在上一篇文章中,地面控制點和PPK數據如何影響3D模型的相對精度,我們提到,除了GCP和PPK數據之外,GSD和載人無人機也對3D模型的相對精度有一定程度的影響模型,因此我們進行了另一項測試以進行驗證。
載人無人機 |
斜相機 |
GCP |
PPK |
CW10垂直起降 |
DG4pros |
沒有 |
沒有 |
對像數 |
測量長度(L0) |
3D模型長度(L1)GSD = 2cm |
3D模型長度(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 |
載人無人機 |
斜相機 |
GCP |
PPK |
CW10垂直起降 |
DG4pros |
是 |
沒有 |
對像數 |
測量長度(L0) |
3D模型長度(L1)GSD = 2cm |
3D模型長度(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 |
載人無人機 |
斜相機 |
GCP |
PPK |
CW10垂直起降 |
DG4pros |
沒有 |
是 |
對像數 |
測量長度(L0) |
3D模型長度(L1)GSD = 2cm |
3D模型長度(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 |
載人無人機 |
斜相機 |
GCP |
PPK |
CW10垂直起降 |
DG4pros |
是 |
是 |
對像數 |
測量長度(L0) |
3D模型長度(L1)GSD = 2cm |
3D模型長度(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 |
實驗1的變量是:
1:有/無PPK數據。
2:有/沒有GCP。
3:不同的GSD:1.5 cm或2cm
對四組實驗數據進行分析後,我們可以得出以下結論:
當傾斜攝像機是DG4Pros時:
(1)是否有AT三角測量中涉及的地面控制點(GCP)和PPK數據,無論是VTOL還是多旋翼無人機,無論GSD是2cm還是1.5cm,都是由斜置相機DG4Pros建立的3D模型可以滿足相對精度誤差Ds≤10cm(實際上≤5cm)的要求。
(2)當GSD為單個變量時,GSD = 1.5cm的3D模型的相對精度優於GSD = 2cm。
斜相機 |
GCP |
PPK |
GSD |
DG4pros |
沒有 |
沒有 |
1.5厘米 |
對像數 |
測量長度(L0) |
3D模型長度(L1)CW10 |
3D模型長度(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 |
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 |
斜相機 |
GCP |
PPK |
GSD |
DG4pros |
是 |
沒有 |
1.5厘米 |
對像數 |
測量長度(L0) |
3D模型長度(L1)CW10 |
3D模型長度(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 |
實驗2的變量是:
1:有/沒有GCP。
2:不同的載人無人機:VTOL無人機或多旋翼無人機
對兩組實驗數據進行分析後,我們可以得出以下結論:
當傾斜攝像機是DG4Pros時:
(1)無論是VTOL還是多旋翼無人機,無論是否配備地面控制點(GCP),由斜置式DG4Pros建立的3D模型都可以滿足相對精度誤差Ds≤10cm(實際上≤5cm)的要求。
(2)當載人無人機類型為單變量時,多旋翼3D模型的相對精度要好於VTOL,但相差不是很大。