【作者】 朱强；

【导师】 闫超德；

【作者基本信息】 郑州大学 ， 水利工程（专业学位）， 2016， 硕士

【摘要】 利用专业摄影测量飞机及航摄仪进行航空摄影测量的技术已经非常成熟,其数据生产方法和测量精度已在理论研究和生产实践中得到充分验证。利用多旋翼无人机搭载非量测相机作为新型的航空摄影测量方式,相对于载人飞机及固定翼无人机航空摄影测量方式具有成本低、机动灵活、航摄数据精度高等优点,是航空摄影测量发展的又一新方向,也为水利工程快速测量以及三维场景精细构建提供了新方法。有必要针对这一新型航空摄影测量系统的特点,研究并解决相关的问题,本文的主要研究内容如下:(1)研究多旋翼无人机航空摄影测量系统基本组成和特点。多旋翼无人机航空摄影测量系统一般包括飞行平台、动力系统、飞行控制系统、遥控系统、航摄仪稳定及姿态控制系统(云台)、航摄仪、数据传输系统和地面站系统。该系统具有成本低、机动灵活、摄影像片质量高等优点,但受限于飞行平台的动力方式和负载能力,多旋翼无人机航摄测量系统现在还只能挂载非量测相机,单架次续航时间较短,获取的影像数据具有基高比小、像幅面积小、重叠度大等特点。(2)研究顾及水面特征的航线规划优化算法。部分摄影测量区域内包含大量水面区域(如大型水库),如果按照连续规则航线飞行会导致大量水面废片,考虑到多旋翼无人机的续航能力,本文提出一种顾及水面特征的航线规划优化算法,通过分解航带和迭代计算航飞总长的方式减少废片的产生,从而优化多旋翼无人机单架次航摄效率,减少飞行总架次,最后结合多旋翼无人机地面站开发了航线规划优化系统,并进行了实验测试。(3)研究多旋翼无人机航空摄影测量成果的精度。针对高地面分辨率和不同重叠度的航摄数据,通过相机标定、外业像控点测量和内业数据处理,对比分析该系统测量成果的平面精度和高程精度,为多旋翼无人机航摄系统的生产与科研提供科学依据。更多还原

【Abstract】 The aerial photogrammetry technology of the professional photogrammetry aircraft and aerophotographical camera have already been highly mature, given the fact that its methods of data producting and measurement precision have been fully verified both in theoretical research and production practices. The multi-rotor unmanned aerial vehicles with non-metric camera, as a new type of photogrammetry, overweighs the manned aircraft and the fixed-wing unmanned aerial vehicles in terms of low cost, flexibility and high accuracy, and thus becomes a new frontier in the area of aerial photography. Therefore, it is of vital importance to study and solve the relevant technical problems with full consideration of the characteristics of the new aerial photography surveying system.The main research contents of this paper are as follows:(1) Study on the basic components and characters of the multi-rotor unmanned aerial vehicles’ photogrammetric system. Generally, the multi-rotor unmanned aerial vehicles’ photogrammetric system consists of flying platform, flight control system, remote-control system, attitude stabilization and control system(aerial gimbals), photographic apparatus, data transmission system as well as ground station system. This system is possessed of qualities such as low cost, flexibility and high quality of photograph. However limited by the power mode and load capacity of flying platform, the multi-rotor unmanned aerial vehicles photogrammetric system is confined to mount light non-metric camera for now, and its cruising duration is short. Meanwhile, the acquired data are characterized with low base-height ratio, low phase and amplitude and high level of overlap.(2) Study on the optimization algorithm of route planning with respect to the water surface feature. Given the fact that some photogrammetry areas contain a large number of water areas(such as large reservoirs), it will lead to numberous waste images of the water surface if following the continuous regular route. Taking the cruising capacity of the multi-rotor unmanned aerial vehicles into account, this paper presents a optimization algorithm of route planning considering the water surface feature, by decomposition of the air strips and iterative computation of its length to reduce waste, to improve the efficiency of single sortie and reduce the total flying sorties. Finally, this paper develops the route planning optimization system in combination with the multi-rotor unmanned ground station and performs the experimental tests.(3) Study on the measurement accuracy of the multi-rotor unmanned aerial vehicles photogrammetric system. For the data of high ground resolution and different degrees of overlap, this paper uses the camera calibration, field surveying of image control point and internal data processing to compare and analyze the plane accuracy and elevation precision, aiming to provide the scientific basis for the production and research of the multi-rotor unmanned aerial vehicles’ photogrammetric system.更多还原