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題名 以四旋翼UAS酬載熱感測器製作數值表面溫度模型供地溫研究
Generation of digital surface temperature model from images collected by thermal sensor on quadcopter UAS for geothermal study作者 謝耀震
Hsieh, Yao-Chen貢獻者 邱式鴻
Chio, Shih-Hong
謝耀震
Hsieh, Yao-Chen關鍵詞 無人機
熱像
定位定向
光束法空三平差
熱像儀率定
三焦張量
Unmanned aircraft system
Thermal images
Positioning and orientation
Bundle adjustment aerial triangulation
Thermal camera calibration
Trifocal tensor日期 2017 上傳時間 1-三月-2017 17:24:13 (UTC+8) 摘要 熱像儀，能感測可見光感測器無法取得的訊息，因此若能透過熱像儀器進行環境偵測，便能得到一般可見光感測器無法獲取的資料。本研究擬以四旋翼UAS酬載熱像儀得到局部區域高解析度之地面熱資訊以便作為地溫研究之背景資料使用。而一般地溫研究區，不易佈設控制點，因此本研究除於無人機上酬載熱像儀之外，並將搭載Trimble BD970 GNSS OEM接收模組，嘗試以少量地面控制點、以及GNSS動態後處理的方式取得取像時對應的GNSS觀測量輔助熱像定位定向。本研究中針對國立政治大學旁的指南溪實驗區與陽明山國家公園的小油坑實驗區，使用AI-RIDER YJ-1000-HC四旋翼UAS分別酬載熱像儀FLIR Tau 640和巨哥XM6，並且同時搭載Trimble BD970 GNSS OEM接收模組、以及GNSS動態後處理的方式取得取像時對應的GNSS觀測量搭配少量地面控制點輔助熱像定位定向，過程中透過三焦張量剔除自動匹配之誤匹配連結點。實驗結果顯示，兩實驗區所產製之DSM於不易變動區域精度經現有資料檢核均在±1m，而指南溪實驗區產製出地面解析度11公分的數值表面模型(Digital Surface Model, DSM)與正射熱像，且正射熱像平面精度達為47公分；小油坑實驗區產製出地面解析度14公分之DSM與正射熱像，正射熱像平面精度則為67公分，雖然DSM和正射熱像精度無法符合一般常規的測量規範，但成果仍然可以證明熱像直接產製DSM以及正射熱像之可行性，兩實驗區最後皆生成數值溫度表面模型(Digital Surface Temparature Model, DSTM)，顯示本研究所提方法之可行性，所生成之成果可供後續地溫研究使用。
Thermal infrared images show the temperature change of sensed scenes. Therefore, thermal infrared camera can sense some important information that optical digital cameras cannot do for the environment monitoring. In this study, the Quadcopter UAS for thermal image collection applied to geothermal study will be developed. FIIR Tau 640 and Magnity Eletric XM6 thermal infrared sensor will be used in this thermal image collection system separately two test areas, Zhinan River nearby NCCU and Xiaoyoukeng, in the Yangmingshan National Park. Additionally, Trimble BD970 GNSS OEM board will be carried on the Quadcopter UAS to collect dual-frequency GNSS observations for determining the flying trajectory by Post-processed kinematic (PPK) technique to support the positioning and orientating of collected thermal images, and the trifocal tensor will be used to delete wrong matching tie images points. From the tests, the differences between produced DSM and existing DSM data are ± 1 m on uneasy change ground surface in two test areas. The resolution of produced DSM and thermal orthoimages are about 11 cm in Zhinan River, and 14cm in Xiaoyoukeng area. The accuracy of thermal orthoimages is 47cm in Zhinan River and 67cm in Xiaoyoukeng area. The accuracy of thermal orthoimages may not comply with a normal surveying standard, but it proves the possibility of DSM and orthorectifed thermal images generated from thermal images directly. 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國立政治大學
地政學系
103257032資料來源 http://thesis.lib.nccu.edu.tw/record/#G0103257032 資料類型 thesis dc.contributor.advisor 邱式鴻 zh_TW dc.contributor.advisor Chio, Shih-Hong en_US dc.contributor.author (作者) 謝耀震 zh_TW dc.contributor.author (作者) Hsieh, Yao-Chen en_US dc.creator (作者) 謝耀震 zh_TW dc.creator (作者) Hsieh, Yao-Chen en_US dc.date (日期) 2017 en_US dc.date.accessioned 1-三月-2017 17:24:13 (UTC+8) - dc.date.available 1-三月-2017 17:24:13 (UTC+8) - dc.date.issued (上傳時間) 1-三月-2017 17:24:13 (UTC+8) - dc.identifier (其他 識別碼) G0103257032 en_US dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/106931 - dc.description (描述) 碩士 zh_TW dc.description (描述) 國立政治大學 zh_TW dc.description (描述) 地政學系 zh_TW dc.description (描述) 103257032 zh_TW dc.description.abstract (摘要) 熱像儀，能感測可見光感測器無法取得的訊息，因此若能透過熱像儀器進行環境偵測，便能得到一般可見光感測器無法獲取的資料。本研究擬以四旋翼UAS酬載熱像儀得到局部區域高解析度之地面熱資訊以便作為地溫研究之背景資料使用。而一般地溫研究區，不易佈設控制點，因此本研究除於無人機上酬載熱像儀之外，並將搭載Trimble BD970 GNSS OEM接收模組，嘗試以少量地面控制點、以及GNSS動態後處理的方式取得取像時對應的GNSS觀測量輔助熱像定位定向。本研究中針對國立政治大學旁的指南溪實驗區與陽明山國家公園的小油坑實驗區，使用AI-RIDER YJ-1000-HC四旋翼UAS分別酬載熱像儀FLIR Tau 640和巨哥XM6，並且同時搭載Trimble BD970 GNSS OEM接收模組、以及GNSS動態後處理的方式取得取像時對應的GNSS觀測量搭配少量地面控制點輔助熱像定位定向，過程中透過三焦張量剔除自動匹配之誤匹配連結點。實驗結果顯示，兩實驗區所產製之DSM於不易變動區域精度經現有資料檢核均在±1m，而指南溪實驗區產製出地面解析度11公分的數值表面模型(Digital Surface Model, DSM)與正射熱像，且正射熱像平面精度達為47公分；小油坑實驗區產製出地面解析度14公分之DSM與正射熱像，正射熱像平面精度則為67公分，雖然DSM和正射熱像精度無法符合一般常規的測量規範，但成果仍然可以證明熱像直接產製DSM以及正射熱像之可行性，兩實驗區最後皆生成數值溫度表面模型(Digital Surface Temparature Model, DSTM)，顯示本研究所提方法之可行性，所生成之成果可供後續地溫研究使用。 zh_TW dc.description.abstract (摘要) Thermal infrared images show the temperature change of sensed scenes. Therefore, thermal infrared camera can sense some important information that optical digital cameras cannot do for the environment monitoring. In this study, the Quadcopter UAS for thermal image collection applied to geothermal study will be developed. FIIR Tau 640 and Magnity Eletric XM6 thermal infrared sensor will be used in this thermal image collection system separately two test areas, Zhinan River nearby NCCU and Xiaoyoukeng, in the Yangmingshan National Park. Additionally, Trimble BD970 GNSS OEM board will be carried on the Quadcopter UAS to collect dual-frequency GNSS observations for determining the flying trajectory by Post-processed kinematic (PPK) technique to support the positioning and orientating of collected thermal images, and the trifocal tensor will be used to delete wrong matching tie images points. From the tests, the differences between produced DSM and existing DSM data are ± 1 m on uneasy change ground surface in two test areas. The resolution of produced DSM and thermal orthoimages are about 11 cm in Zhinan River, and 14cm in Xiaoyoukeng area. The accuracy of thermal orthoimages is 47cm in Zhinan River and 67cm in Xiaoyoukeng area. The accuracy of thermal orthoimages may not comply with a normal surveying standard, but it proves the possibility of DSM and orthorectifed thermal images generated from thermal images directly. Digital Surface Temparature Model (DSTM) produced in both tests can be used for volcanic geothermal monitoring in the future. en_US dc.description.tableofcontents 第一章 緒論 1第一節 研究背景 1第二節 研究動機與目的 3第三節 遭遇的問題與解決方法 5第四節 研究流程與架構 7第二章 文獻回顧 11第一節 熱像儀率定 11第二節 UAS航拍熱像定位定向與應用之研究 16第三節 誤匹配點剔除 19第四節 獲取地表溫度 21第三章 理論基礎與研究方法 23第一節 相機率定模式 23一、 野外率定場法 23二、 In-Flight Camera Calibration 26第二節 GNSS輔助光束法空三平差理論 28一、 GNSS動態後處理技術原理與航拍軌跡獲取方法 28二、 GNSS輔助光束法空三平差 29第三節 誤匹配點剔除 33第四節 產製數值溫度表面模型 38第四章 研究材料與實驗 39第一節 儀器及軟體 39一、 GNSS接收模組：BD970 39二、 熱像儀：FLIR-TAU 640 41三、 熱像儀 ：巨哥電子XM6 42四、 熱像儀率定軟體：iWitnessPRO 43五、 四旋翼UAS ：AI-RIDER YJ-1000-HC 44六、 影像匹配軟體：Pix4Dmapper 45七、 航測軟體：IMAGINE Photogrammetry 2015 & ORIMA 45第二節 熱像儀率定實驗 47一、 指南溪實驗區熱像前處理 47二、 率定實驗 48第三節 指南溪試驗區實驗 54一、 航拍規劃 54二、 拍攝結果 55三、 圖4- 15 指南溪實驗區使用之熱影地面涵蓋圖UAV GNSS PPK軌跡求解 56七、 熱像連結點匹配探討 60八、 Pix4Dmapper光束法空三平差 63九、 誤匹配點剔除 64十、 ORIMA光束法空三平差 65十一、 產製數值溫度表面模型 68第四節 小油坑試驗區實驗 73一、 航拍規劃 73二、 拍攝結果 74三、 UAV GNSS PPK軌跡求解 75四、 Pix4Dmapper光束法空三平差 78五、 誤匹配點剔除 79六、 ORIMA光束法空三平差 79七、 產製數值溫度表面模型 83第五章 結論與建議 91第一節 結論 91一、 指南溪實驗區 91二、 小油坑實驗區 93三、 遭遇問題探討 94四、 總結 96第二節 建議 97一、 三焦張量的策略 97二、 影像擷取之時間最小單位 97三、 地表溫度之校正 97參考文獻 98 zh_TW dc.format.extent 4335915 bytes - dc.format.mimetype application/pdf - dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G0103257032 en_US dc.subject (關鍵詞) 無人機 zh_TW dc.subject (關鍵詞) 熱像 zh_TW dc.subject (關鍵詞) 定位定向 zh_TW dc.subject (關鍵詞) 光束法空三平差 zh_TW dc.subject (關鍵詞) 熱像儀率定 zh_TW dc.subject (關鍵詞) 三焦張量 zh_TW dc.subject (關鍵詞) Unmanned aircraft system en_US dc.subject (關鍵詞) Thermal images en_US dc.subject (關鍵詞) Positioning and orientation en_US dc.subject (關鍵詞) Bundle adjustment aerial triangulation en_US dc.subject (關鍵詞) Thermal camera calibration en_US dc.subject (關鍵詞) Trifocal tensor en_US dc.title (題名) 以四旋翼UAS酬載熱感測器製作數值表面溫度模型供地溫研究 zh_TW dc.title (題名) Generation of digital surface temperature model from images collected by thermal sensor on quadcopter UAS for geothermal study en_US dc.type (資料類型) thesis en_US dc.relation.reference (參考文獻) 王冠中，2012，「都市土地利用型與地表溫度關係之探究──以台北市為例」，國立台灣大學森林環境暨資源學研究所碩士論文：台北。方啟任，2006，「熱影像技術與類神經網路應用於海堤淘 空之研究」，立德管理學院資源環境研究所碩士論文：新竹。李良輝，2014，「最小二乘法平差理論與實務」，新北市：旭營文化。李德仁、單杰，1989，「利用導航資料的光線束法區域網平差的品質分 析」，『測繪學報』，18(1): 129-136。李德仁、袁修孝，2002，『誤差處理與可靠性理論』，武漢：武漢大學出 版社。李璟芳，張守陽，林志平，2004，「紅外線熱影像應用於土石流監測之可 行性研究」，中華水土保持學報35卷3期，頁261-274。吳秉晃，2002， 「集集地震後阿里山地區公路邊坡之崩壞行為與熱影像 特性研究」，國立成功大學土木工程學研究所碩士論文：台南。那至中，2010，「面陣列熱影像特性之研究」，國立政治大學地政學系研究 所碩士論文：台北。范成楝，2001，「遙控飛機空載視訊影像自動化鑲嵌方法之研究」，國立中 央大學土木工程研究所碩士論文：中壢。袁修孝，2001，「GPS 輔助空中三角測量原理及應用」，北京：測繪出版 社。張祖勛、張劍清，2009，「數字攝影測量學」，武漢：武漢大學出版社。張詒祥，2013，「電子化全球衛星即時動態定位系統應用於車載移動製圖 平台定位表現之研究」，國土測繪與空間資訊期刊。許翎㳖，2014，「VBS-RTK GPS輔助單旋翼UAS熱影像定位定向之研究」， 國立政治大學地政學系研究所碩士論文：台北。莊弘豪、曾若玄、薛憲文，1996，「電廠溫排水海表溫度分布之衛星遙測 初步研究」，台灣海洋工程學會，新竹。郭南榮、許明光，2012，「黑潮通量及其變化之觀測-子計畫：多衛星觀測 分析台灣鄰近海域黑潮運動特性及利用SAR及CODAR資料研究黑 潮海域的表面流」，國立臺灣海洋大學海洋環境資訊系。趙弘文，2009，「無人旋翼機自動駕駛系統之研發」，國立成功大學航空太 空工程研究所碩士論文：台南。鄭傑文，2007，「攝影幾何於攝影測量之應用」，國立臺灣大學工學院土木 工程學研究所碩士論文：台北。謝啟文，2011，「利用Landsae ETM+熱波段影像於災害後復健狀況評 估」，朝陽科技大學營建工程系研究所碩士論文：台中。顏怡和、邱式鴻、徐百輝、蔡季欣、林世賢、施錦揮，2012，「定翼型 UAS影像立體測圖之精度探討」，論文發表於〈第三十一屆測量及空 間資訊研討會〉，國立台北大學：台北，民國101年9月27日至101 年9月28日。Ackermann, F.E. 1992, “Operational Rules and Accuracy Models for GPSAerial Triangulation”, International Archives of Photogrammetry and Remote Sensing, 29(B3): 691-700.Ackermann, F. and Schade, H., 1993,“Application of GPS for AerialTriangulation”, Photogrammetric Engineering & Remote Sensing, 59(1):1625-1632.Ackermann, F.E. 1994, “On the status and accuracy performance of GPS photogrammetry”,Ackermann, F., 1997, “GPS for Photogrammetry”, International Society forPhotogrammetry and Remote Sensing, 56(4): 387-406.Ambrosia1, V.G., S.S. 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