Optimizing the Digital Processing Workflow Using Direct Georeferencing

Transcription

1 Outline Optimizing the Digital Workflow Using Diret Georeferening Overview ohamed.r. ostafa Chief Tehnial Authority Airorne Systems Data Flow Quality Control FIG Cairo, 2005 Applanix Corporation POS System Evolution Applanix Today Head Offie people, Rihmond Hill, Ontario World Renowned in-house expertise in GPS/Inertial Tehnology Gloal operations: offies in USA, Germany, and UK, with agents worldwide Over 600 POS systems sold -> 300+ POS AV systems Created the market of using GPS/inertial for aerial surveys in A Susidiary of Trimle Navigation Diret Georeferening Systems in Survey Pratie What is Image Georeferening Top-RK ount Real Time Computer System with emedded GPS reeiver and Data Logger Inertial easurement Unit IU Leia ALS 50 Diret Georeferening 1. easure translation and rotation (EO) using Navigation Sensors 2. Produe Orthophoto or ollet features on stereopairs 3. No GCP needed 4. QC is needed R -Frame r E E y r g s g R r g G Indiret Georeferening 1. Survey GCPs 2. easure image points x 3. Compute translation and rotation using AT 4. Y Produe 3D Coordinates of ground s RC30 ount Emedded IU in Z/I DC Emedded IU in LHS ADS 40 Opteh ALT Z apping Frame X 1

2 Diret Image Georeferening The Digital Sensor System (DSS) Georeferened 3D Position -frame R i -frame R roll yaw r INS/DGPS Z a E r E pith E X E Y E r g i Z E g X G Y G y G x Z G Y GPS X GPS X Z GPS IU/GPS IU Stereopair GPS antenna = rins/dgps (t) + R (t) a E + s g R (t) R r g (t) Y IU Image easurement and By GCP Camera Complete apping System turn-key fully-digital medium format Built-in in FS Integrated POS AV Aided Inertial Diret Georeferening System 4k y 4k Color and CIR Digital Imager Azimuth ount (new( new) Ruggedized data logger and pressurized drive Flight anagement System POS AV 4k x 4k Camera Azimuth ount The DSS Data Flow Airorne and Quality Control Data Aquisition Post Digital Images GPS/Inertial data Basestation, CORS NavCom, or OmniStar data GCP/Chekpoints Image Radiometri Inertial/GPS Post & Quality Control Tiepoint Generation Boresight, datum, and/or Camera & Validation QC Terrestrial Report Rapid Response Using Real-time Data apping Software For Topographi and/or Ortho apping Airorne and Quality Control Boresight Diretion of Flight Camera Frame IU Frame y Θx Θy x Θz y I zi x I Boresight is the physial mounting angles of an IU w.r.t. a amera Boresight is assumed onstant matrix at all times Boresight is omputed using: Image rotation matrix omputed y photogrammetry IU-derived rotation matrix How well the imaging geometry is estalished (amera aliration?) Correlation etween the amera aliration and oresight??? This neessitates the simultaneous aliration of oresight and amera osθ y 0 sin Θ y osθz sin Θ z R = 0 os Θ x sinθ x sin Θ os Θ z 0 sin Θ Θ Θ x osθx sin y 0 os y 0 0 osθ y osθz osθ y sin Θ z = sin Θ x sin Θ y os Θ z osθ x sin Θ z sin Θ x sin Θ y sinθ z + os Θ x osθ z osθ x sin Θ y osθz + sinθ x sin Θ os Θ x sin Θ y sin Θ z sin Θ x osθ z sin Θ y sin Θ x os Θ y osθ Θ x os y 2

3 Effet of GCP on Boresight The plot shows the differene etween oresight aliration with and without GCPs for three different onfigurations: Boresight Boresight + Camera aliration Boresight + Camera for eah strip Effet of Numer of Image s Boresight aliration has een done three times 1. Using all availale photo measurements (left plot) 2. Using only Von Gruer s (9 per photo) 3. Using only 4 points per photo Results of oresight aliration have een ompared (right plot) Differene in oresight is within the POS/AV 510 system spes Differene in alirated oresight angles is within POS/AV 510 used in the OEEPE projet Omega ~ deg Phi ~ deg kappa ~ 0.0 deg Boresight Angle Differenes (deg) BS BS/CB BS/CS Computational ethod dw dp dk Y Image Coordinate (mm) X Image Coordinate (mm) Angle Differenes (deg) BS_2strp_AllTie BS_2strp_9Tie BS_2strp_4Tie domega dphi dkappa Airorne and Quality Control software Airorne and Quality Control - Auto IO & Quality Control Software is equipped with: Online of oresight, amera, and datum Imports 1. image oordinates from any AAT software 2. POS Data Generates its own tie points using STG (semi-automati Tiepoint Generation) Software Tools Work for: Digital Camera Sanned Film Work Flow Design - CalQC Interfae Intermediate s Data Semi-Automati Tiepoint Generation (STG) Projet Setup Data Raw Images User Interfae DSS Pre- Film Interior Orientation easurement IO Image Proessed Images STG Setor Partitioning Algorithms Unovered Setor Detetion Next Setor Naming Algorithm easuring Next End Reporting Reporting Information 3

4 The DSS Performane Statistial Summary of Different Test Flights The Performane of the DSS is disussed using results from five test flights Auray of Chekpoints is repeatale - su-pixel in horizontal and 2-3 pixels in elevation (Geometry) Lakeland De02 NASA Stennis Japan Fe03 Ajax 03 Flight ID PASCO Toyonaka Flight Altitude AGL (m) (m) #Strips/Photos # Chekpoints 0.3 6/ / / / / RS of Chekpoint Residuals (m) Japan Fe03 Lakeland De02 NASA Stennis Lakeland ar04 Ajax 03 RS_X RS_Y RS_Z Statistial Summary of Different Test Flights Same results are repeatedly ahieved using a 35 mm lens RS of Chekpoint Residuals (m) m AGL 1200 m AGL Georeferening The DC Images Using POS RS_X RS_Y RS_Z Georeferening The DC Images An Example Georeferening The DC Images Results Remaining Errors are well within the Remaining Errors inlude POS errors, image measurement errors, aliration errors, et.. adani,.,..r. ostafa, Georeferening the DC Images - Data Flow and Performane Analysis. Proeedings, ASPRS Annual Conferene, Denver, CO, ay CD-RO adani,.,..r. ostafa, Georeferening the DC Images - Data Flow and Performane Analysis. Proeedings, ASPRS Annual Conferene, Denver, CO, ay CD-RO 4

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