1. NCCU Academic Hub
  2. Publications
  3. College of Social Science
  4. Theses
  5. Item

Publications-Theses

Article View/Open

Publication Export

Google ScholarTM

NCCU Library

Citation Infomation

Related Publications in TAIR

題名 VBS-RTK GPS輔助UAV影像自率光束法空三平差之研究
VBS-RTK GPS Supported Self-Calibration Bundle Adjustment for Aerial Triangulation of Unmanned Aerial Vehicle Images
作者 李敏瑜
Li, Min Yu
貢獻者 邱式鴻<br>Chio, Shih-Hong
李敏瑜
Li, Min Yu
關鍵詞 無人飛行載具
虛擬基準站即時動態定位
線性漂移參數
自率光束法
空三平差
UAV
VBS-RTK GPS
drift parameter
self-calibration bundle adjustment
aerial triangulation
日期 2012
上傳時間 2-Sep-2013 17:10:08 (UTC+8)
摘要 無人飛行載具(Unmanned Aerial Vehicle, UAV)於要求精度之圖資測製應用時，因飛行高度較低並可在雲下飛行取像，與大型載具相比可更機動性獲取空間解析度較高之影像，雖無法如大型載具酬載大像幅感測器供大區域圖資製作，但於小區域之圖資更新卻相當適合。但一般UAV因酬載重量限制，僅可酬載體積小且重量輕之感測器，如非量測型相機及低精度定位定向系統，即AHRS系統。因此，本研究嘗試在UAV上酬載Trimble BD970 GNSS OEM GPS接收模組，此GPS接收模組體積小且重量輕可安置於UAV上，並透過VBS-RTK GPS定位技術獲取UAV精確飛行軌跡資訊，再經時間內插相機曝光瞬時的GPS資訊供空中控制使用，輔助UAV影像空中三角測量(簡稱空三)平差，以降低地面控制點需求。
但欲引入GPS觀測量供空中控制使用必須考量GPS天線與相機投影中心偏移量之問題，但因UAV所酬載之非量測型相機，將造成此偏移量不易透過地面測量方式測得，於本研究將於空三平差時使用線性漂移參數克服此偏移量無法量測之問題；此外，UAV所酬載之非量測型相機，相機參數乃透過地面近景攝影測量以自率光束法平差方式率定所得，但率定所得相機參數無法完全描述相機在航拍取像時的情況，故本研究於空三平差將採用自率光束法克服相機參數率定不完全之問題。實驗中，首先確定GPS模組BD970在VBS-RTK GPS定位技術下在地面高速移動時可獲得高精度的定位成果；接續驗證線性漂移參數及自率光束法平差於此研究的適用性；最後亦探討不同地面控制點配置及來源對空三平差之精度探討，並提出1/5000基本圖圖資測製精度要求下，VBS-RTK GPS輔助UAV影像自率光束法空三平差的地面控制點最適配置。
UAV(Unmanned Aerial Vehicle) is currently used in civil purpose such as mapping and disaster monitoring. One of UAV advantages is to collect images with high resolution for mapping demand. However, due to payload limitations of UAV, it is difficult to mount metric aerial camera and precise POS(Positioning and Orientation System) device. Instead, only the non-metric camera and the low accurate AHRS (Attitude and Heading Reference System) can be installed. For mapping demands, Trimble BD970 GNSS OEM board will be carried on the UAV to collect the high accurate flying trajectory as control information for AT (aerial triangulation) by VBS-RTK(Virtual Base Station - Real Time Kinematic) GPS technique. Meanwhile self-calibration bundle adjustment will be employed for AT(Aerial Triangulation) to overcome the imperfect calibration of non-metric camera by the close-range photogrammetric approach. The precise offset between image perspective center and GPS antenna center, called GPS antenna-camera offset, is hard to measure in centimenter level by terrestrial measurement approach. Therefore the drift parameters will be utilized to solve the problem of GPS antenna-camera offset while performing bundle adjustment with self-calibration for AT of UAV images. In the experiments of this study, the height positioning accuracy of BD970 by VBS-RTK GPS approach at high speed movement will be proved firstly. Then the adaptability of drift parameters and self-calibration for GPS supported AT of UAV images will be verified. Finally, the accuracy of AT by using different control information will be analized and appropriate configuration of GCPs(Ground Control Points) for VBS-RTK GPS supported self-calibration bundle adjustment for AT of UAV images will be proposed under the mapping demand with the scale of 1 : 5000.
參考文獻 一、中文參考文獻
王宏仁，1996，「GPS輔助空中三角測量之精度探討」，國立成功大學測量工程研究所碩士論文：台南。
內政部國土測繪中心，2010，「內政部國土測繪中心測繪科技發展後續計畫-發展無人飛行載具航拍技術作業執行計畫（100年~103年）」。
內政部國土測繪中心，2007，「e-GPS 定位系統應用於基本控制測量作業之研究」。
內政部國土測繪中心，2006，「e-GPS衛星基準站即時動態定位系統VBS-RTK定位測試成果報告」。
何維信，1988，「數位攝影機之率定問題」，行政院國家科學委員會專題研究計畫成果報告。
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。
李莉華、趙鍵哲，2003，「航攝影像控制實體資料建置與自動化量測之探討」，中華技術，第59期。
林老生，2009，「GPS精密單點定位在地籍測量之應用」，『台灣土地研究』，12(2): 01-25。
林文亮，2007，「e-GPS系統應用於圖跟空制測量之探討─以台中縣龍井鄉重測區為例」，國立中興大學土木工程學系碩士論文：台中。
袁修孝，1999，「GPS輔助光束法平差中觀測值的自動定權」，『武漢測繪科技大學學報』，24(2): 115-118。
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。
張祖勳，張劍清，1996，『數值攝影測量學』，武漢：武漢測繪科技大學出版社。
黃成偉，2002，「時間序列之混凝土影像半自動裂縫變遷偵測」，國立中央大學土木工程研究所碩士論文：桃園。
楊銘仁，2005，「由台灣GPS追蹤站2004年資料建構區域性電離 層模式及其影響定位精度之研究」，成功大學測量及空間資訊學系碩博士班學位論文：台南。
詹君正，2007，「利用全國性e-GPS衛星定位基準網辦理土地複丈精度之研究－以鶯歌地區為例」，國立政治大學地政學系碩士論文。
陳國華、劉新達、黃金土，2009，「無差分GPS精密單點定位技術(PPP)之動態定位精度：以輔助航空攝影測量空中三角測量為例」，『航測及遙測學刊』，14(1):65-81。
鄒芳諭，2010，「以非量測相機進行近景攝影測量探討」，國立交通大學土木工程學系碩士論文：新竹。
謝幸宜，2011，「以自率光束法提升四旋翼UAV航拍影像之定位精度」，國立政治大學地政學系碩士論文：台北。
鄧雅群，2006，「GPS 之 VBS即時動態定位精度分析」，國立成功大學地球科學研究所碩士論文：台南。
鄭至哲，2012，「e-GPS系統應用於土地複丈之作業模式探討-以臺南市玉井區為例」，國立成功大學地球科學系碩士論文：台南。
二、外文參考文獻
Abidin, H.Z. 1993, Computational and Geometrical Aspects of On-The-Flt Ambiguity Resolution , PhD Dissertation, Dept. of Surveying Engineering Tech., University of New Brunswick: Fredericton, New Brunswick, Canada.
Ackermann, F.E. 1992, “Operational Rules and Accuracy Models for GPS Aerial Triangulation”, International Archives of Photogrammetry and Remote Sensing, 29(B3): 691-700.
Ackermann, F. and Schade, H., 1993, "Application of GPS for Aerial Triangulation", Photogrammetric Engineering & Remote Sensing, 59(1): 1625-1632.
Ackermann, F.E. 1994, “On the Status and Accuracy Performance of GPS
Ackermann, F., 1997, “GPS for Photogrammetry”, International Society for Photogrammetry and Remote Sensing, 56(4): 387-406.
BD970 GNSS receiver module user guide, version 4.1, Trimble com., 2010.
Bendea, H. F., Chiabrando, F., Tonolo, F. G. and Marenchino, D., 2007, “Mapping of archaeological areas using a low-cost UAV the Augusta Bagiennorum Test site”, XXI Internationnal CIPA Symposium, Athens, Greece, October 01-06.
Berni ,J.A.J., Zarco-Tejada , P., Suárez , L. and Fereres , E., 2009, “Thermal and narrowband multispectral remote sensing for vegetation monitoring from an unmanned aerial vehicle”, IEEE Transactions on Geoscience and Remote Sensing, 47: 722–738.
Beyer, H. A., 1992, Geometric and radiometric analysis of a CCD-camera based photogrammetric close-range system, Doctoral dissertation, Diss. Techn. Wiss. ETH Zürich, Nr. 9701, 1992. Ref.: A. Grün; Korref.: H. Tiziani.
Bilker, M., Honkavaara, E. and Jaakkola, J., 1998, “GPS supported aerial triangulation using untargeted ground control”, International Archives of Photogrammetry and Remote Sensing, 32(3): pp. 2-9.
Blankenberg, L. E., 1992, “GPS supported aerial triangulation - state of the art”, Photogrammetry Journal of Finland, 13(1): 4-16.
Bláha, M., Eisenbeiss, H., Grimm, D. E. and Limpach, P., 2011, “Direct georeferencing of UAVs”, Proceedings of the International Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g), Zurich, Switzerland, September 14-16.
Brown, D.C. ,1976,” The Bundle Adjustment: Progress and Prospects”, International Archive of Photogrammetry, Helsinki, Finland.
Bruton, A.M., Mostafa, M.M.R. and Scherzinger, B. , 2001, “Airborne DGPS without Dedicated Base Stations for Mapping Applications”, ION-GPS 2001, Salt Lake City, Utah, September 11-14.
Cardenal, J., Delgado, J., Mata, E., Gonzalez, A. and Olague, I. , 2006, “Use of historical flight for landside monitoring”, International Symposium on Spatial Accuracy Assessment in Natural Resources and Environmental Science, Lisbon, Portugal, September 26.
Chiang, K. W., Tsai, M. L. and Chu, C. H., 2012, “The Development of an UAV Borne Direct Georeferenced Photogrammetric Platform for Ground Control Point Free Applications”, Sensors,12(7): 9161-9180.
Clarke, T. A., Fryer, J. G., and Wang, X., 1998, “The Principal Point and CCD Cameras”, Photogrammetric Record, 16(92): 293-312.
Cramer, M. 1997, “GPS/INS Integration”, 50nd Photogrammetric Week, Stuttgart, Germany, September 24-28.
Cramer, M. Stallmann, D. and Haala, N., 2000, “Direct Georeferencing using GPS/inertial exterior orientations for photogrammetric application”, International Archives of Photogrammetry and Remote Sensing, 33(B3): 198-205.
Dorrer, E., Schwiertz, C., 1990, “Kinematic GPS and Aerial Triangulation A Comparative Study”, International Archives of Photogrammetry and Remote Sensing, 28(3): 106-131.
Ebner, H., 1976, “Self calibrating block adjustment”, Bildmessung und Luftbildwessen, 44: 128-139.
Ebadi, H., 1997, A Comprehensive study on GPS Assisted Aerial Triangulation, PhD Dissertation, Dept. of Geometrics’ Engineering. ,The University of CALGARY, Alberta, Canada.
Eisenbeiss, H., 2004, “A mini Unmanned Aerial Vehicle (UAV): System overview and image acquisition”, Proceeding of the International Archives of Photogrammetry and Remote Sensing, Pitsanulok, Thailand, November 18-20.
Eisenbeiss, H., Lambers, K., Sauerbier, M. and Zhang, L., 2005, “Photogrammetric documentation of an archaeological site (Palpa, Peru) using an autonomous model helicopter”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 34(5): 238-243.
Eisenbeiss, H., Zhang, L., 2006, “Comparison of DSMs generated from mini UAV imagery and terrestrial laser scanner in a cultural heritage application”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 36(5): 90–96.
El-Hakim, S.F., 1979, Potentials and Limitations of Photogrammetry for Precision Surveying, Ph.D. dissertation, University of New Brunswickt N.B., Canada.
Erdas Inc., 2008, “LPS Project Manager Use’s Guide”, Norcross, Georgia. Erdas Inc.
Faig, W. ,1985, Lecture Notes on Aerial Triangulation and Digital Mapping, PhD Dissertation, School of Surveying, The University of New South Wales, Kensington, Ausualia.
Fraser, C.S., 1982, “On the use of non-metric cameras in analytical non-metric photogrammetry”, International Archives of Photogrammetry and Remote Sensing, 24(5): 156-166.
Fraser, C. S., 1997, “Digital camera self-calibration”, ISPRS Journal of Photogrammetry & Remote Sensing, 52: 149-159.
Friess, P., 1988, “Empirical accuracy of positions computed from airborne GPS data”, International Archives of Photogrammetry and Remote Sensing, 27(B3): 215-234.
Friess, P., 1990, “Kinematic GPS Positioning for Aerial Photogrammetry Empirical Results”, International Symposium on Precise Positioning with the Global Positioning System, 3(7):1169-1184.
Friess, P., Heuchel, T., 1992, "Experience with GPS-Supported Aerial Triangulation", International Archives of Photogrammetry and Remote Sensing, 29(Bl): 299-305.
Fryer, J. and Brown, D., 1986, “Lens distortion for close-range photogrammetry”, International Archives of Photogrammetry and Remote Sensing, 52(1): 51-58.
Grammatikopoulos L., Kalisperakis I., Karras G., Petsa E.,2007, “Automatic multi-view texture mapping of 3D surface projections”, International archives of photogrammetry, remote sensing and spatial information sciences, 36:5.
Grün, A., 1978, “Accuracy, reliability and statistics in closerange photogrammetry”, International Society for Photogrammetry, Stockholm, Sweden, August 14-17.
Haarbrink, R. B. and Eisenbeiss, H., 2008, “Accurate DSM production from unmanned helicopter systems”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B1): 1259-1264.
Hatch, R.R., 1990, “Instantaneous Ambiguity Resolution”, KIS Symposium, Banff ,Canada, September 11.
Hinsken, L. U. D. G. E. R., Miller, S., Tempelmann, U., Uebbing, R. and Walker, A. S. 2002, “Triangulation of the LH Systems’ ADS40 using ORIMA GPS/IMU”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 34(3A): 156-162.
Hongxia, C., Zongjian, L. and Guozhong, S., 2007, “Non-metric CCD Camera Calibration for Low Attitude Photogrammetric Mapping”, IEEE Electronic Measurement and Instruments, 2: 689-696.
Horcher, A. and Visser, R. J. M., 2004, “Unmanned Aerial Vehicles: Applications for Natural Resource Management and Monitoring”, Council on Forest Engineering Annual Meeting, Hot Springs (AR), USA, April 28-30.
Hu, G. R., Khoo, V. H. S. and Law, C., 2002, "Performance of Singapore Integrated Multiple Reference Station Network (SIMRSN) for RTK Positioning.", GPS Solutions, 6(1-2): 65-71.
Hunt, E. R., Cavigelli, M., Daugherty, C. S. T., McMurtrey, J., and C. L. Walthall, 2005, “Evaluation of Digital Photography from Model Aircraft for Remote Sensing of Crop Biomass and Nitrogen Status” ,Precision Agriculture, 6:359–378.
Kinlyside, D., 1988, “Some Aspects on GPS for Airborne Photogrammetric Control”, Aust.J.Geod.Photogram.Surv, 49: 55-72.
Krabill, W.B., 1989, “GPS Applications to Laser Profiling and Laser Scanning for Digital Terrain Models”, 42nd Photogrammetric Week, Stuttgart, Germany, September 11-16.
Kraus, K., 1993, Photogrammetry Vol. I., Fundamentals and Standard Processes, Der. Dümmler Verlag, Bonn, Germany, ISBN 3-427-78684-6.
Küng, O., Strecha, C., Fua, P., Gurdan, D., Achtelik, M., Doth, K. M. and Stumpf, J., 2011, “Simplified building models extraction from Ultra-light UAV Imagery”, International Society for Photogrammetry and Remote Sensing, 38(1): 217-222.
Lerma, J. L., Navarro, S., Cabrelles, M., and Villaverde, V. , 2010, “Terrestrial laser scanning and close range photogrammetry for 3D archaeological documentation: the Upper Palaeolithic cave of Parpall as a case study”, Journal of Archaeological Science, 37(3): 499-507.
Li, S., 2011, “The use of Low-altitude unmanned aerial vehicle system in the measurement of large scale topographic maps ——Take the 1:2000 mapping of PuWen as an example,” 11th South East Asian Survey Congress and 13th International Surveyors` Congress Innovation towards Sustainability, Malaysia, June 22-24.
Lin, Z. J., 2008,” UAV for mapping-low altitude photogrammetric survey”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B1): 1183-1186.
Lin, Y., Hyyppä, J. and Jaakkola, A., 2011, “Mini-UAV-Borne LIDAR for Fine-Scale Mapping Geoscience and Remote Sensing Letters”, IEEE Transactions on Geoscience and Remote Sensing, 8(99): 426–430.
Lin J.Y. and Chio, S.H., 2012, "The Accuracy Influence of Different Camera Calibration Conditions to Bundle Adjustment of Close Range Images", Proceedings of The 33nd Asian Conference on Remote Sensing , Pattaya, Thailand, November 26-30.
Lucas, James R., 1987, “Aerotriangulation Without Ground Control”, Photogrammetric Engineering and Remote Sensing, 53(3): 311-314.
Madani, M., Shkolnikov, I., 2005, “Photogrammetric Correction of GPS/INS Post-Processed Trajectory of the Frame Camera Platform Using Ground Control” ASPRS Conference Proceedings, Baltimore, Maryland, March 07-11.
Pueschel, H., Sauerbier, M. and Eisenbeiss, H., 2008, “A 3D model of Castle Landenberg (CH) from combined photogrammetric processing of terrestrial and UAV-based images”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B8): 93-98.
Patias, P., Saatsoglou-Paliadeli , C., Georgoula, O., Pateraki, M., Stamnas, A. and Kyriakou, N., 2007, “Photogrammetric documentation and digital representation of the macedonian palace in Vergina-Aegeae”, XXI International CIPA Symposium, Athens, Greece, October 01-06.
Reich, M.; Wiggenhagen, M.; Muhle, D., 2012, “Filling the holes - Potential of UAV-based photogrammetric facade modeling”, In: Tagungsband des 15, 3D-NordOst Workshops der GFaI, December06-07.
Remondino, F., and Fraser, C., 2006, “Digital Camera Calibration Methods: Considerations and Comparisons”, ISPRS Commission V Symposium, Dresden, Germany, September 25-27.
Retscher, G., 2002, “Accuracy Performance of Virtual Reference Station (VRS) Networks”, Journal of Global Positioning Systems, 1(1): 40-47.
Rosnell, T., Honkavaara, E. and Nurminen, K. ,2011, “On geometric processing of multi-temporal image data collected by light UAV systems”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 38: 01-06.
Schut, G. H., 1979, “Selection of Additional Parameters for the Bundle Adjustment”, Photogrammetric Engineering and Remote Sensing, 45(9): 1243-1252.
Tahar, K.N., Ahmad, A., Wan Mohd Akib, W.A.A. and Udin, W.S., 2011, “Unmanned aerial vehicle technology for large scale mapping”, ISG( International Symposium and Exhibition on Geoinformation) & ISPRS(International Society for Photogrammetry and Remote Sensing), Shah Alam, Malaysia, September 11-14.
Van Der Vegt, J. W. ,1989, “GPS Test Flight Flevoland” , 42nd Photogrammetric Week, Stuttgart, Germany, September 11-16.
Vollath, U., Deking, A., Landau , H., Pagels, C., Wagner, B., 2000, “Multi-Base RTK Positioning using Virtual Reference Stations”, Proceedings of ION-GPS 2000, , Salt Lake City, USA, September 19-22.
Wanninger, L., 2002, “Die Bedeutung der Ionosphäre für Referenzstationsnetze”, 4. SAPOS-Symposium, Hannover, May 21-23.
Wolf, P. R. and Dewitt B. A., 2000, Elements of Photogrammetry: with Applications in GIS, 3rd edition, Taipei: The McGraw-Hill.
Yang, M., Goad, C. C., and. Schaffrin, B,1994, “Real-time on-the-fly ambiguity resolution over short baselines in the presence of anti-spoofing”, International Technical Meeting of the Satellite Division of the ION, Salt Lake City, Utah, September 20-23.
Yuan, X., Fu, J., Sun, H. and Toth, C., 2009, “The application of GPS precise point positioning technology in aerial triangulation”, ISPRS Journal of Photogrammetry and Remote Sensing, 64(6): 541-550.
Zarco-Tejada, P.J., González-Dugo, V. and Berni-Fluorescence, J.A.J., 2012, “temperature and narrow-band indices acquired from a UAV platform for water stress detection using a micro-hyperspectral imager and a thermal camera”, Remote Sensing of Environment, 117(1): 322–337.
Zhou, G., Li, C. and Cheng, P., 2005, “Unmanned aerial vehicle (UAV) real-time video registration for forest fire monitoring”, IEEE Transactions on Geoscience and Remote Sensing, 1803-1806.
Zhou, G. and Wu, J., 2006, ”Unmanned aerial vehicle (UAV) data flow processing for natural disaster response”, American Society for Photogrammetry and Remote Sensing, Reno, Nevada, May 01-05.
Photometrix（ 2010, August）. Users Manual for iWitness and iWitnessPRO. Retrieved January 9, 2012 from World Wide Web: http://www.photometrix.com.au .
描述 碩士
國立政治大學
地政研究所
100257002
101
資料來源 http://thesis.lib.nccu.edu.tw/record/#G1002570021
資料類型 thesis
dc.contributor.advisor 邱式鴻<br>Chio, Shih-Hongzh_TW
dc.contributor.author (Authors) 李敏瑜zh_TW
dc.contributor.author (Authors) Li, Min Yuen_US
dc.creator (作者) 李敏瑜zh_TW
dc.creator (作者) Li, Min Yuen_US
dc.date (日期) 2012en_US
dc.date.accessioned 2-Sep-2013 17:10:08 (UTC+8)-
dc.date.available 2-Sep-2013 17:10:08 (UTC+8)-
dc.date.issued (上傳時間) 2-Sep-2013 17:10:08 (UTC+8)-
dc.identifier (Other Identifiers) G1002570021en_US
dc.identifier.uri (URI) http://nccur.lib.nccu.edu.tw/handle/140.119/59504-
dc.description (描述) 碩士zh_TW
dc.description (描述) 國立政治大學zh_TW
dc.description (描述) 地政研究所zh_TW
dc.description (描述) 100257002zh_TW
dc.description (描述) 101zh_TW
dc.description.abstract (摘要) 無人飛行載具(Unmanned Aerial Vehicle, UAV)於要求精度之圖資測製應用時，因飛行高度較低並可在雲下飛行取像，與大型載具相比可更機動性獲取空間解析度較高之影像，雖無法如大型載具酬載大像幅感測器供大區域圖資製作，但於小區域之圖資更新卻相當適合。但一般UAV因酬載重量限制，僅可酬載體積小且重量輕之感測器，如非量測型相機及低精度定位定向系統，即AHRS系統。因此，本研究嘗試在UAV上酬載Trimble BD970 GNSS OEM GPS接收模組，此GPS接收模組體積小且重量輕可安置於UAV上，並透過VBS-RTK GPS定位技術獲取UAV精確飛行軌跡資訊，再經時間內插相機曝光瞬時的GPS資訊供空中控制使用，輔助UAV影像空中三角測量(簡稱空三)平差，以降低地面控制點需求。
但欲引入GPS觀測量供空中控制使用必須考量GPS天線與相機投影中心偏移量之問題，但因UAV所酬載之非量測型相機，將造成此偏移量不易透過地面測量方式測得，於本研究將於空三平差時使用線性漂移參數克服此偏移量無法量測之問題；此外，UAV所酬載之非量測型相機，相機參數乃透過地面近景攝影測量以自率光束法平差方式率定所得，但率定所得相機參數無法完全描述相機在航拍取像時的情況，故本研究於空三平差將採用自率光束法克服相機參數率定不完全之問題。實驗中，首先確定GPS模組BD970在VBS-RTK GPS定位技術下在地面高速移動時可獲得高精度的定位成果；接續驗證線性漂移參數及自率光束法平差於此研究的適用性；最後亦探討不同地面控制點配置及來源對空三平差之精度探討，並提出1/5000基本圖圖資測製精度要求下，VBS-RTK GPS輔助UAV影像自率光束法空三平差的地面控制點最適配置。		zh_TW
dc.description.abstract (摘要) UAV(Unmanned Aerial Vehicle) is currently used in civil purpose such as mapping and disaster monitoring. One of UAV advantages is to collect images with high resolution for mapping demand. However, due to payload limitations of UAV, it is difficult to mount metric aerial camera and precise POS(Positioning and Orientation System) device. Instead, only the non-metric camera and the low accurate AHRS (Attitude and Heading Reference System) can be installed. For mapping demands, Trimble BD970 GNSS OEM board will be carried on the UAV to collect the high accurate flying trajectory as control information for AT (aerial triangulation) by VBS-RTK(Virtual Base Station - Real Time Kinematic) GPS technique. Meanwhile self-calibration bundle adjustment will be employed for AT(Aerial Triangulation) to overcome the imperfect calibration of non-metric camera by the close-range photogrammetric approach. The precise offset between image perspective center and GPS antenna center, called GPS antenna-camera offset, is hard to measure in centimenter level by terrestrial measurement approach. Therefore the drift parameters will be utilized to solve the problem of GPS antenna-camera offset while performing bundle adjustment with self-calibration for AT of UAV images. In the experiments of this study, the height positioning accuracy of BD970 by VBS-RTK GPS approach at high speed movement will be proved firstly. Then the adaptability of drift parameters and self-calibration for GPS supported AT of UAV images will be verified. Finally, the accuracy of AT by using different control information will be analized and appropriate configuration of GCPs(Ground Control Points) for VBS-RTK GPS supported self-calibration bundle adjustment for AT of UAV images will be proposed under the mapping demand with the scale of 1 : 5000.en_US
dc.description.tableofcontents 第一章 緒論 1
第一節 研究動機與目的 1
第二節 遭遇問題與解決方法 5
第三節 研究流程 7
第二章 文獻回顧 10
第一節 GPS動態定位 11
第二節 GPS動態定位成果歸算 15
第三節 GPS輔助光束法平差與地面控制點之關係 20
第四節 非量測相機 23
第三章 理論基礎和研究方法 27
第一節 虛擬基準站即時動態定位 28
第二節 自率光束法空三平差 36
第三節 GPS輔助自率光束法空三平差 44
第四章 研究材料及實驗 54
第一節 儀器及軟體 54
第二節 實驗配置 61
第三節 BD970動態定位地面測試 64
第四節 線性漂移參數之適用性 75
第五節 自率光束法於GPS輔助空三平差之適用性 83
第六節 點特徵航空影像控制資訊建置地控點之可行性 90
第七節 GPS輔助UAV影像自率光束法空三平差 98
第八節 不同地面控制點來源及配置 104
第五章 結論與建議 115
第一節 結論 115
第二節 建議 117
參考文獻 119		zh_TW
dc.format.extent 5454405 bytes-
dc.format.mimetype application/pdf-
dc.language.iso en_US-
dc.source.uri (資料來源) http://thesis.lib.nccu.edu.tw/record/#G1002570021en_US
dc.subject (關鍵詞) 無人飛行載具zh_TW
dc.subject (關鍵詞) 虛擬基準站即時動態定位zh_TW
dc.subject (關鍵詞) 線性漂移參數zh_TW
dc.subject (關鍵詞) 自率光束法zh_TW
dc.subject (關鍵詞) 空三平差zh_TW
dc.subject (關鍵詞) UAVen_US
dc.subject (關鍵詞) VBS-RTK GPSen_US
dc.subject (關鍵詞) drift parameteren_US
dc.subject (關鍵詞) self-calibration bundle adjustmenten_US
dc.subject (關鍵詞) aerial triangulationen_US
dc.title (題名) VBS-RTK GPS輔助UAV影像自率光束法空三平差之研究zh_TW
dc.title (題名) VBS-RTK GPS Supported Self-Calibration Bundle Adjustment for Aerial Triangulation of Unmanned Aerial Vehicle Imagesen_US
dc.type (資料類型) thesisen
dc.relation.reference (參考文獻) 一、中文參考文獻
王宏仁，1996，「GPS輔助空中三角測量之精度探討」，國立成功大學測量工程研究所碩士論文：台南。
內政部國土測繪中心，2010，「內政部國土測繪中心測繪科技發展後續計畫-發展無人飛行載具航拍技術作業執行計畫（100年~103年）」。
內政部國土測繪中心，2007，「e-GPS 定位系統應用於基本控制測量作業之研究」。
內政部國土測繪中心，2006，「e-GPS衛星基準站即時動態定位系統VBS-RTK定位測試成果報告」。
何維信，1988，「數位攝影機之率定問題」，行政院國家科學委員會專題研究計畫成果報告。
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。
李莉華、趙鍵哲，2003，「航攝影像控制實體資料建置與自動化量測之探討」，中華技術，第59期。
林老生，2009，「GPS精密單點定位在地籍測量之應用」，『台灣土地研究』，12(2): 01-25。
林文亮，2007，「e-GPS系統應用於圖跟空制測量之探討─以台中縣龍井鄉重測區為例」，國立中興大學土木工程學系碩士論文：台中。
袁修孝，1999，「GPS輔助光束法平差中觀測值的自動定權」，『武漢測繪科技大學學報』，24(2): 115-118。
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。
張祖勳，張劍清，1996，『數值攝影測量學』，武漢：武漢測繪科技大學出版社。
黃成偉，2002，「時間序列之混凝土影像半自動裂縫變遷偵測」，國立中央大學土木工程研究所碩士論文：桃園。
楊銘仁，2005，「由台灣GPS追蹤站2004年資料建構區域性電離 層模式及其影響定位精度之研究」，成功大學測量及空間資訊學系碩博士班學位論文：台南。
詹君正，2007，「利用全國性e-GPS衛星定位基準網辦理土地複丈精度之研究－以鶯歌地區為例」，國立政治大學地政學系碩士論文。
陳國華、劉新達、黃金土，2009，「無差分GPS精密單點定位技術(PPP)之動態定位精度：以輔助航空攝影測量空中三角測量為例」，『航測及遙測學刊』，14(1):65-81。
鄒芳諭，2010，「以非量測相機進行近景攝影測量探討」，國立交通大學土木工程學系碩士論文：新竹。
謝幸宜，2011，「以自率光束法提升四旋翼UAV航拍影像之定位精度」，國立政治大學地政學系碩士論文：台北。
鄧雅群，2006，「GPS 之 VBS即時動態定位精度分析」，國立成功大學地球科學研究所碩士論文：台南。
鄭至哲，2012，「e-GPS系統應用於土地複丈之作業模式探討-以臺南市玉井區為例」，國立成功大學地球科學系碩士論文：台南。
二、外文參考文獻
Abidin, H.Z. 1993, Computational and Geometrical Aspects of On-The-Flt Ambiguity Resolution , PhD Dissertation, Dept. of Surveying Engineering Tech., University of New Brunswick: Fredericton, New Brunswick, Canada.
Ackermann, F.E. 1992, “Operational Rules and Accuracy Models for GPS Aerial Triangulation”, International Archives of Photogrammetry and Remote Sensing, 29(B3): 691-700.
Ackermann, F. and Schade, H., 1993, "Application of GPS for Aerial Triangulation", Photogrammetric Engineering & Remote Sensing, 59(1): 1625-1632.
Ackermann, F.E. 1994, “On the Status and Accuracy Performance of GPS
Ackermann, F., 1997, “GPS for Photogrammetry”, International Society for Photogrammetry and Remote Sensing, 56(4): 387-406.
BD970 GNSS receiver module user guide, version 4.1, Trimble com., 2010.
Bendea, H. F., Chiabrando, F., Tonolo, F. G. and Marenchino, D., 2007, “Mapping of archaeological areas using a low-cost UAV the Augusta Bagiennorum Test site”, XXI Internationnal CIPA Symposium, Athens, Greece, October 01-06.
Berni ,J.A.J., Zarco-Tejada , P., Suárez , L. and Fereres , E., 2009, “Thermal and narrowband multispectral remote sensing for vegetation monitoring from an unmanned aerial vehicle”, IEEE Transactions on Geoscience and Remote Sensing, 47: 722–738.
Beyer, H. A., 1992, Geometric and radiometric analysis of a CCD-camera based photogrammetric close-range system, Doctoral dissertation, Diss. Techn. Wiss. ETH Zürich, Nr. 9701, 1992. Ref.: A. Grün; Korref.: H. Tiziani.
Bilker, M., Honkavaara, E. and Jaakkola, J., 1998, “GPS supported aerial triangulation using untargeted ground control”, International Archives of Photogrammetry and Remote Sensing, 32(3): pp. 2-9.
Blankenberg, L. E., 1992, “GPS supported aerial triangulation - state of the art”, Photogrammetry Journal of Finland, 13(1): 4-16.
Bláha, M., Eisenbeiss, H., Grimm, D. E. and Limpach, P., 2011, “Direct georeferencing of UAVs”, Proceedings of the International Conference on Unmanned Aerial Vehicle in Geomatics (UAV-g), Zurich, Switzerland, September 14-16.
Brown, D.C. ,1976,” The Bundle Adjustment: Progress and Prospects”, International Archive of Photogrammetry, Helsinki, Finland.
Bruton, A.M., Mostafa, M.M.R. and Scherzinger, B. , 2001, “Airborne DGPS without Dedicated Base Stations for Mapping Applications”, ION-GPS 2001, Salt Lake City, Utah, September 11-14.
Cardenal, J., Delgado, J., Mata, E., Gonzalez, A. and Olague, I. , 2006, “Use of historical flight for landside monitoring”, International Symposium on Spatial Accuracy Assessment in Natural Resources and Environmental Science, Lisbon, Portugal, September 26.
Chiang, K. W., Tsai, M. L. and Chu, C. H., 2012, “The Development of an UAV Borne Direct Georeferenced Photogrammetric Platform for Ground Control Point Free Applications”, Sensors,12(7): 9161-9180.
Clarke, T. A., Fryer, J. G., and Wang, X., 1998, “The Principal Point and CCD Cameras”, Photogrammetric Record, 16(92): 293-312.
Cramer, M. 1997, “GPS/INS Integration”, 50nd Photogrammetric Week, Stuttgart, Germany, September 24-28.
Cramer, M. Stallmann, D. and Haala, N., 2000, “Direct Georeferencing using GPS/inertial exterior orientations for photogrammetric application”, International Archives of Photogrammetry and Remote Sensing, 33(B3): 198-205.
Dorrer, E., Schwiertz, C., 1990, “Kinematic GPS and Aerial Triangulation A Comparative Study”, International Archives of Photogrammetry and Remote Sensing, 28(3): 106-131.
Ebner, H., 1976, “Self calibrating block adjustment”, Bildmessung und Luftbildwessen, 44: 128-139.
Ebadi, H., 1997, A Comprehensive study on GPS Assisted Aerial Triangulation, PhD Dissertation, Dept. of Geometrics’ Engineering. ,The University of CALGARY, Alberta, Canada.
Eisenbeiss, H., 2004, “A mini Unmanned Aerial Vehicle (UAV): System overview and image acquisition”, Proceeding of the International Archives of Photogrammetry and Remote Sensing, Pitsanulok, Thailand, November 18-20.
Eisenbeiss, H., Lambers, K., Sauerbier, M. and Zhang, L., 2005, “Photogrammetric documentation of an archaeological site (Palpa, Peru) using an autonomous model helicopter”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 34(5): 238-243.
Eisenbeiss, H., Zhang, L., 2006, “Comparison of DSMs generated from mini UAV imagery and terrestrial laser scanner in a cultural heritage application”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 36(5): 90–96.
El-Hakim, S.F., 1979, Potentials and Limitations of Photogrammetry for Precision Surveying, Ph.D. dissertation, University of New Brunswickt N.B., Canada.
Erdas Inc., 2008, “LPS Project Manager Use’s Guide”, Norcross, Georgia. Erdas Inc.
Faig, W. ,1985, Lecture Notes on Aerial Triangulation and Digital Mapping, PhD Dissertation, School of Surveying, The University of New South Wales, Kensington, Ausualia.
Fraser, C.S., 1982, “On the use of non-metric cameras in analytical non-metric photogrammetry”, International Archives of Photogrammetry and Remote Sensing, 24(5): 156-166.
Fraser, C. S., 1997, “Digital camera self-calibration”, ISPRS Journal of Photogrammetry & Remote Sensing, 52: 149-159.
Friess, P., 1988, “Empirical accuracy of positions computed from airborne GPS data”, International Archives of Photogrammetry and Remote Sensing, 27(B3): 215-234.
Friess, P., 1990, “Kinematic GPS Positioning for Aerial Photogrammetry Empirical Results”, International Symposium on Precise Positioning with the Global Positioning System, 3(7):1169-1184.
Friess, P., Heuchel, T., 1992, "Experience with GPS-Supported Aerial Triangulation", International Archives of Photogrammetry and Remote Sensing, 29(Bl): 299-305.
Fryer, J. and Brown, D., 1986, “Lens distortion for close-range photogrammetry”, International Archives of Photogrammetry and Remote Sensing, 52(1): 51-58.
Grammatikopoulos L., Kalisperakis I., Karras G., Petsa E.,2007, “Automatic multi-view texture mapping of 3D surface projections”, International archives of photogrammetry, remote sensing and spatial information sciences, 36:5.
Grün, A., 1978, “Accuracy, reliability and statistics in closerange photogrammetry”, International Society for Photogrammetry, Stockholm, Sweden, August 14-17.
Haarbrink, R. B. and Eisenbeiss, H., 2008, “Accurate DSM production from unmanned helicopter systems”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B1): 1259-1264.
Hatch, R.R., 1990, “Instantaneous Ambiguity Resolution”, KIS Symposium, Banff ,Canada, September 11.
Hinsken, L. U. D. G. E. R., Miller, S., Tempelmann, U., Uebbing, R. and Walker, A. S. 2002, “Triangulation of the LH Systems’ ADS40 using ORIMA GPS/IMU”, International Archives of Photogrammetry, Remote Sensing and Spatial Information Sciences, 34(3A): 156-162.
Hongxia, C., Zongjian, L. and Guozhong, S., 2007, “Non-metric CCD Camera Calibration for Low Attitude Photogrammetric Mapping”, IEEE Electronic Measurement and Instruments, 2: 689-696.
Horcher, A. and Visser, R. J. M., 2004, “Unmanned Aerial Vehicles: Applications for Natural Resource Management and Monitoring”, Council on Forest Engineering Annual Meeting, Hot Springs (AR), USA, April 28-30.
Hu, G. R., Khoo, V. H. S. and Law, C., 2002, "Performance of Singapore Integrated Multiple Reference Station Network (SIMRSN) for RTK Positioning.", GPS Solutions, 6(1-2): 65-71.
Hunt, E. R., Cavigelli, M., Daugherty, C. S. T., McMurtrey, J., and C. L. Walthall, 2005, “Evaluation of Digital Photography from Model Aircraft for Remote Sensing of Crop Biomass and Nitrogen Status” ,Precision Agriculture, 6:359–378.
Kinlyside, D., 1988, “Some Aspects on GPS for Airborne Photogrammetric Control”, Aust.J.Geod.Photogram.Surv, 49: 55-72.
Krabill, W.B., 1989, “GPS Applications to Laser Profiling and Laser Scanning for Digital Terrain Models”, 42nd Photogrammetric Week, Stuttgart, Germany, September 11-16.
Kraus, K., 1993, Photogrammetry Vol. I., Fundamentals and Standard Processes, Der. Dümmler Verlag, Bonn, Germany, ISBN 3-427-78684-6.
Küng, O., Strecha, C., Fua, P., Gurdan, D., Achtelik, M., Doth, K. M. and Stumpf, J., 2011, “Simplified building models extraction from Ultra-light UAV Imagery”, International Society for Photogrammetry and Remote Sensing, 38(1): 217-222.
Lerma, J. L., Navarro, S., Cabrelles, M., and Villaverde, V. , 2010, “Terrestrial laser scanning and close range photogrammetry for 3D archaeological documentation: the Upper Palaeolithic cave of Parpall as a case study”, Journal of Archaeological Science, 37(3): 499-507.
Li, S., 2011, “The use of Low-altitude unmanned aerial vehicle system in the measurement of large scale topographic maps ——Take the 1:2000 mapping of PuWen as an example,” 11th South East Asian Survey Congress and 13th International Surveyors` Congress Innovation towards Sustainability, Malaysia, June 22-24.
Lin, Z. J., 2008,” UAV for mapping-low altitude photogrammetric survey”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B1): 1183-1186.
Lin, Y., Hyyppä, J. and Jaakkola, A., 2011, “Mini-UAV-Borne LIDAR for Fine-Scale Mapping Geoscience and Remote Sensing Letters”, IEEE Transactions on Geoscience and Remote Sensing, 8(99): 426–430.
Lin J.Y. and Chio, S.H., 2012, "The Accuracy Influence of Different Camera Calibration Conditions to Bundle Adjustment of Close Range Images", Proceedings of The 33nd Asian Conference on Remote Sensing , Pattaya, Thailand, November 26-30.
Lucas, James R., 1987, “Aerotriangulation Without Ground Control”, Photogrammetric Engineering and Remote Sensing, 53(3): 311-314.
Madani, M., Shkolnikov, I., 2005, “Photogrammetric Correction of GPS/INS Post-Processed Trajectory of the Frame Camera Platform Using Ground Control” ASPRS Conference Proceedings, Baltimore, Maryland, March 07-11.
Pueschel, H., Sauerbier, M. and Eisenbeiss, H., 2008, “A 3D model of Castle Landenberg (CH) from combined photogrammetric processing of terrestrial and UAV-based images”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 37(B8): 93-98.
Patias, P., Saatsoglou-Paliadeli , C., Georgoula, O., Pateraki, M., Stamnas, A. and Kyriakou, N., 2007, “Photogrammetric documentation and digital representation of the macedonian palace in Vergina-Aegeae”, XXI International CIPA Symposium, Athens, Greece, October 01-06.
Reich, M.; Wiggenhagen, M.; Muhle, D., 2012, “Filling the holes - Potential of UAV-based photogrammetric facade modeling”, In: Tagungsband des 15, 3D-NordOst Workshops der GFaI, December06-07.
Remondino, F., and Fraser, C., 2006, “Digital Camera Calibration Methods: Considerations and Comparisons”, ISPRS Commission V Symposium, Dresden, Germany, September 25-27.
Retscher, G., 2002, “Accuracy Performance of Virtual Reference Station (VRS) Networks”, Journal of Global Positioning Systems, 1(1): 40-47.
Rosnell, T., Honkavaara, E. and Nurminen, K. ,2011, “On geometric processing of multi-temporal image data collected by light UAV systems”, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 38: 01-06.
Schut, G. H., 1979, “Selection of Additional Parameters for the Bundle Adjustment”, Photogrammetric Engineering and Remote Sensing, 45(9): 1243-1252.
Tahar, K.N., Ahmad, A., Wan Mohd Akib, W.A.A. and Udin, W.S., 2011, “Unmanned aerial vehicle technology for large scale mapping”, ISG( International Symposium and Exhibition on Geoinformation) & ISPRS(International Society for Photogrammetry and Remote Sensing), Shah Alam, Malaysia, September 11-14.
Van Der Vegt, J. W. ,1989, “GPS Test Flight Flevoland” , 42nd Photogrammetric Week, Stuttgart, Germany, September 11-16.
Vollath, U., Deking, A., Landau , H., Pagels, C., Wagner, B., 2000, “Multi-Base RTK Positioning using Virtual Reference Stations”, Proceedings of ION-GPS 2000, , Salt Lake City, USA, September 19-22.
Wanninger, L., 2002, “Die Bedeutung der Ionosphäre für Referenzstationsnetze”, 4. SAPOS-Symposium, Hannover, May 21-23.
Wolf, P. R. and Dewitt B. A., 2000, Elements of Photogrammetry: with Applications in GIS, 3rd edition, Taipei: The McGraw-Hill.
Yang, M., Goad, C. C., and. Schaffrin, B,1994, “Real-time on-the-fly ambiguity resolution over short baselines in the presence of anti-spoofing”, International Technical Meeting of the Satellite Division of the ION, Salt Lake City, Utah, September 20-23.
Yuan, X., Fu, J., Sun, H. and Toth, C., 2009, “The application of GPS precise point positioning technology in aerial triangulation”, ISPRS Journal of Photogrammetry and Remote Sensing, 64(6): 541-550.
Zarco-Tejada, P.J., González-Dugo, V. and Berni-Fluorescence, J.A.J., 2012, “temperature and narrow-band indices acquired from a UAV platform for water stress detection using a micro-hyperspectral imager and a thermal camera”, Remote Sensing of Environment, 117(1): 322–337.
Zhou, G., Li, C. and Cheng, P., 2005, “Unmanned aerial vehicle (UAV) real-time video registration for forest fire monitoring”, IEEE Transactions on Geoscience and Remote Sensing, 1803-1806.
Zhou, G. and Wu, J., 2006, ”Unmanned aerial vehicle (UAV) data flow processing for natural disaster response”, American Society for Photogrammetry and Remote Sensing, Reno, Nevada, May 01-05.
Photometrix（ 2010, August）. Users Manual for iWitness and iWitnessPRO. Retrieved January 9, 2012 from World Wide Web: http://www.photometrix.com.au .		zh_TW