Integrated Sensor Orientation on Micro Aerial Vehicles:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Zürich
Schweizerische Geodätische Komm.
2017
|
| Schriftenreihe: | Geodätisch-geophysikalische Arbeiten in der Schwein
98 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | xiv, 188 Seiten Illustrationen, Diagramme |
| ISBN: | 9783908440444 |
Internformat
MARC
| LEADER | 00000nam a2200000 cb4500 | ||
|---|---|---|---|
| 001 | BV044902006 | ||
| 003 | DE-604 | ||
| 005 | 20180507 | ||
| 007 | t | ||
| 008 | 180412s2017 a||| |||| 00||| eng d | ||
| 020 | |a 9783908440444 |9 978-3-908440-44-4 | ||
| 035 | |a (OCoLC)1031921341 | ||
| 035 | |a (DE-599)BVBBV044902006 | ||
| 040 | |a DE-604 |b ger |e rda | ||
| 041 | 0 | |a eng | |
| 049 | |a DE-2174 |a DE-83 |a DE-706 | ||
| 100 | 1 | |a Rehak, Martin |d 1986- |e Verfasser |0 (DE-588)1128764873 |4 aut | |
| 245 | 1 | 0 | |a Integrated Sensor Orientation on Micro Aerial Vehicles |c Martin Rehak |
| 264 | 1 | |a Zürich |b Schweizerische Geodätische Komm. |c 2017 | |
| 300 | |a xiv, 188 Seiten |b Illustrationen, Diagramme | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 490 | 1 | |a Geodätisch-geophysikalische Arbeiten in der Schweiz |v 98. Band | |
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| 689 | 0 | 3 | |a Sensor |0 (DE-588)4038824-4 |D s |
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| 830 | 0 | |a Geodätisch-geophysikalische Arbeiten in der Schwein |v 98 |w (DE-604)BV001895327 |9 98 | |
| 856 | 4 | 2 | |m HEBIS Datenaustausch |q application/pdf |u http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030295790&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |3 Inhaltsverzeichnis |
| 999 | |a oai:aleph.bib-bvb.de:BVB01-030295790 | ||
Datensatz im Suchindex
| _version_ | 1804178458135232512 |
|---|---|
| adam_text | Contents
1 Introduction 3
1 1 Context 3
1 2 Research Objectives 4
1 3 Methodology 5
1 4 External Contributions 6
1 5 Thesis Outline 6
2 UAV Photogrammetry 9
2 1 Definition and Context of UAV Photogrammetry 9
2 2 Work-flow and Products 11
221 Photogrammetric Work-flow 11
222 Mapping Products 12
223 Data Processing Tools 12
2 3 Regulations of UAV Platforms 13
2 4 Platforms and Categories 14
241 Fixed-wing Platforms 15
242 Multirotor Platforms and Helicopters 16
243 Airships and Other Platforms 17
2 5 Optical Sensors 17
251 Passive Sensors 18
252 Active Sensors 21
2 6 Orientation Methods 22
261 Coordinate frames 23
262 Indirect Orientation 25
l
Contents
263 Direct Orientation 26
264 Integrated Orientation 28
2 7 Evolution of Orientation Methods on UAVs 29
271 Indirect SO on MAVs 29
272 DiSO and ISO on MAVs 30
2 8 Basic Geometry and Accuracy Relations 31
281 Image Measurement 32
282 Influence of Image Measurements and Scene Geometry 33
283 Ground Control Points 35
284 The influence of Geometry 37
285 The Influence of Aerial Position and Attitude 39
3 Mission Planning and Flight Management 41
3 1 Requirements and Relations 41
3 2 Overview of Mission Planners 42
3 3 Mission Planning Work-flow and Considerations 42
331 Photo Overlap 43
332 Trajectory Design 44
333 Technical Aspects of Platform and Camera 45
3 4 Planning in a Complex Terrain 48
341 Developed Mission Planner Tool 48
342 Custom Base Maps and Digital Models 49
343 Accounting for Terrain Variations 50
344 Alternative Flight Patterns 51
345 Overlap and GSD Assessment 51
346 GNSS Satellite Visibility 53
347 Additional Features 54
3 5 Real-time Monitoring and Flight Management 55
4 Measurements, Models and Estimation Methods 59
4 1 Introduction 59
4 2 Image Observations 60
4 3 Additional Parameters of Interior Orientation 62
4 4 Aerial Observations 63
4 5 Absolute Aerial Position and Attitude Control 64
4 6 Relative Aerial Position and Attitude Control 65
4 7 Absolute Spatio-temporal Control 66
4 8 Relative Spatio-temporal Control 67
4 9 Stochastic Models of Aerial Control 67
4 10 Bundle Adjustment 68
4 10 1 Functional Model 69
4 10 2 Stochastic Model 71
4 11 Program and Data Structure 72
4 11 1 Data Preparation and Formatting 73
4 11 2 Bundle Adjustment 74
4 11 3 Graphical Output and Reporting 74
5 Developed MAV Platforms and Sensor Equipment 77
5 1 General Challenges 77
5 2 Platform Development 78
521 TOPO Copter 78
522 TOPO Plane 80
523 Sensor Payload 81
5 3 Optical Sensors 82
5 4 GNSS Positioning 83
541 Multi-frequency and Multi-constellation Receiver 84
542 Single-frequency, Low-cost Receiver 84
543 GNSS Antennae 86
5 5 Inertial Measurement Unit 87
551 IMU technology 87
552 Employed IMU on the MAV platforms 87
iii
Contents
5 6 Sensor Payload 88
561 TOPO Copter 89
562 TOPO Plane 89
563 Communication Links 89
564 Communication security 91
565 Electromagnetic Interference 92
6 System and Sensor Calibration 93
6 1 Testing fields and data acquisition campaigns 93
611 Close-range Calibration Field 93
612 Open Space Testing Field 93
613 Acquired Data Sets 94
6 2 System Calibration of Spatial Offsets 95
621 TOPO Copter 97
622 TOPO Plane 97
623 Antenna LI Phase Centre Calibration 99
6 3 System Calibration of Angular Misalignment 100
631 Concept 100
632 Initial Alignment 100
6 4 The problem of the IMU and Camera Synchronisation 101
641 IMU Synchronisation 101
642 Camera Synchronisation 102
6 5 Sensor Calibration 107
651 Camera Calibration 107
652 Inertial Sensor Calibration Ill
7 Evaluation and Performance Assessment 117
7 1 Introduction 117
7 2 Data Pre-processing 118
721 Image Conversion 119
722 Image Observations 119
723 GNSS/IMU Processing and Trajectory Interpolation
120
Contents
7 3 Aerial Position Control 121
731 Absolute Relative Aerial Position Control in the GNSS Perturbed Envi-
ronment 121
732 Aerial Position Control With a Low-cost GNSS Receiver 127
7 4 Aerial Position and Attitude Control 131
741 Aerial Control in Corridor Mapping 131
742 Sensor Orientation Without Automatic Tie-points 136
743 Redundancy in EO observations 141
7 5 Spatio-temporal Aerial Control 143
751 Processing Strategy 143
752 Testing Methods 144
753 Processing Steps 144
754 Residual Analysis 145
755 Convergence and Stability 147
756 On the Origin of the Camera Delay 148
757 Impact on Mapping Accuracy 148
758 Summary 150
7 6 Stability of Camera IO parameters 151
8 Conclusion and Perspectives 155
8 1 Summary of Contributions 155
811 Theoretical/Conceptual Contributions 155
812 Engineering Contributions 156
8 2 Conclusions 157
8 3 Perspectives 158
A Overview of Photogrammetric Platforms, Sensors, and Mission Planners 161
B TOPOBUN Bundle Adjustment
165
C System and Sensor Calibration 169
C l Lever-Arm Calibration 169
C 2 Camera Calibration 170
Appendix
160
Bibliography
|
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| id | DE-604.BV044902006 |
| illustrated | Illustrated |
| indexdate | 2024-07-10T08:04:17Z |
| institution | BVB |
| isbn | 9783908440444 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-030295790 |
| oclc_num | 1031921341 |
| open_access_boolean | |
| owner | DE-2174 DE-83 DE-706 |
| owner_facet | DE-2174 DE-83 DE-706 |
| physical | xiv, 188 Seiten Illustrationen, Diagramme |
| publishDate | 2017 |
| publishDateSearch | 2017 |
| publishDateSort | 2017 |
| publisher | Schweizerische Geodätische Komm. |
| record_format | marc |
| series | Geodätisch-geophysikalische Arbeiten in der Schwein |
| series2 | Geodätisch-geophysikalische Arbeiten in der Schweiz |
| spelling | Rehak, Martin 1986- Verfasser (DE-588)1128764873 aut Integrated Sensor Orientation on Micro Aerial Vehicles Martin Rehak Zürich Schweizerische Geodätische Komm. 2017 xiv, 188 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier Geodätisch-geophysikalische Arbeiten in der Schweiz 98. Band Navigation (DE-588)4041457-7 gnd rswk-swf Kartierung (DE-588)4029803-6 gnd rswk-swf Drohne (DE-588)4243514-6 gnd rswk-swf Sensor (DE-588)4038824-4 gnd rswk-swf Kartierung (DE-588)4029803-6 s Drohne (DE-588)4243514-6 s Navigation (DE-588)4041457-7 s Sensor (DE-588)4038824-4 s DE-604 Geodätisch-geophysikalische Arbeiten in der Schwein 98 (DE-604)BV001895327 98 HEBIS Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030295790&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Rehak, Martin 1986- Integrated Sensor Orientation on Micro Aerial Vehicles Geodätisch-geophysikalische Arbeiten in der Schwein Navigation (DE-588)4041457-7 gnd Kartierung (DE-588)4029803-6 gnd Drohne (DE-588)4243514-6 gnd Sensor (DE-588)4038824-4 gnd |
| subject_GND | (DE-588)4041457-7 (DE-588)4029803-6 (DE-588)4243514-6 (DE-588)4038824-4 |
| title | Integrated Sensor Orientation on Micro Aerial Vehicles |
| title_auth | Integrated Sensor Orientation on Micro Aerial Vehicles |
| title_exact_search | Integrated Sensor Orientation on Micro Aerial Vehicles |
| title_full | Integrated Sensor Orientation on Micro Aerial Vehicles Martin Rehak |
| title_fullStr | Integrated Sensor Orientation on Micro Aerial Vehicles Martin Rehak |
| title_full_unstemmed | Integrated Sensor Orientation on Micro Aerial Vehicles Martin Rehak |
| title_short | Integrated Sensor Orientation on Micro Aerial Vehicles |
| title_sort | integrated sensor orientation on micro aerial vehicles |
| topic | Navigation (DE-588)4041457-7 gnd Kartierung (DE-588)4029803-6 gnd Drohne (DE-588)4243514-6 gnd Sensor (DE-588)4038824-4 gnd |
| topic_facet | Navigation Kartierung Drohne Sensor |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=030295790&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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| work_keys_str_mv | AT rehakmartin integratedsensororientationonmicroaerialvehicles |