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Kab lus

Kab lus
Yuav ua li cas tswj cov ntsiab lus thiab PPK cov ntaub ntawv cuam tshuam qhov txheeb ze qhov tseeb ntawm 3D qauv

Hauv ob qhov kev sim no, peb tau qhia plaub qhov sib txawv los txheeb xyuas qhov tseeb ntawm tus qauv 3D. Plaub qhov sib txawv yog:

1: Carrier drone hom: VTOL drone lossis multi-rotor drone

2: txawv GSD

3: Nrog / Tsis muaj cov ntsiab lus tswj hauv av

4: Nrog / Tsis muaj PPK cov ntaub ntawv

Kev sim 1: cov txiaj ntsig ntawm cov ntsiab lus tswj hauv av (GCPs) ntawm qhov txheeb ze qhov tseeb ntawm tus qauv 3D;

Qhov xwm txheej 1

Carrier drone

Oblique koob yees duab

GSD

PPK

CW 10 VTOL

DG4 pros

2cm ua

Yog lawm

Table 1:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj GCP

3D qauv ntev (L2) nrog GCP

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.20 Nws

7.21 ib

0.01 ib

0.00 Nws

 

8.706 ib

8.71 ib

8.68 ib

0.00 Nws

0.03 ib

 

10.961 ib

10.87 Nws

10.90 Nws

0.09 ib

0.06 ib

2

7.010 ib

6.89 ib

6.98 ib

0.12

0.03 ib

3

1.822 ib

1.79 ib

1.80 ib

0.03 ib

0.02 ib

4

10.410 Nws

10.39 Nws

10.40 Nws

0.02 ib

0.01 ib

5

10.718 Nws

10.67 Nws

10.70 Nws

0.05 Nws

0.02 ib

6

13.787 Nws

13.75 Nws

13.77 Nws

0.04 ib

0.02 ib

7

11.404 Nws

11.39 Nws

11.39 Nws

0.01 ib

0.01 ib

 

12.147 Nws

12.13 Nws

12.13 Nws

0.02 ib

0.02 ib

8

7.526 ib

7.51 ib

7.49 ib

0.02 ib

0.04 ib

 

13.797 Nws

13.79 Nws

13.81 Nws

0.01 ib

-0.01 Nws

9

10.374 Nws

10.35 Nws

10.36 Nws

0.02 ib

0.01 ib

10

2.109 ib

2.03 Nws

2.02 Nws

0.08 ib

0.09 ib

 

4.281 ib

4.15

4.16

0.13

0.12

11

14.675 Nws

14.61 Nws

14.66 Nws

0.07 ib

0.02 ib

 

8.600 Nws

8.60 ib

8.54 ib

0.00 Nws

0.06 ib

12

13.394 Nws

13.37 Nws

13.35 Nws

0.02 ib

0.04 ib

13

12.940 Nws

12.88 Nws

12.89 Nws

0.06 ib

0.05 Nws

14

7.190 ib

7.20 Nws

7.18 Nws

-0.01 Nws

0.01 ib

15

13.371 Nws

13.36 Nws

13.35 Nws

0.01 ib

0.02 ib

 

6.435 ib

6.40 Nws

6.41 ib

0.03 ib

0.02 ib

16

3.742 ib

3.75 ib

3.72 ib

-0.01 Nws

0.02 ib

17

6.022 ib

5.97 ib

5.98 ib

0.05 Nws

0.04 ib

18

3.937 ib

3.93 ib

3.89 ib

0.01 ib

0.05 Nws

19

8.120 Nws

8.10 Nws

8.12 ib

0.02 ib

0.00 Nws

 

14.411 Nws

14.40 Nws

14.40 Nws

0.01 ib

0.01 ib

20

6.077 ib

6.04 ib

6.03 ib

0.04 ib

0.05 Nws

21

13.696 ib

13.65 Nws

13.66 Nws

0.05 Nws

0.04 ib

RMSE: Ds1 = 0.0342m, Ds2 = 0.0308m

Qhov xwm txheej 2

Carrier drone

Oblique koob yees duab

GSD

PPK

CW 10 VTOL

DG4 pros

2cm ua

Tsis muaj

Table 2:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj GCP

3D qauv ntev (L2) nrog GCP

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.18 Nws

7.18 Nws

0.030 ib

0.030 ib

 

8.706 ib

8.69 ib

8.68 ib

0.016 ib

0.026 ib

 

10.961 ib

10.89 Nws

10.91 Nws

0.071 ib

0.051 ib

2

7.010 ib

6.88 ib

6.92 ib

0.130 Nws

0.090 ib

3

1.822 ib

1.76 ib

1.79 ib

0.062 ib

0.032 ib

4

10.410 Nws

10.38 Nws

10.39 Nws

0.030 ib

0.020 ib

5

10.718 Nws

10.65 Nws

10.66 Nws

0.068 ib

0.058 ib

6

13.787 Nws

13.72 Nws

13.77 Nws

0.067 ib

0.017 ib

7

11.404 Nws

11.41 Nws

11.38 Nws

-0.006 Nws

0.024 ib

 

12.147 Nws

12.13 Nws

12.12 Nws

0.017 ib

0.027 ib

8

7.526 ib

7.44 ib

7.47 ib

0.086 ib

0.056 ib

 

13.797 Nws

13.83 Nws

13.83 Nws

-0.033

-0.033

9

10.374 Nws

10.35 Nws

10.34 Nws

0.024 ib

0.034 ib

10

2.109 ib

1.98 ib

2.03 Nws

0.129 ib

0.079 ib

 

4.281 ib

4.14 ib

4.18

0.141 ib

0.101 ib

11

14.675 Nws

14.55 Nws

14.59 Nws

0.125 Nws

0.085 ib

 

8.600 Nws

8.58 ib

8.57 ib

0.020 ib

0.030 ib

12

13.394 Nws

13.36 Nws

13.35 Nws

0.034 ib

0.044 ib

13

12.940 Nws

12.95 Nws

12.92 Nws

-0.010 Nws

0.020 ib

14

7.190 ib

7.21 ib

7.21 ib

-0.020 Nws

-0.020 Nws

15

13.371 Nws

13.36 Nws

13.36 Nws

0.011 ib

0.011 ib

 

6.435 ib

6.37 ib

6.43 ib

0.065 ib

0.005 ib

16

3.742 ib

3.74 ib

3.72 ib

0.002 ib

0.022 ib

17

6.022 ib

6.03 ib

6.00 Nws

-0.008 Nws

0.022 ib

18

3.937 ib

3.91 ib

3.94 ib

0.027 ib

-0.003 Nws

19

8.120 Nws

8.09 Nws

8.09 Nws

0.030 ib

0.030 ib

 

14.411 Nws

14.40 Nws

14.41 Nws

0.011 ib

0.001 ib

20

6.077 ib

6.06 ib

6.03 ib

0.017 ib

0.047 ib

21

13.696 ib

13.68 Nws

13.65 Nws

0.016 ib

0.046 ib

RMSE: Ds1 = 0.0397m, Ds2 = 0.0328m

Qhov xwm txheej 3

Carrier drone

Oblique koob yees duab

GSD

PPK

CW 10 VTOL

DG4 pros

1.5 cm loj

Yog lawm

Table 3:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj GCP

3D qauv ntev (L2) nrog GCP

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.20 Nws

7.21 ib

0.01 ib

0.00 Nws

 

8.706 ib

8.69 ib

8.7 ib

0.02 ib

0.01 ib

 

10.961 ib

10.88 Nws

10.89 Nws

0.08 ib

0.07 ib

2

7.010 ib

6.87 ib

6.99 ib

0.14 ib

0.02 ib

3

1.822 ib

1.75 ib

1.78 ib

0.07 ib

0.04 ib

4

10.410 Nws

10.38 Nws

10.39 Nws

0.03 ib

0.02 ib

5

10.718 Nws

10.69 Nws

10.69 Nws

0.03 ib

0.03 ib

6

13.787 Nws

13.78 Nws

13.76 Nws

0.01 ib

0.03 ib

7

11.404 Nws

11.38 Nws

11.39 Nws

0.02 ib

0.01 ib

 

12.147 Nws

12.12 Nws

12.12 Nws

0.03 ib

0.03 ib

8

7.526 ib

7.49 ib

7.51 ib

0.04 ib

0.02 ib

 

13.797 Nws

13.78 Nws

13.8 ib

0.02 ib

0.00 Nws

9

10.374 Nws

10.34 Nws

10.35 Nws

0.03 ib

0.02 ib

10

2.109 ib

2.02 Nws

2.11

0.09 ib

0.00 Nws

 

4.281 ib

4.21

4.28 ib

0.07 ib

0.00 Nws

11

14.675 Nws

14.65 Nws

14.68 Nws

0.03 ib

0.00 Nws

 

8.600 Nws

8.57 ib

8.53 ib

0.03 ib

0.07 ib

12

13.394 Nws

13.40 Nws

13.37 Nws

-0.01 Nws

0.02 ib

13

12.940 Nws

12.89 Nws

12.91 Nws

0.05 Nws

0.03 ib

14

7.190 ib

7.18 Nws

7.2

0.01 ib

-0.01 Nws

15

13.371 Nws

13.38 Nws

13.35 Nws

-0.01 Nws

0.02 ib

 

6.435 ib

6.46 ib

6.4

-0.03 Nws

0.03 ib

16

3.742 ib

3.75 ib

3.71 ib

-0.01 Nws

0.03 ib

17

6.022 ib

5.97 ib

5.98 ib

0.05 Nws

0.04 ib

18

3.937 ib

3.91 ib

3.89 ib

0.03 ib

0.05 Nws

19

8.120 Nws

8.08 Nws

8.1

0.04 ib

0.02 ib

 

14.411 Nws

14.38 Nws

14.39 Nws

0.03 ib

0.02 ib

20

6.077 ib

6.05 Nws

6.03 ib

0.03 ib

0.05 Nws

21

13.696 ib

13.67 Nws

13.64 Nws

0.03 ib

0.06 ib

RMSE: Ds1 = 0.0328m, Ds2 = 0.0249m

Qhov xwm txheej 4

Carrier drone

Oblique koob yees duab

GSD

PPK

CW 10 VTOL

DG4 pros

1.5 cm loj

Tsis muaj

Table 4:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj GCP

3D qauv ntev (L2) nrog GCP

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.20 Nws

7.21 ib

0.010 ib

0

 

8.706 ib

8.65 ib

8.68 ib

0.056 ib

0.026 ib

 

10.961 ib

10.90 Nws

10.87 Nws

0.061 ib

0.091 ib

2

7.010 ib

6.86 ib

6.88 ib

0.150 Nws

0.13

3

1.822 ib

1.76 ib

1.76 ib

0.062 ib

0.062 ib

4

10.410 Nws

10.37 Nws

10.38 Nws

0.040 ib

0.03 ib

5

10.718 Nws

10.68 Nws

10.72 Nws

0.038 ib

-0.002

6

13.787 Nws

13.71 Nws

13.79 Nws

0.077 ib

-0.003 Nws

7

11.404 Nws

11.38 Nws

11.38 Nws

0.024 ib

0.024 ib

 

12.147 Nws

12.12 Nws

12.13 Nws

0.027 ib

0.017 ib

8

7.526 ib

7.49 ib

7.53 ib

0.036 ib

-0.004 Nws

 

13.797 Nws

13.77 Nws

13.78 Nws

0.027 ib

0.017 ib

9

10.374 Nws

10.35 Nws

10.37 Nws

0.024 ib

0.004 ib

10

2.109 ib

2.09 Nws

2.11

0.019 ib

-0.001 Nws

 

4.281 ib

4.19 ib

4.28 ib

0.091 ib

0.001 ib

11

14.675 Nws

14.64 Nws

14.67 Nws

0.035 ib

0.005 ib

 

8.600 Nws

8.57 ib

8.58 ib

0.030 ib

0.02 ib

12

13.394 Nws

13.38 Nws

13.39 Nws

0.014 ib

0.004 ib

13

12.940 Nws

12.91 Nws

12.9 Nws

0.030 ib

0.04 ib

14

7.190 ib

7.20 Nws

7.19 ib

-0.010 Nws

0

15

13.371 Nws

13.38 Nws

13.37 Nws

-0.009 Nws

0.001 ib

 

6.435 ib

6.43 ib

6.42 ib

0.005 ib

0.015 ib

16

3.742 ib

3.70 ib

3.7

0.042 ib

0.042 ib

17

6.022 ib

5.99 ib

5.98 ib

0.032 ib

0.042 ib

18

3.937 ib

3.94 ib

3.91 ib

-0.003 Nws

0.027 ib

19

8.120 Nws

8.12 ib

8.07 Nws

0.000

0.05 Nws

 

14.411 Nws

14.37 Nws

14.38 Nws

0.041 ib

0.031 ib

20

6.077 ib

6.04 ib

6.04 ib

0.037 ib

0.037 ib

21

13.696 ib

13.65 Nws

13.65 Nws

0.046 ib

0.046 ib

RMSE: Ds1 = 0.0356m, Ds2 = 0.0259m

Qhov xwm txheej 5

Carrier drone

Oblique koob yees duab

GSD

PPK

DJI M600 Pro Multi-rotor

DG4 pros

1.5 cm loj

Tsis muaj

Table 5:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj GCP

3D qauv ntev (L2) nrog GCP

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.19 ib

7.21 ib

0.02 ib

0.00 Nws

 

8.706 ib

8.70 ib

8.70 ib

0.01 ib

0.01 ib

 

10.961 ib

10.91 Nws

10.91 Nws

0.05 Nws

0.05 Nws

2

7.010 ib

6.98 ib

6.98 ib

0.03 ib

0.03 ib

3

1.822 ib

1.79 ib

1.80 ib

0.03 ib

0.02 ib

4

10.410 Nws

10.39 Nws

10.39 Nws

0.02 ib

0.02 ib

5

10.718 Nws

10.69 Nws

10.70 Nws

0.03 ib

0.02 ib

6

13.787 Nws

13.76 Nws

13.75 Nws

0.03 ib

0.04 ib

7

11.404 Nws

11.38 Nws

11.38 Nws

0.02 ib

0.02 ib

 

12.147 Nws

12.12 Nws

12.13 Nws

0.03 ib

0.02 ib

8

7.526 ib

7.50 Nws

7.49 ib

0.03 ib

0.04 ib

 

13.797 Nws

13.77 Nws

13.79 Nws

0.03 ib

0.01 ib

9

10.374 Nws

10.33 Nws

10.35 Nws

0.04 ib

0.02 ib

10

2.109 ib

2.02 Nws

2.07 Nws

0.09 ib

0.04 ib

 

4.281 ib

4.20 ib

4.21

0.08 ib

0.07 ib

11

14.675 Nws

14.65 Nws

14.66 Nws

0.03 ib

0.02 ib

 

8.600 Nws

8.57 ib

8.57 ib

0.03 ib

0.03 ib

12

13.394 Nws

13.35 Nws

13.35 Nws

0.04 ib

0.04 ib

13

12.940 Nws

12.92 Nws

12.93 Nws

0.02 ib

0.01 ib

14

7.190 ib

7.17 ib

7.18 Nws

0.02 ib

0.01 ib

15

13.371 Nws

13.35 Nws

13.36 Nws

0.02 ib

0.01 ib

 

6.435 ib

6.41 ib

6.42 ib

0.02 ib

0.01 ib

16

3.742 ib

3.70 ib

3.71 ib

0.04 ib

0.03 ib

17

6.022 ib

5.99 ib

6.00 Nws

0.03 ib

0.02 ib

18

3.937 ib

3.89 ib

3.91 ib

0.05 Nws

0.03 ib

19

8.120 Nws

8.08 Nws

8.10 Nws

0.04 ib

0.02 ib

 

14.411 Nws

14.36 Nws

14.35 Nws

0.05 Nws

0.06 ib

20

6.077 ib

6.06 ib

6.06 ib

0.02 ib

0.02 ib

21

13.696 ib

13.65 Nws

13.67 Nws

0.05 Nws

0.03 ib

RMSE: Ds1 = 0.0342m, Ds2 = 0.0256m

Cov lus xaus

Cov kev hloov pauv ntawm kev sim 1 yog:

1: Nrog / Tsis muaj PPK cov ntaub ntawv.

2: Carrier drone hom: VTOL drone lossis multi-rotor drone

3: txawv GSD: 1.5 cm lossis 2cm

Tom qab kev tshuaj xyuas ntawm tsib pawg ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus xaus hauv qab no:

Thaum lub koob yees duab oblique yog DG4Pros:

(1) Nrog / Tsis muaj qhov taw tes tswj hauv av (GCP) koom nrog hauv AT triangulation, txawm tias nws yog VTOL lossis ntau lub rotor drone, txawm tias GSD yog 2cm lossis 1.5cm, 3D qauv tsim los ntawm oblique lub koob yees duab DG4Pros tuaj yeem ua tau raws li qhov xav tau. cov kev cai ntawm cov txheeb ze raug yuam kev Ds≤10cm.

(2) Thaum nrog / tsis muaj GCPs yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm 3D qauv nrog GCPs yog qhov zoo dua qhov tsis muaj GCP.

(3) Thaum GSD yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm tus qauv 3D uas GSD 1.5cm zoo dua li GSD 2cm.

(4) Thaum tus cab kuj drone yog ib qho sib txawv, qhov txheeb ze ntawm tus qauv 3D uas siv ntau lub rotor yog qhov zoo dua qhov uas siv VTOL raws li tus neeg nqa khoom drone.

Kev sim 2: Yog tsis muaj GCPs, cov txiaj ntsig ntawm PPK cov ntaub ntawv ntawm qhov txheeb ze ntawm tus qauv 3D

Qhov xwm txheej 1

Carrier drone

Oblique koob yees duab

GSD

GCPs

CW 10 VTOL

DG4 pros

2cm ua

TSIS MUAJ

Table 1:

Tus nab npawb ntawm cov khoom

Kev ntsuas qhov ntev (L0)

3D qauv ntev (L1) tsis muaj PPK

3D qauv ntev (L2) nrog PPK

Ds1 (L0-L1)

Ds2 (L0-L2)

1

7.210 ib

7.18 Nws

7.20 Nws

0.030 ib

0.01 ib

 

8.706 ib

8.69 ib

8.71 ib

0.016 ib

0.00 Nws

 

10.961 ib

10.89 Nws

10.87 Nws

0.071 ib

0.09 ib

2

7.010 ib

6.88 ib

6.89 ib

0.130 Nws

0.12

3

1.822 ib

1.76 ib

1.79 ib

0.062 ib

0.03 ib

4

10.410 Nws

10.38 Nws

10.39 Nws

0.030 ib

0.02 ib

5

10.718 Nws

10.65 Nws

10.67 Nws

0.068 ib

0.05 Nws

6

13.787 Nws

13.72 Nws

13.75 Nws

0.067 ib

0.04 ib

7

11.404 Nws

11.41 Nws

11.39 Nws

-0.006 Nws

0.01 ib

 

12.147 Nws

12.13 Nws

12.13 Nws

0.017 ib

0.02 ib

8

7.526 ib

7.44 ib

7.51 ib

0.086 ib

0.02 ib

 

13.797 Nws

13.83 Nws

13.79 Nws

-0.033

0.01 ib

9

10.374 Nws

10.35 Nws

10.35 Nws

0.024 ib

0.02 ib

10

2.109 ib

1.98 ib

2.03 Nws

0.129 ib

0.08 ib

 

4.281 ib

4.14 ib

4.15

0.141 ib

0.13

11

14.675 Nws

14.55 Nws

14.61 Nws

0.125 Nws

0.07 ib

 

8.600 Nws

8.58 ib

8.60 ib

0.020 ib

0.00 Nws

12

13.394 Nws

13.36 Nws

13.37 Nws

0.034 ib

0.02 ib

13

12.940 Nws

12.95 Nws

12.88 Nws

-0.010 Nws

0.06 ib

14

7.190 ib

7.21 ib

7.20 Nws

-0.020 Nws

-0.01 Nws

15

13.371 Nws

13.36 Nws

13.36 Nws

0.011 ib

0.01 ib

 

6.435 ib

6.37 ib

6.40 Nws

0.065 ib

0.03 ib

16

3.742 ib

3.74 ib

3.75 ib

0.002 ib

-0.01 Nws

17

6.022 ib

6.03 ib

5.97 ib

-0.008 Nws

0.05 Nws

18

3.937 ib

3.91 ib

3.93 ib

0.027 ib

0.01 ib

19

8.120 Nws

8.09 Nws

8.10 Nws

0.030 ib

0.02 ib

 

14.411 Nws

14.40 Nws

14.40 Nws

0.011 ib

0.01 ib

20

6.077 ib

6.06 ib

6.04 ib

0.017 ib

0.04 ib

21

13.696 ib

13.68 Nws

13.65 Nws

0.016 ib

0.05 Nws

RMSE Ds1 = 0.0397m, Ds2 = 0.0342m