阅读说明：本技术 一种无物方控制点的gnss近景摄影测量方法 (GNSS close-range photogrammetry method without object control point ) 是由 唐诗华 黄昶程 杨翼飞 姚茂华 周飞 黄鹰 覃泽颖 肖燕 肖阳 张炎 于 2019-07-10 设计创作，主要内容包括：本发明公开了一种无物方控制点的近景摄影测量方法,包括将高清摄像头集成于GNSS接收机中,PDA通过蓝牙对GNSS接收机和高清摄像头进行操控。PDA内设置有相对定向模块、绝对定向模块、立体量测模块,组成一种无物方控制点的近景摄影测量装置。在无控制点的情况下,选取6对同名点进行相对定向,建立相对定向模型。将3个摄站点的三维坐标转换为3个摄影中心点的坐标,利用摄影中心点坐标将相对定向模型进行绝对定向。最后利用多片空间前方交会法求解待测目标点空间坐标。本发明有效解决了近景摄影测量需要布设物方控制点的问题,弥补了GNSS测量存在信号遮挡的缺陷,提高工程测量的工作效率和自动化程度。(The invention discloses a close-range photogrammetry method without object control points, which comprises the steps of integrating a high-definition camera in a GNSS receiver, and controlling the GNSS receiver and the high-definition camera by a PDA through Bluetooth. The PDA is internally provided with a relative orientation module, an absolute orientation module and a stereo measurement module to form a close-range photogrammetric device without object control points. Under the condition of no control point, 6 pairs of homonymous points are selected for relative orientation, and a relative orientation model is established. And converting the three-dimensional coordinates of the 3 shooting stations into coordinates of 3 shooting central points, and carrying out absolute orientation on the relative orientation model by using the coordinates of the shooting central points. And finally, solving the space coordinates of the target point to be detected by using a multi-piece space forward intersection method. The method effectively solves the problem that object space control points need to be arranged in close-range photogrammetry, overcomes the defect of signal shielding in GNSS measurement, and improves the working efficiency and the automation degree of engineering measurement.)

1. A close-range photogrammetry method without object control points is characterized by comprising the following specific steps:

(1) The close-range photogrammetry device without object control points is arranged, and comprises a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and a connecting frame; the high-definition camera is integrated in the GNSS receiver, and a lens of the camera is positioned right in front of the GNSS receiver; the centering rod is connected with the GNSS receiver, is telescopic and can measure the height of the rod; the connecting frame can fixedly connect the PDA to the centering rod; the PDA controls the GNSS receiver and the high-definition camera through Bluetooth and collects coordinate data and image data, and the PDA is provided with a data processing system for the coordinate data and the image data besides all conventional operations for the GNSS receiver;

The data processing system of the PDA coordinate data and the image data comprises a relative orientation module of the image, an absolute orientation module of the image and a coordinate stereo measurement module;

(2) Under the condition of no control point, the close-range photogrammetry device obtains three-dimensional coordinates of the shooting point and a target point image at three non-collinear positions, selects 6 pairs of same-name points on the image to carry out relative orientation, and establishes a relative orientation model; converting the three-dimensional coordinates of the 3 shooting sites into the coordinates of the 3 shooting central points by using the relative position relationship between the shooting sites and the shooting central points; the relative orientation model was oriented absolutely using 3 camera center point coordinates.

Technical Field

The invention relates to a GNSS RTK measurement technology and a non-control digital close-range photogrammetry technology, in particular to a GNSS close-range photogrammetry method without an object control point, and belongs to the field of detail measurement in engineering survey.

Technical Field

With the continuous development of global positioning system (GNSS) technology, GNSS technology is used more and more widely in the mapping field. The GNSS mainly measures by receiving satellite signals, and under the condition of shielding or partial shielding, the GNSS cannot be used or the measurement accuracy cannot be guaranteed.

The close-range photogrammetry is a measuring means for instantly acquiring a large amount of physical information and geometric information of a measured object, does not contact and damage a measured target, does not interfere the natural state of the measured object, and can operate under severe conditions.

The traditional close-range photogrammetry mode can achieve very high precision, but object control points need to be arranged, and the traditional close-range photogrammetry mode is not suitable for measurement requirements that the precision requirement is slightly low but the operation is simple and fast.

breakthrough in microelectronic and semiconductor technologies, rapid development of ultra-large scale integrated circuits and digital sensor technologies, and the emergence of many new high-definition cameras have the advantages of lower price than digital cameras, small size, and capability of being integrated with GNSS receivers.

When a building or other three-dimensional structures are measured, in case of blocking or poor signals, the GNSS receiver integrated with the high-definition camera is placed at a position with good signals and coordinate measurement is carried out, the position is called as a shooting station, and meanwhile, a camera is used for shooting building images at the position. Processing the three-dimensional coordinate data and the image data on a plurality of camera stations, selecting the same target point on different images, establishing a three-dimensional model, and performing three-dimensional measurement on the point to be measured on the model.

Disclosure of Invention

The invention aims to provide a GNSS close-range photogrammetry method without object control points, which can indirectly solve the problems of poor signals during GNSS measurement and the need of arranging control points during close-range photogrammetry.

According to the invention, by integrating hardware equipment such as a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and the like, control points are not required to be arranged, and the three-dimensional coordinates of the target point to be measured are directly obtained by processing the GNSS coordinates and image data.

In order to achieve the above object, the present invention provides a GNSS close-range photogrammetry method without object control points, which comprises the following specific steps:

(1) The GNSS close-range photogrammetry device without the object control point comprises a GNSS receiver, a high-definition camera, a Personal Digital Assistant (PDA), a centering rod and a connecting frame. The high-definition camera is integrated in the GNSS receiver. The PDA controls the GNSS receiver and the high-definition camera through Bluetooth. The centering rod will be connected to the GNSS receiver. The connecting frame can clamp the centering rod and the PDA together.

(2) the centering rod is vertically erected on a shooting site capable of receiving satellite signals, and the shooting site is preferably 10-20 m away from a target point.

(3) And obtaining the three-dimensional coordinates of the shooting site by utilizing the GNSS receiver.

(4) and shooting the image of the target point on the shooting station by using the high-definition camera.

(5) by the method for acquiring the coordinates of the camera stations and the images of the target points, the three-dimensional coordinates of the camera stations are measured at least three positions which are not collinear, and the images of the same target point are shot at the same time.

(6) Processing the GNSS coordinate data and the image data in the PDA, resolving relative orientation elements and absolute orientation elements, and finally performing stereo measurement on the target point to be measured on the image.

Compared with the prior art, the invention has the following advantages:

The GNSS close-range photogrammetry device without object control points integrates a global satellite positioning technology, a close-range photogrammetry technology, a wireless communication technology and a device for quickly measuring coordinates. Coordinates of GNSS measurement points are directly used in places without signal shielding, and if the signal shielding is serious but the sight line is in sight, the target point can be photogrammetric by using the method. The device has effectively solved the problem that object space control point need be laid to close-range photogrammetry, make full use of close-range photogrammetry again need not contact the advantage that the target point just can carry out the stereo measurement, remedied the GNSS and measured the defect that there is the signal to shelter from, reduced open-air measuring work load, improved garrulous department measuring work efficiency and degree of automation.

Drawings

FIG. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a diagram showing the relationship between the center of the centering rod and the position of the photographing center plane.

FIG. 3 is a diagram of an operation performed by a GNSS close-range photogrammetry apparatus.

In the figure: 1-a GNSS receiver; 2-a high-definition camera; 3-PDA; 4-centering rod; 5-connecting frame.

Detailed Description

the invention is further described below with reference to the accompanying drawings:

As shown in fig. 1, the close-range photogrammetry apparatus of the present invention comprises a GNSS receiver 1, a high definition camera 2, a personal digital assistant PDA3, a centering rod 4 and a connecting frame 5. The high-definition camera 2 is integrated in the GNSS receiver 1 at a position close to the edge, the center of the GNSS receiver 1 and the center of the high-definition camera 2 are positioned on the same horizontal plane, the horizontal distance between the center of the GNSS receiver 1 and the center of the high-definition camera 2 is d, and a camera lens is jointed with the edge of the GNSS receiver 1 to form the GNSS receiver with the camera; the GNSS receiver with the camera is arranged on the centering rod 4, the center of the GNSS receiver 1 is overlapped with the center of the centering rod 4 in the vertical direction, the centering rod 4 can stretch and retract, and the height difference h between the center of the GNSS receiver 1 and the ground is measured; the personal digital assistant PDA3 controls the GNSS receiver 1 and the high-definition camera 2 through Bluetooth, and the personal digital assistant PDA3 has two modes of keyboard operation and capacitive touch screen operation, so that man-machine interaction is facilitated; the PDA3 can be fixed on the centering rod 4 by the connecting frame 5, or can be held by hand, and the connecting frame 5 can be detached.

As shown in fig. 2, the center of the centering rod 4 is in a positional relationship with the photographic center plane. The center of the centering rod 4 is represented by O, the photographing center (the center of the camera) is represented by S, the line segment connecting the center of the centering rod and the photographing center is OS, and the coordinate azimuth angle of the OS is represented by alpha_OSIndicating that the OS has a length of d.