Hauv tsab xov xwm kawg Yuav ua li cas hauv av tswj cov ntsiab lus thiab cov ntaub ntawv PPK cuam tshuam rau qhov tseeb piv ntawm 3D qauv, peb tau hais tias ntxiv rau GCPs thiab PPK cov ntaub ntawv, GSD thiab cov neeg tsav tsheb drone tseem muaj qee qhov kev cuam tshuam ntawm qhov txheeb ze raug ntawm 3D qauv.Yog li peb ua lwm txoj kev kuaj kom nws paub tseeb.
Tus neeg nqa khoom drone |
Oblique koob yees duab |
GCPs |
PPK |
CW10 VTOL |
DG4pros |
TSIS MUAJ |
TSIS MUAJ |
Cov Khoom Siv |
ntsuas ntev (L0) |
Qhov qauv 3D ntev (L1) GSD = 2cm |
Qhov qauv 3D ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 |
7.18 |
7.20 |
0.030 |
0.010 |
8.706 |
8.69 |
8.65 |
0.016 |
0.056 |
|
10.961 |
10,89 |
10.90 |
0.071 |
0.061 |
|
2 |
7.010 |
6.88 |
6.86 |
0.130 |
0.150 |
3 |
1.822 |
1.76 |
1.76 |
0.062 |
0.062 |
4 |
10.410 |
10.38 |
10.37 |
0.030 |
0.040 |
5 |
10.718 |
10.65 |
10.68 |
0.068 |
0.038 |
6 |
13.787 |
13.72 |
13.71 |
0.067 |
0.077 |
7 |
11.404 |
11.41 |
11.38 |
-0.006 |
0.024 |
12.147 |
12,13 |
12.12 |
0.017 |
0.027 |
|
8 |
7.526 |
7.44 |
7.49 |
0.086 |
0.036 |
13.797 |
13,83 |
13.77 |
-0.033 |
0.027 |
|
9 |
10.374 |
10.35 |
10.35 |
0.024 |
0.024 |
10 |
2.109 |
1.98 |
2.09 |
0.129 |
0.019 |
4.281 |
4.14 |
4.19 |
0.141 |
0.091 |
|
11 |
14.675 |
14,55 |
14.64 |
0.125 |
0.035 |
8.600 |
8,58 |
8,57 |
0.020 |
0.030 |
|
12 |
13.394 |
13.36 |
13.38 |
0.034 |
0.014 |
13 |
12,940 |
12,95 |
12,91 |
-0.010 |
0.030 |
14 |
7.190 |
7.21 |
7.20 |
-0.020 |
-0.010 |
15 |
13.371 |
13.36 |
13.38 |
0.011 |
-0.009 |
6.435 |
6.37 |
6.43 |
0.065 |
0.005 |
|
16 |
3.742 |
3.74 |
3.70 |
0.002 |
0.042 |
17 |
6.022 |
6.03 |
5.99 |
-0.008 |
0.032 |
18 |
3.937 |
3.91 |
3.94 |
0.027 |
-0.003 |
19 |
8.120 |
8.09 |
8.12 |
0.030 |
0.000 |
14.411 |
14.40 |
14.37 |
0.011 |
0.041 |
|
20 |
6.077 |
6.06 |
6.04 |
0.017 |
0.037 |
21 |
13.696 |
13.68 |
13.65 |
0.016 |
0.046 |
RMSE : DS1 = 0.0397m , DS2 = 0.0356m |
Tus neeg nqa khoom drone |
Oblique koob yees duab |
GCPs |
PPK |
CW10 VTOL |
DG4pros |
Yog lawm |
Tsis yog |
Cov Khoom Siv |
ntsuas ntev (L0) |
Qhov qauv 3D ntev (L1) GSD = 2cm |
Qhov qauv 3D ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 |
7.18 |
7.21 |
0.030 |
0 |
8.706 |
8.68 |
8.68 |
0.026 |
0.026 |
|
10.961 |
10.91 |
10.87 |
0.051 |
0.091 |
|
2 |
7.010 |
6.92 |
6.88 |
0.090 |
0.13 |
3 |
1.822 |
1.79 |
1.76 |
0.032 |
0.062 |
4 |
10.410 |
10.39 |
10.38 |
0.020 |
0.03 |
5 |
10.718 |
10.66 |
10.72 |
0.058 |
-0.002 |
6 |
13.787 |
13.77 |
13,79 |
0.017 |
-0.003 |
7 |
11.404 |
11.38 |
11.38 |
0.024 |
0.024 |
12.147 |
12.12 |
12,13 |
0.027 |
0.017 |
|
8 |
7.526 |
7.47 |
7,53 |
0.056 |
-0.004 |
13.797 |
13,83 |
13.78 |
-0.033 |
0.017 |
|
9 |
10.374 |
10.34 |
10.37 |
0.034 |
0.004 |
10 |
2.109 |
2.03 |
2.11 |
0.079 |
-0.001 |
4.281 |
4.18 |
4.28 |
0.101 |
0.001 |
|
11 |
14.675 |
14,59 |
14.67 |
0.085 |
0.005 |
8.600 |
8,57 |
8,58 |
0.030 |
0.02 |
|
12 |
13.394 |
13.35 |
13.39 |
0.044 |
0.004 |
13 |
12,940 |
12.92 |
12,9 |
0.020 |
0.04 |
14 |
7.190 |
7.21 |
7.19 |
-0.020 |
0 |
15 |
13.371 |
13.36 |
13.37 |
0.011 |
0.001 |
6.435 |
6.43 |
6.42 |
0.005 |
0.015 |
|
16 |
3.742 |
3.72 |
3.7 |
0.022 |
0.042 |
17 |
6.022 |
6.00 |
5.98 |
0.022 |
0.042 |
18 |
3.937 |
3.94 |
3.91 |
-0.003 |
0.027 |
19 |
8.120 |
8.09 |
8.07 |
0.030 |
0.05 |
14.411 |
14.41 |
14.38 |
0.001 |
0.031 |
|
20 |
6.077 |
6.03 |
6.04 |
0.047 |
0.037 |
21 |
13.696 |
13.65 |
13.65 |
0.046 |
0.046 |
RMSE: DS1 = 0.0328m , DS2 = 0.0259m |
Tus neeg nqa khoom drone |
Oblique koob yees duab |
GCPs |
PPK |
CW10 VTOL |
DG4pros |
TSIS MUAJ |
YOG |
Cov Khoom Siv |
ntsuas ntev (L0) |
Qhov qauv 3D ntev (L1) GSD = 2cm |
Qhov qauv 3D ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.210 |
7.20 |
7.20 |
0.01 |
0.01 |
8.706 |
8.71 |
8.69 |
0,00 |
0.02 |
|
10.961 |
10.87 |
10.88 |
0.09 |
0.08 |
|
2 |
7.010 |
6.89 |
6.87 |
0.12 |
0.14 |
3 |
1.822 |
1.79 |
1.75 |
0.03 |
0.07 |
4 |
10.410 |
10.39 |
10.38 |
0.02 |
0.03 |
5 |
10.718 |
10.67 |
10.69 |
0.05 |
0.03 |
6 |
13.787 |
13.75 |
13.78 |
0.04 |
0.01 |
7 |
11.404 |
11.39 |
11.38 |
0.01 |
0.02 |
12.147 |
12,13 |
12.12 |
0.02 |
0.03 |
|
8 |
7.526 |
7,51 |
7.49 |
0.02 |
0.04 |
13.797 |
13,79 |
13.78 |
0.01 |
0.02 |
|
9 |
10.374 |
10.35 |
10.34 |
0.02 |
0.03 |
10 |
2.109 |
2.03 |
2.02 |
0.08 |
0.09 |
4.281 |
4.15 |
4.21 |
0.13 |
0.07 |
|
11 |
14.675 |
14.61 |
14.65 |
0.07 |
0.03 |
8.600 |
8.60 |
8,57 |
0,00 |
0.03 |
|
12 |
13.394 |
13.37 |
13.40 |
0.02 |
-0.01 |
13 |
12,940 |
12.88 |
12,89 |
0.06 |
0.05 |
14 |
7.190 |
7.20 |
7.18 |
-0.01 |
0.01 |
15 |
13.371 |
13.36 |
13.38 |
0.01 |
-0.01 |
6.435 |
6.40 |
6.46 |
0.03 |
-0.03 |
|
16 |
3.742 |
3.75 |
3.75 |
-0.01 |
-0.01 |
17 |
6.022 |
5.97 |
5.97 |
0.05 |
0.05 |
18 |
3.937 |
3.93 |
3.91 |
0.01 |
0.03 |
19 |
8.120 |
8,10 |
8.08 |
0.02 |
0.04 |
14.411 |
14.40 |
14.38 |
0.01 |
0.03 |
|
20 |
6.077 |
6.04 |
6.05 |
0.04 |
0.03 |
21 |
13.696 |
13.65 |
13.67 |
0.05 |
0.03 |
RMSE: DS1 = 0.0342m , DS2 = 0.0328m |
Tus neeg nqa khoom drone |
Oblique koob yees duab |
GCPs |
PPK |
CW10 VTOL |
DG4pros |
YOG |
YOG |
Cov Khoom Siv |
ntsuas ntev (L0) |
Qhov qauv 3D ntev (L1) GSD = 2cm |
Qhov qauv 3D ntev (L2) GSD = 1.5cm |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 |
7.21 |
7.21 |
0,00 |
0,00 |
8.706 |
8.68 |
8.7 |
0.03 |
0.01 |
|
10.961 |
10.90 |
10,89 |
0.06 |
0.07 |
|
2 |
7.01 |
6.98 |
6.99 |
0.03 |
0.02 |
3 |
1.822 |
1.80 |
1.78 |
0.02 |
0.04 |
4 |
10.41 |
10.40 |
10.39 |
0.01 |
0.02 |
5 |
10.718 |
10.70 |
10.69 |
0.02 |
0.03 |
6 |
13.787 |
13.77 |
13.76 |
0.02 |
0.03 |
7 |
11.404 |
11.39 |
11.39 |
0.01 |
0.01 |
12.147 |
12,13 |
12.12 |
0.02 |
0.03 |
|
8 |
7.526 |
7.49 |
7,51 |
0.04 |
0.02 |
13.797 |
13,81 |
13,8 |
-0.01 |
0,00 |
|
9 |
10.374 |
10.36 |
10.35 |
0.01 |
0.02 |
10 |
2.109 |
2.02 |
2.11 |
0.09 |
0,00 |
4.281 |
4.16 |
4.28 |
0.12 |
0,00 |
|
11 |
14.675 |
14.66 |
14.68 |
0.02 |
0,00 |
8.6 |
8,54 |
8,53 |
0.06 |
0.07 |
|
12 |
13.394 |
13.35 |
13.37 |
0.04 |
0.02 |
13 |
12.94 |
12,89 |
12,91 |
0.05 |
0.03 |
14 |
7.19 |
7.18 |
7.2 |
0.01 |
-0.01 |
15 |
13.371 |
13.35 |
13.35 |
0.02 |
0.02 |
6.435 |
6.41 |
6.4 |
0.02 |
0.03 |
|
16 |
3.742 |
3.72 |
3.71 |
0.02 |
0.03 |
17 |
6.022 |
5.98 |
5.98 |
0.04 |
0.04 |
18 |
3.937 |
3.89 |
3.89 |
0.05 |
0.05 |
19 |
8.12 |
8.12 |
8.1 |
0,00 |
0.02 |
14.411 |
14.40 |
14.39 |
0.01 |
0.02 |
|
20 |
6.077 |
6.03 |
6.03 |
0.05 |
0.05 |
21 |
13.696 |
13.66 |
13.64 |
0.04 |
0.06 |
RMSE : DS1 = 0.0308m , DS2 = 0.0249m |
Cov zog ntawm kev sim 1 yog:
1: Nrog / Tsis muaj cov ntaub ntawv PPK.
2: Nrog / Tsis muaj GCPs.
3: txawv GSD : 1.5 cm lossis 2cm
Tom qab kev txheeb xyuas ntawm plaub txheej txheej ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus sau hauv qab no:
Thaum lub koob yees duab oblique yog DG4Pros:
(1) Nrog / Tsis muaj kev tswj hwm hauv av (GCP) thiab PPK cov ntaub ntawv koom nrog AT triangulation, seb nws yog VTOL lossis ntau-rotor drone, seb GSD yog 2cm lossis 1.5cm, 3D qauv ua los ntawm lub koob yees duab oblique DG4Pros tuaj yeem ua tau raws li cov kev xav tau ntawm txheeb ze ua tsis raug Ds≤10cm (Qhov tseeb ≤5cm).
(2) Thaum GSD tsuas yog tib qho sib txawv, tus txheeb ze qhov tseeb ntawm 3D qauv nrog GSD = 1.5cm zoo dua qhov ntawd GSD = 2cm.
Oblique koob yees duab |
GCPs |
PPK |
GSD |
DG4pros |
TSIS MUAJ |
TSIS MUAJ |
1.5cm |
Cov Khoom Siv |
ntsuas ntev (L0) |
3D qauv ntev (L1) CW10 |
3D qauv ntev (L2) M600Pro |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 |
7.20 |
7.19 |
0.010 |
0.02 |
8.706 |
8.65 |
8.70 |
0.056 |
0.01 |
|
10.961 |
10.90 |
10.91 |
0.061 |
0.05 |
|
2 |
7.01 |
6.86 |
6.98 |
0.150 |
0.03 |
3 |
1.822 |
1.76 |
1.79 |
0.062 |
0.03 |
4 |
10.41 |
10.37 |
10.39 |
0.040 |
0.02 |
5 |
10.718 |
10.68 |
10.69 |
0.038 |
0.03 |
6 |
13.787 |
13.71 |
13.76 |
0.077 |
0.03 |
7 |
11.404 |
11.38 |
11.38 |
0.024 |
0.02 |
12.147 |
12.12 |
12.12 |
0.027 |
0.03 |
|
8 |
7.526 |
7.49 |
7.50 cov |
0.036 |
0.03 |
13.797 |
13.77 |
13.77 |
0.027 |
0.03 |
|
9 |
10.374 |
10.35 |
10.33 |
0.024 |
0.04 |
10 |
2.109 |
2.09 |
2.02 |
0.019 |
0.09 |
4.281 |
4.19 |
4.20 |
0.091 |
0.08 |
|
11 |
14.675 |
14.64 |
14.65 |
0.035 |
0.03 |
8.6 |
8,57 |
8,57 |
0.030 |
0.03 |
|
12 |
13.394 |
13.38 |
13.35 |
0.014 |
0.04 |
13 |
12.94 |
12,91 |
12.92 |
0.030 |
0.02 |
14 |
7.19 |
7.20 |
7.17 |
-0.010 |
0.02 |
15 |
13.371 |
13.38 |
13.35 |
-0.009 |
0.02 |
6.435 |
6.43 |
6.41 |
0.005 |
0.02 |
|
16 |
3.742 |
3.70 |
3.70 |
0.042 |
0.04 |
17 |
6.022 |
5.99 |
5.99 |
0.032 |
0.03 |
18 |
3.937 |
3.94 |
3.89 |
-0.003 |
0.05 |
19 |
8.12 |
8.12 |
8.08 |
0.000 |
0.04 |
14.411 |
14.37 |
14.36 |
0.041 |
0.05 |
|
20 |
6.077 |
6.04 |
6.06 |
0.037 |
0.02 |
21 |
13.696 |
13.65 |
13.65 |
0.046 |
0.05 |
RMSE: DS1 = 0.0356m , DS2 = 0.342m |
Oblique koob yees duab |
GCPs |
PPK |
GSD |
DG4pros |
YOG |
TSIS MUAJ |
1.5cm |
Cov Khoom Siv |
ntsuas ntev (L0) |
3D qauv ntev (L1) CW10 |
3D qauv ntev (L2) M600Pro |
DS1 (L0-L1) |
DS2 (L0-L2) |
1 |
7.21 |
7.21 |
7.21 |
0 |
0,00 |
8.706 |
8.68 |
8.70 |
0.026 |
0.01 |
|
10.961 |
10.87 |
10.91 |
0.091 |
0.05 |
|
2 |
7.01 |
6.88 |
6.98 |
0.13 |
0.03 |
3 |
1.822 |
1.76 |
1.80 |
0.062 |
0.02 |
4 |
10.41 |
10.38 |
10.39 |
0.03 |
0.02 |
5 |
10.718 |
10.72 |
10.70 |
-0.002 |
0.02 |
6 |
13.787 |
13,79 |
13.75 |
-0.003 |
0.04 |
7 |
11.404 |
11.38 |
11.38 |
0.024 |
0.02 |
12.147 |
12,13 |
12,13 |
0.017 |
0.02 |
|
8 |
7.526 |
7,53 |
7.49 |
-0.004 |
0.04 |
13.797 |
13.78 |
13,79 |
0.017 |
0.01 |
|
9 |
10.374 |
10.37 |
10.35 |
0.004 |
0.02 |
10 |
2.109 |
2.11 |
2.07 |
-0.001 |
0.04 |
4.281 |
4.28 |
4.21 |
0.001 |
0.07 |
|
11 |
14.675 |
14.67 |
14.66 |
0.005 |
0.02 |
8.6 |
8,58 |
8,57 |
0.02 |
0.03 |
|
12 |
13.394 |
13.39 |
13.35 |
0.004 |
0.04 |
13 |
12.94 |
12,9 |
12,93 |
0.04 |
0.01 |
14 |
7.19 |
7.19 |
7.18 |
0 |
0.01 |
15 |
13.371 |
13.37 |
13.36 |
0.001 |
0.01 |
6.435 |
6.42 |
6.42 |
0.015 |
0.01 |
|
16 |
3.742 |
3.7 |
3.71 |
0.042 |
0.03 |
17 |
6.022 |
5.98 |
6.00 |
0.042 |
0.02 |
18 |
3.937 |
3.91 |
3.91 |
0.027 |
0.03 |
19 |
8.12 |
8.07 |
8,10 |
0.05 |
0.02 |
14.411 |
14.38 |
14.35 |
0.031 |
0.06 |
|
20 |
6.077 |
6.04 |
6.06 |
0.037 |
0.02 |
21 |
13.696 |
13.65 |
13.67 |
0.046 |
0.03 |
RMSE: DS1 = 0.0259m , DS2 = 0.256m |
Cov qhob pauv ntawm kev sim 2 yog:
1: Nrog / Tsis muaj GCPs.
2: Tus sib txawv Carrier drone: VTOL drone lossis ntau qhov rotor drone
Tom qab kev txheeb xyuas ntawm ob pawg ntawm cov ntaub ntawv sim, peb tuaj yeem kos cov lus xaus nram qab no:
Thaum lub koob yees duab oblique yog DG4Pros:
(1) Nrog / Tsis muaj av tswj taw tes (GCP) seb nws yog VTOL lossis ntau-rotor drone, 3D qauv ua los ntawm lub koob yees duab oblique DG4Pros tuaj yeem ua tau raws li qhov xav tau ntawm qhov txheeb ze qhov tsis raug Ds≤10cm (Qhov tseeb ≤5cm).
(2) Thaum cov cab kuj drone hom yog qhov sib txawv, tus txheeb ze qhov tseeb ntawm 3D qauv nrog ntau lub rotor zoo dua qhov ntawd nrog VTOL, tab sis qhov sib txawv tsis loj heev.
Yav dhau los :Yuav ua li cas focal ntev cuam tshuam rau 3D qauv kev tshwm sim
Tom ntej :Synchronization raug
Rov qab