KHOSHELHAM K.Role of tie points in integrated sensor orientation for photogrammetric map compilation[J].Photogrammetric Engineering &Remote Sensing,2009,75(3):305-311.
[15]吴珍丽.POS辅助航测地形测图的关键技术研究[D].武汉:武汉大学,2010.(WU Zhenli.Study on key technology of POS aerial surveying terrain mapping[D].Wuhan:Wuhan University,2010.)
[16]KREMER J.CCNS/AEROcontrol-an integrated GPS/IMUSystem for direct georeferencing of airborne image data[R].Symposium Gyro Technology.[S.l.:s.n.],2002.
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