XXII ISPRS Congress 2012: Technical Commission VII

Bibliographic data

Multivolume work

Persistent identifier:: 1663813779

Title:: XXII ISPRS Congress 2012

Sub title:: Melbourne, Australia, 25 August-1 September 2012

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663813779

Language:: English

Additional Notes:: Kongress-Thema: Imaging a sustainable future

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Document type:: Multivolume work

Volume

Persistent identifier:: 1663821976

Title:: Technical Commission VII

Scope:: 546 Seiten

Year of publication:: 2013

Place of publication:: Red Hook, NY

Publisher of the original:: Curran Associates, Inc.

Identifier (digital):: 1663821976

Illustration:: Illustrationen, Diagramme

Signature of the source:: ZS 312(39,B7)

Language:: English

Additional Notes:: Erscheinungsdatum des Originals ist ermittelt.; Literaturangaben

Usage licence:: Attribution 4.0 International (CC BY 4.0)

Corporations:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Adapter:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Founder of work:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Other corporate:: International Society for Photogrammetry and Remote Sensing, Congress, 22., 2012, Melbourne; International Society for Photogrammetry and Remote Sensing

Publisher of the digital copy:: Technische Informationsbibliothek Hannover

Place of publication of the digital copy:: Hannover

Year of publication of the original:: 2019

Document type:: Volume

Collection:: Earth sciences

Chapter

Title:: [VII/7, III/2, V/1, V/3, ICWG V/I: LOW-COST UAVS (UVSS) AND MOBILE MAPPING SYSTEMS]

Document type:: Multivolume work

Structure type:: Chapter

Chapter

Title:: DIRECT GEOREFERENCING WITH ON BOARD NAVIGATION COMPONENTS OF LIGHT WEIGHT UAV PLATFORMS Norbert Pfeifer, Philipp Glira, Christian Briese

Document type:: Multivolume work

Structure type:: Chapter

Navigator Navigation |, pp. 722- [IT Press, of Kalman tering. In: n filtering, Aerospace on by the -486. 1 filtering, Heidelberg GPS/INS + IEEE 6. € Kalman 3.203. | GPS/INS ience and echnology 339. International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B7, 2012 XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia DIRECT GEOREFERENCING WITH ON BOARD NAVIGATION COMPONENTS OF LIGHT WEIGHT UAV PLATFORMS Norbert Pfeifer*, Philipp Glira*, Christian Briese^^ * Institute of Photogrammetry and Remote Sensing of the Vienna University of Technology, Austria - (np, pg, cb) @ipf.tuwien.ac.at ® LBI for Archaeological Prospection and Virtual Archeology, Vienna, Austria KEY WORDS: direct georeferencing, UAV, orientation, GPS/INS, IMU, photogrammetry ABSTRACT: Unmanned aerial vehicles (UAV) are a promising platform for close range airborne photogrammetry. Next to the possibility of carrying certain sensor equipment, different on board navigation components may be integrated. These devices are getting, due to recent developments in the field of electronics, smaller and smaller and are easily affordable. Therefore, UAV platforms are nowadays often equipped with several navigation devices in order to support the remote control of a UAV. Furthermore, these devices allow an automated flight mode that allows to systematically sense a certain area or object of interest. However, next to their support for the UAV navigation they allow the direct georeferencing of synchronised sensor data. This paper introduces the direct georeferencing of airborne UAV images with a low cost solution based on a quadrocopter. The system is equipped with a Global Navigation Satellite System (GNSS), an Inertial Measurement Unit (IMU), an air pressure sensor, a magnetometer, and a small compact camera. A challenge using light weight consumer-grade sensors is the acquisition of high quality images with respect to brightness and sharpness. It is demonstrated that an appropriate solution for data synchronisation and data processing allows a direct georeferencing of the acquired images with a precision below 1 m in each coordinate. The precision for roll and pitch is below 1 ° and for the yaw it is 2.5 °. The evaluation is based on image positions estimated based on the on board sensors and compared to an independent bundle block adjustment of the images. 1 INTRODUCTION Unmanned aerial vehicles (UAVs) are promising platforms for the provision of geo-referenced Earth Observation(s) for a num- ber of reasons: ease of deployment, costs, and close range ac- quisition from an elevated position, more specifically ‘airborne vertical close range photogrammetry’. However, also oblique and horizontal viewing at large scale from elevated positions are an option. The advantages materialize in comparison to manned aerial vehicles, on the one hand, and to terrestrial elevated plat- forms, e.g., ladders, on the other hand. These advantages, how- ever, only apply to relative light-weight UAVs, which are there- fore restricted with respect to payload and therefore sensor qual- ity. The restriction of payload advocates for a careful design of the entire system, comprising, next to the platform itself and the imag- ing sensor also a position and orientation (POS) component and the power supply for the sensors and the aerial vehicle. For the purpose of navigation, e.g., flying along pre-defined waypoints, or taking user control input in the form of movement direction and speed, UAVs are typically equipped with position and mo- tion sensors. Medium weight platforms, e.g., with a payload of 15kg, can accommodate a high quality inertial navigation sys- tem (INS) and on board storage, to compute the vehicle’s trajec- tory by Kalman Filtering in post-processing. For small platforms the accelerations and rotation rates are typically measured with micro-electro-mechanical systems (MEMS). In this contribution we demonstrate for a light weight UAV, a quadrocopter with platform and payload together below 1 kg, that the on board components for navigation can be used for direct georeferencing of the acquired imagery. This has the advantage of having only the cameras and its mount- ing as additional payload, and only the existing GNSS, gyro- scopes, accelerometers, air pressure sensor, and magnetometer are used for direct georeferencing. Specifically, we provide 487 e information on the assembly for full exploitation of the qual- ity, that can be delivered by the camera, e the methods necessary for synchronizing and processing the data streams of the POS and image sensors, e the quality obtained by the above procedures, specified as accuracy of all elements of the exterior orientation of the acquired images. Concentration is laid on direct geo-referencing, i.e. also no ex- ploitation of tie points is performed (integrated geo-referencing), which has the advantages and drawbacks as given in (Cramer et al., 2000). In the remainder of the introduction related work is reviewed. For general information on UAVs the reader is refered to (EisenbeiD, 2009) and (Everaerts, 2008). In Sec. 2 the UAV and the sen- sors will be described. Following, in Sec. 3, the methods for the computation of the trajectory are given, including information on the synchronization. The method of evaluation and the obtained quality are given in Sec. 4. 1.4 Related Work Direct georeferencing of UAVs, if not performed with high grade INS and differential GPS, was investigated to some extent before. Direct georeferencing can be performed with GPS and INS, but alternatives are tracking by tacheometers. (Eisenbeif et al., 2009) investigated the accuracy of the trajec- tory determined with low cost GPS receivers onboard a Survey- copter 1B. A 360^ prism was mounted on the UAV and its 3D position was measured with a tracking total station. The differ- ences between direct georeferencing, using a Kalman-Filter for the integration of GPS and INS, has a std.dev. in (X, Y, Z) of of 70 cm, 40 cm, and less than 20 cm, the offset reach up to 2 m. Because of the superior accuracy of the tracking total station, this

Access restriction

Copyright

fullscreen: Technical Commission VII (B7)

Multivolume work

Volume

Chapter

Chapter

Table of contents

Cite and reuse

Volume

Chapter

Image

Image fragment

Citation links

Citation recommendation