Yuav ua li cas GSD thiab cov cab kuj drone hom cuam tshuam qhov txheeb ze qhov tseeb ntawm 3D qauv

Hauv tsab xov xwm kawg Yuav ua li cas cov ntsiab lus tswj hauv av thiab PPK cov ntaub ntawv cuam tshuam rau qhov tseeb ntawm tus qauv 3D, peb tau hais tias ntxiv rau GCPs thiab PPK cov ntaub ntawv, GSD thiab cov cab kuj drone kuj muaj qee qhov cuam tshuam rau qhov tseeb ntawm tus txheeb ze ntawm 3D. qauv.Yog li peb ua lwm yam kev kuaj xyuas nws.

Kev sim 1: qhov cuam tshuam ntawm GSD ntawm qhov txheeb ze qhov tseeb ntawm tus qauv 3D;

Qhov xwm txheej 1

Carrier drone	Oblique koob yees duab	GCPs	PPK
CW 10 VTOL	DG4 pros	TSIS MUAJ	TSIS MUAJ

Table 1:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) GSD = 2cm	3D qauv ntev (L2) GSD = 1.5cm	DS1 (L0-L1)	DS2 (L0-L2)
1	7.210 ib	7.18 Nws	7.20 Nws	0.030 ib	0.010 ib
	8.706 ib	8.69 ib	8.65 ib	0.016 ib	0.056 ib
	10.961 ib	10.89 Nws	10.90 Nws	0.071 ib	0.061 ib
2	7.010 ib	6.88 ib	6.86 ib	0.130 Nws	0.150 Nws
3	1.822 ib	1.76 ib	1.76 ib	0.062 ib	0.062 ib
4	10.410 Nws	10.38 Nws	10.37 Nws	0.030 ib	0.040 ib
5	10.718 Nws	10.65 Nws	10.68 Nws	0.068 ib	0.038 ib
6	13.787 Nws	13.72 Nws	13.71 Nws	0.067 ib	0.077 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	7.49 ib	0.086 ib	0.036 ib
	13.797 Nws	13.83 Nws	13.77 Nws	-0.033	0.027 ib
9	10.374 Nws	10.35 Nws	10.35 Nws	0.024 ib	0.024 ib
10	2.109 ib	1.98 ib	2.09 Nws	0.129 ib	0.019 ib
	4.281 ib	4.14 ib	4.19 ib	0.141 ib	0.091 ib
11	14.675 Nws	14.55 Nws	14.64 Nws	0.125 Nws	0.035 ib
	8.600 Nws	8.58 ib	8.57 ib	0.020 ib	0.030 ib
12	13.394 Nws	13.36 Nws	13.38 Nws	0.034 ib	0.014 ib
13	12.940 Nws	12.95 Nws	12.91 Nws	-0.010 Nws	0.030 ib
14	7.190 ib	7.21 ib	7.20 Nws	-0.020 Nws	-0.010 Nws
15	13.371 Nws	13.36 Nws	13.38 Nws	0.011 ib	-0.009 Nws
	6.435 ib	6.37 ib	6.43 ib	0.065 ib	0.005 ib
16	3.742 ib	3.74 ib	3.70 ib	0.002 ib	0.042 ib
17	6.022 ib	6.03 ib	5.99 ib	-0.008 Nws	0.032 ib
18	3.937 ib	3.91 ib	3.94 ib	0.027 ib	-0.003 Nws
19	8.120 Nws	8.09 Nws	8.12 ib	0.030 ib	0.000
	14.411 Nws	14.40 Nws	14.37 Nws	0.011 ib	0.041 ib
20	6.077 ib	6.06 ib	6.04 ib	0.017 ib	0.037 ib
21	13.696 ib	13.68 Nws	13.65 Nws	0.016 ib	0.046 ib
RMSE: DS1 = 0.0397m, DS2 = 0.0356m

Qhov xwm txheej 2

Carrier drone	Oblique koob yees duab	GCPs	PPK
CW 10 VTOL	DG4 pros	Yog lawm	Tsis muaj

Table 2:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) GSD = 2cm	3D qauv ntev (L2) GSD = 1.5cm	DS1 (L0-L1)	DS2 (L0-L2)
1	7.210 ib	7.18 Nws	7.21 ib	0.030 ib	0
	8.706 ib	8.68 ib	8.68 ib	0.026 ib	0.026 ib
	10.961 ib	10.91 Nws	10.87 Nws	0.051 ib	0.091 ib
2	7.010 ib	6.92 ib	6.88 ib	0.090 ib	0.13
3	1.822 ib	1.79 ib	1.76 ib	0.032 ib	0.062 ib
4	10.410 Nws	10.39 Nws	10.38 Nws	0.020 ib	0.03 ib
5	10.718 Nws	10.66 Nws	10.72 Nws	0.058 ib	-0.002
6	13.787 Nws	13.77 Nws	13.79 Nws	0.017 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	7.47 ib	7.53 ib	0.056 ib	-0.004 Nws
	13.797 Nws	13.83 Nws	13.78 Nws	-0.033	0.017 ib
9	10.374 Nws	10.34 Nws	10.37 Nws	0.034 ib	0.004 ib
10	2.109 ib	2.03 Nws	2.11	0.079 ib	-0.001 Nws
	4.281 ib	4.18	4.28 ib	0.101 ib	0.001 ib
11	14.675 Nws	14.59 Nws	14.67 Nws	0.085 ib	0.005 ib
	8.600 Nws	8.57 ib	8.58 ib	0.030 ib	0.02 ib
12	13.394 Nws	13.35 Nws	13.39 Nws	0.044 ib	0.004 ib
13	12.940 Nws	12.92 Nws	12.9 Nws	0.020 ib	0.04 ib
14	7.190 ib	7.21 ib	7.19 ib	-0.020 Nws	0
15	13.371 Nws	13.36 Nws	13.37 Nws	0.011 ib	0.001 ib
	6.435 ib	6.43 ib	6.42 ib	0.005 ib	0.015 ib
16	3.742 ib	3.72 ib	3.7	0.022 ib	0.042 ib
17	6.022 ib	6.00 Nws	5.98 ib	0.022 ib	0.042 ib
18	3.937 ib	3.94 ib	3.91 ib	-0.003 Nws	0.027 ib
19	8.120 Nws	8.09 Nws	8.07 Nws	0.030 ib	0.05 Nws
	14.411 Nws	14.41 Nws	14.38 Nws	0.001 ib	0.031 ib
20	6.077 ib	6.03 ib	6.04 ib	0.047 ib	0.037 ib
21	13.696 ib	13.65 Nws	13.65 Nws	0.046 ib	0.046 ib
RMSE: DS1 = 0.0328m, DS2 = 0.0259m

Qhov xwm txheej 3

Carrier drone	Oblique koob yees duab	GCPs	PPK
CW 10 VTOL	DG4 pros	TSIS MUAJ	YOG

Table 3:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) GSD = 2cm	3D qauv ntev (L2) GSD = 1.5cm	DS1 (L0-L1)	DS2 (L0-L2)
1	7.210 ib	7.20 Nws	7.20 Nws	0.01 ib	0.01 ib
	8.706 ib	8.71 ib	8.69 ib	0.00 Nws	0.02 ib
	10.961 ib	10.87 Nws	10.88 Nws	0.09 ib	0.08 ib
2	7.010 ib	6.89 ib	6.87 ib	0.12	0.14 ib
3	1.822 ib	1.79 ib	1.75 ib	0.03 ib	0.07 ib
4	10.410 Nws	10.39 Nws	10.38 Nws	0.02 ib	0.03 ib
5	10.718 Nws	10.67 Nws	10.69 Nws	0.05 Nws	0.03 ib
6	13.787 Nws	13.75 Nws	13.78 Nws	0.04 ib	0.01 ib
7	11.404 Nws	11.39 Nws	11.38 Nws	0.01 ib	0.02 ib
	12.147 Nws	12.13 Nws	12.12 Nws	0.02 ib	0.03 ib
8	7.526 ib	7.51 ib	7.49 ib	0.02 ib	0.04 ib
	13.797 Nws	13.79 Nws	13.78 Nws	0.01 ib	0.02 ib
9	10.374 Nws	10.35 Nws	10.34 Nws	0.02 ib	0.03 ib
10	2.109 ib	2.03 Nws	2.02 Nws	0.08 ib	0.09 ib
	4.281 ib	4.15	4.21	0.13	0.07 ib
11	14.675 Nws	14.61 Nws	14.65 Nws	0.07 ib	0.03 ib
	8.600 Nws	8.60 ib	8.57 ib	0.00 Nws	0.03 ib
12	13.394 Nws	13.37 Nws	13.40 Nws	0.02 ib	-0.01 Nws
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	13.38 Nws	0.01 ib	-0.01 Nws
	6.435 ib	6.40 Nws	6.46 ib	0.03 ib	-0.03 Nws
16	3.742 ib	3.75 ib	3.75 ib	-0.01 Nws	-0.01 Nws
17	6.022 ib	5.97 ib	5.97 ib	0.05 Nws	0.05 Nws
18	3.937 ib	3.93 ib	3.91 ib	0.01 ib	0.03 ib
19	8.120 Nws	8.10 Nws	8.08 Nws	0.02 ib	0.04 ib
	14.411 Nws	14.40 Nws	14.38 Nws	0.01 ib	0.03 ib
20	6.077 ib	6.04 ib	6.05 Nws	0.04 ib	0.03 ib
21	13.696 ib	13.65 Nws	13.67 Nws	0.05 Nws	0.03 ib
RMSE: DS1 = 0.0342m, DS2 = 0.0328m

Qhov xwm txheej 4

Carrier drone	Oblique koob yees duab	GCPs	PPK
CW 10 VTOL	DG4 pros	YOG	YOG

Table 4:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) GSD = 2cm	3D qauv ntev (L2) GSD = 1.5cm	DS1 (L0-L1)	DS2 (L0-L2)
1	7.21 ib	7.21 ib	7.21 ib	0.00 Nws	0.00 Nws
	8.706 ib	8.68 ib	8.7 ib	0.03 ib	0.01 ib
	10.961 ib	10.90 Nws	10.89 Nws	0.06 ib	0.07 ib
2	7.01 Nws	6.98 ib	6.99 ib	0.03 ib	0.02 ib
3	1.822 ib	1.80 ib	1.78 ib	0.02 ib	0.04 ib
4	10.41 Nws	10.40 Nws	10.39 Nws	0.01 ib	0.02 ib
5	10.718 Nws	10.70 Nws	10.69 Nws	0.02 ib	0.03 ib
6	13.787 Nws	13.77 Nws	13.76 Nws	0.02 ib	0.03 ib
7	11.404 Nws	11.39 Nws	11.39 Nws	0.01 ib	0.01 ib
7	12.147 Nws	12.13 Nws	12.12 Nws	0.02 ib	0.03 ib
8	7.526 ib	7.49 ib	7.51 ib	0.04 ib	0.02 ib
8	13.797 Nws	13.81 Nws	13.8 ib	-0.01 Nws	0.00 Nws
9	10.374 Nws	10.36 Nws	10.35 Nws	0.01 ib	0.02 ib
10	2.109 ib	2.02 Nws	2.11	0.09 ib	0.00 Nws
10	4.281 ib	4.16	4.28 ib	0.12	0.00 Nws
11	14.675 Nws	14.66 Nws	14.68 Nws	0.02 ib	0.00 Nws
11	8.6	8.54 ib	8.53 ib	0.06 ib	0.07 ib
12	13.394 Nws	13.35 Nws	13.37 Nws	0.04 ib	0.02 ib
13	12.94 Nws	12.89 Nws	12.91 Nws	0.05 Nws	0.03 ib
14	7.19 ib	7.18 Nws	7.2	0.01 ib	-0.01 Nws
15	13.371 Nws	13.35 Nws	13.35 Nws	0.02 ib	0.02 ib
15	6.435 ib	6.41 ib	6.4	0.02 ib	0.03 ib
16	3.742 ib	3.72 ib	3.71 ib	0.02 ib	0.03 ib
17	6.022 ib	5.98 ib	5.98 ib	0.04 ib	0.04 ib
18	3.937 ib	3.89 ib	3.89 ib	0.05 Nws	0.05 Nws
19	8.12 ib	8.12 ib	8.1	0.00 Nws	0.02 ib
19	14.411 Nws	14.40 Nws	14.39 Nws	0.01 ib	0.02 ib
20	6.077 ib	6.03 ib	6.03 ib	0.05 Nws	0.05 Nws
21	13.696 ib	13.66 Nws	13.64 Nws	0.04 ib	0.06 ib
RMSE: DS1 = 0.0308m, DS2 = 0.0249m

Cov lus xaus

Cov kev hloov pauv ntawm kev sim 1 yog:

1: Nrog / Tsis muaj PPK cov ntaub ntawv.

2: Nrog / Tsis Muaj GCPs.

3: txawv GSD: 1.5 cm lossis 2cm

Tom qab kev txheeb xyuas ntawm plaub 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 kev tswj hwm hauv av (GCP) thiab PPK cov ntaub ntawv 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 yuav tsum tau muaj ntawm qhov tseeb qhov tseeb qhov yuam kev Ds≤10cm (Tseeb ≤5cm).

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

Kev sim 2: cov nyhuv ntawm cov cab kuj drone hom ntawm cov txheeb ze qhov tseeb ntawm tus qauv 3D

Qhov xwm txheej 1

Oblique koob yees duab	GCPs	PPK	GSD
DG4 pros	TSIS MUAJ	TSIS MUAJ	1.5 cm loj

Table 1:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) CW10	3D qauv ntev (L2) M600Pro	DS1 (L0-L1)	DS2 (L0-L2)
1	7.21 ib	7.20 Nws	7.19 ib	0.010 ib	0.02 ib
	8.706 ib	8.65 ib	8.70 ib	0.056 ib	0.01 ib
	10.961 ib	10.90 Nws	10.91 Nws	0.061 ib	0.05 Nws
2	7.01 Nws	6.86 ib	6.98 ib	0.150 Nws	0.03 ib
3	1.822 ib	1.76 ib	1.79 ib	0.062 ib	0.03 ib
4	10.41 Nws	10.37 Nws	10.39 Nws	0.040 ib	0.02 ib
5	10.718 Nws	10.68 Nws	10.69 Nws	0.038 ib	0.03 ib
6	13.787 Nws	13.71 Nws	13.76 Nws	0.077 ib	0.03 ib
7	11.404 Nws	11.38 Nws	11.38 Nws	0.024 ib	0.02 ib
	12.147 Nws	12.12 Nws	12.12 Nws	0.027 ib	0.03 ib
8	7.526 ib	7.49 ib	7.50 Nws	0.036 ib	0.03 ib
	13.797 Nws	13.77 Nws	13.77 Nws	0.027 ib	0.03 ib
9	10.374 Nws	10.35 Nws	10.33 Nws	0.024 ib	0.04 ib
10	2.109 ib	2.09 Nws	2.02 Nws	0.019 ib	0.09 ib
	4.281 ib	4.19 ib	4.20 ib	0.091 ib	0.08 ib
11	14.675 Nws	14.64 Nws	14.65 Nws	0.035 ib	0.03 ib
	8.6	8.57 ib	8.57 ib	0.030 ib	0.03 ib
12	13.394 Nws	13.38 Nws	13.35 Nws	0.014 ib	0.04 ib
13	12.94 Nws	12.91 Nws	12.92 Nws	0.030 ib	0.02 ib
14	7.19 ib	7.20 Nws	7.17 ib	-0.010 Nws	0.02 ib
15	13.371 Nws	13.38 Nws	13.35 Nws	-0.009 Nws	0.02 ib
	6.435 ib	6.43 ib	6.41 ib	0.005 ib	0.02 ib
16	3.742 ib	3.70 ib	3.70 ib	0.042 ib	0.04 ib
17	6.022 ib	5.99 ib	5.99 ib	0.032 ib	0.03 ib
18	3.937 ib	3.94 ib	3.89 ib	-0.003 Nws	0.05 Nws
19	8.12 ib	8.12 ib	8.08 Nws	0.000	0.04 ib
	14.411 Nws	14.37 Nws	14.36 Nws	0.041 ib	0.05 Nws
20	6.077 ib	6.04 ib	6.06 ib	0.037 ib	0.02 ib
21	13.696 ib	13.65 Nws	13.65 Nws	0.046 ib	0.05 Nws
RMSE: DS1 = 0.0356m, DS2 = 0.342m

Qhov xwm txheej 2

Oblique koob yees duab	GCPs	PPK	GSD
DG4 pros	YOG	TSIS MUAJ	1.5 cm loj

Table 2:

Tus nab npawb ntawm cov khoom	Kev ntsuas qhov ntev (L0)	3D qauv ntev (L1) CW10	3D qauv ntev (L2) M600Pro	DS1 (L0-L1)	DS2 (L0-L2)
1	7.21 ib	7.21 ib	7.21 ib	0	0.00 Nws
	8.706 ib	8.68 ib	8.70 ib	0.026 ib	0.01 ib
	10.961 ib	10.87 Nws	10.91 Nws	0.091 ib	0.05 Nws
2	7.01 Nws	6.88 ib	6.98 ib	0.13	0.03 ib
3	1.822 ib	1.76 ib	1.80 ib	0.062 ib	0.02 ib
4	10.41 Nws	10.38 Nws	10.39 Nws	0.03 ib	0.02 ib
5	10.718 Nws	10.72 Nws	10.70 Nws	-0.002	0.02 ib
6	13.787 Nws	13.79 Nws	13.75 Nws	-0.003 Nws	0.04 ib
7	11.404 Nws	11.38 Nws	11.38 Nws	0.024 ib	0.02 ib
	12.147 Nws	12.13 Nws	12.13 Nws	0.017 ib	0.02 ib
8	7.526 ib	7.53 ib	7.49 ib	-0.004 Nws	0.04 ib
	13.797 Nws	13.78 Nws	13.79 Nws	0.017 ib	0.01 ib
9	10.374 Nws	10.37 Nws	10.35 Nws	0.004 ib	0.02 ib
10	2.109 ib	2.11	2.07 Nws	-0.001 Nws	0.04 ib
	4.281 ib	4.28 ib	4.21	0.001 ib	0.07 ib
11	14.675 Nws	14.67 Nws	14.66 Nws	0.005 ib	0.02 ib
	8.6	8.58 ib	8.57 ib	0.02 ib	0.03 ib
12	13.394 Nws	13.39 Nws	13.35 Nws	0.004 ib	0.04 ib
13	12.94 Nws	12.9 Nws	12.93 Nws	0.04 ib	0.01 ib
14	7.19 ib	7.19 ib	7.18 Nws	0	0.01 ib
15	13.371 Nws	13.37 Nws	13.36 Nws	0.001 ib	0.01 ib
	6.435 ib	6.42 ib	6.42 ib	0.015 ib	0.01 ib
16	3.742 ib	3.7	3.71 ib	0.042 ib	0.03 ib
17	6.022 ib	5.98 ib	6.00 Nws	0.042 ib	0.02 ib
18	3.937 ib	3.91 ib	3.91 ib	0.027 ib	0.03 ib
19	8.12 ib	8.07 Nws	8.10 Nws	0.05 Nws	0.02 ib
	14.411 Nws	14.38 Nws	14.35 Nws	0.031 ib	0.06 ib
20	6.077 ib	6.04 ib	6.06 ib	0.037 ib	0.02 ib
21	13.696 ib	13.65 Nws	13.67 Nws	0.046 ib	0.03 ib
RMSE: DS1 = 0.0259m, DS2 = 0.256m

Cov lus xaus

Cov kev hloov pauv ntawm kev sim 2 yog:

1: Nrog / Tsis Muaj GCPs.

2: Txawv Cov Tsav Tsheb Drone: VTOL drone lossis multi-rotor drone

Tom qab kev txheeb xyuas ntawm ob 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) txawm tias nws yog VTOL lossis ntau lub rotor drone, 3D qauv tsim los ntawm oblique lub koob yees duab DG4Pros tuaj yeem ua tau raws li qhov yuav tsum tau ua ntawm qhov tseeb qhov tseeb ntawm qhov yuam kev Ds≤10cm(Tseeb ≤5cm).

(2) Thaum cov neeg nqa khoom drone hom yog tib qhov sib txawv, qhov txheeb ze qhov tseeb ntawm 3D qauv nrog ntau lub rotor zoo dua li nrog VTOL, tab sis qhov sib txawv tsis loj heev.

Yav dhau los:Yuav ua li cas focal ntev cuam tshuam 3D qauv kev tshwm sim

Tom ntej:Synchronization raug

Rov qab los

RIY oblique koob yees duab

RIE ib leeg-lens koob yees duab

Cov khoom siv

Cov kws tshaj lij

Zoo dua sib dua

Txuag sijhawm

Kawm ua haujlwm hauv 10 feeb

Cov duab zoo thiab raug

Synchronization raug

Muaj zog thiab nyab xeeb

Nws tuaj yeem ua ke nrog ntau hom drones

Kev Tshawb Fawb / GIS

Lub Nroog Ntse

Kev tsim kho / mining

Tourism / Ancient vaj tse tiv thaiv

Tub Rog/ Tub Ceev Xwm

Kab lus

Kev sim 1: qhov cuam tshuam ntawm GSD ntawm qhov txheeb ze qhov tseeb ntawm tus qauv 3D;

Qhov xwm txheej 1

Table 1:

Qhov xwm txheej 2

Table 2:

Qhov xwm txheej 3

Table 3:

Qhov xwm txheej 4

Table 4:

Cov lus xaus

Kev sim 2: cov nyhuv ntawm cov cab kuj drone hom ntawm cov txheeb ze qhov tseeb ntawm tus qauv 3D

Qhov xwm txheej 1

Table 1:

Qhov xwm txheej 2

Table 2:

Cov lus xaus

PRODUCTS+

APPLICATIONS+

Kab lus+

Hais txog peb+

Tiv tauj peb