Effect of different registration methods on precision of orientation based on RTK registration/georeferencing mode

Abstract

Compared with traditional methods, the three-dimensional laser-scanning (3D-LS) technique can efficiently acquire many high-quality geometric properties of rock discontinuities. In practice, engineers usually prefer to simplify the processing by using single-station point data and roughly orienting owing to the complexity of registration/georeferencing multi-station point data. However, prior published studies have paid little attention to the accuracy and reliability when determining discontinuity orientations using 3D-LS. We propose a reliable and accurate method with robust on-site applicability. As part of an ongoing effort, we are evaluating the precision of the commonly used coarse registration method and the fine registration method, and promoted the optimized coarse- and fine-registration methods and evaluated their precision. It is found that: (1) the common and the optimized registration method can meet our project’s engineering requirements, and the optimized registration method improved accuracy in the dip direction by approximately 1°; (2) fine registration using an iterative closest point (ICP) algorithm can correct both dip direction and dip angle; and (3) the orientation is of high precision with commonly used coarse and fine registration, whereas the optimization effect to correct the orientation is slightly limited.     

机载GPS精密单点定位性能分析

利用地面多基站RTK测量结果和精密单点定位(PPP)测量结果,分析了机载条件下PPP定位、测速性能指标。实验结果表明:机载GPS精密单点定位绝对定位精度在位置、速度上可分别达到0.182 3m和0.024 6m/s,相对定位精度在位置、速度上可分别达到0.1450m和0.0249m/s。     

机载GPS精密单点定位性能分析

利用地面多基站RTK测量结果和精密单点定位（PPP）测量结果,分析了机载条件下PPP定位、测速性能指标.实验结果表明：机载GPS精密单点定位绝对定位精度在位置、速度上可分别达到0.182 3m和0.024 6m/s,相对定位精度在位置、速度上可分别达到0.1450m和0.024 9m/s.     

改进的ICP点云配准算法

三维激光点云配准是点云三维建模的关键问题之一。经典的ICP算法对点云初始位置要求较高且配准效率较低,提出了一种改进的ICP点云配准算法。该算法首先利用主成分分析法实现点云的初始配准,获得较好的点云初始位置,然后在经典ICP算法的基础上,采用k-d tree结构实现加速搜索,并利用方向向量夹角阈值去除错误点对,提高算法的效率。实验表明,本算法流程在保证配准精度的前提下,显著提高了配准效率。     

RTK布设高精度控制点的可行性分析

GPS RTK可以实时获取流动站的坐标,但无法确定点位坐标精度的可靠性。利用高精度基线检定场对RTK测量成果的精度估计进行了研究,证明在具备高等级已知点位成果时RTK测量可用于获取较高精度的控制点。     

低空旋翼无人机载LiDAR系统在海岛测绘中的应用

低空旋翼无人机载LiDAR系统通过无人机平台集成三维激光扫描仪、定位定姿系统(Positioning and Orientation System,POS)为快速获取海岛、海岸带等测区地理信息提供了一种新的解决方案。首先比较了旋翼无人机LiDAR系统与传统机载LiDAR系统的不同之处,然后在海岛测绘实例中分别使用中海达ARS-100机载LiDAR系统和华测AS-300H机载LiDAR系统进行了同一海岛地形测绘,期间使用GNSS RTK技术采集地面特征点三维坐标作为校核点,检验了两种国产旋翼无人机载LiDAR测量系统在海岛测绘中的定位精度,实验结果表明两种国产设备绝对精度均达到±10 cm以内,验证了旋翼无人机载LiDAR技术在海岛礁测绘中的可行性。     

Recognition of down-valley translation in tidally influenced meandering fluvial deposits,Athabasca Oil Sands (Cretaceous), Alberta,Canada

The vast Athabasca Oil Sands of Alberta, Canada has an estimated resource of more than 1.7 trillion barrels of bitumen in-place, the majority of which is hosted in the Lower Cretaceous McMurray Formation. Despite its economical significance the depositional environment of the formation, and particularly the middle part that is the primary reservoir in most areas, is still a matter of considerable debate. These strata of interest are widely known to comprise fluvial and estuarine point bar deposits that were subject to varying degrees of marine influence. The orientation of point bar strata from the formation is tabulated and the majority is observed to dip paleo-basinward, to the north. This observation has proven difficult to explain by geologists attempting to build predictive models for the formation over the last two decades. However, the basinward-dipping point bar strata can be attributed to widespread down-valley translation of point bars in confined north-south oriented valleys, which have previously been delineated in the region. Differentiating the deposits of lateral point bar migration and down-valley translation in the rock record is not possible at the facies scale, and thus translated point bars have not been previously recognized or interpreted in the rock record, despite their prevalence in numerous modern fluvial valley systems. Their identification in the McMurray Formation has important implications for the delineation and development of Canada’s economically significant oil sands resources.     

Geometric performance evaluation of the Geostationary Ocean Color Imager

The Geostationary Ocean Color Imager (GOCI) instrument acquires eight channels of multispectral images, which consist of 16 slots positioned in four lines and columns. GOCI Level 1B data, therefore, consist of a mosaic of 16 images, geometrically corrected with the Image Navigation and Registration Software Module (INRSM) system based on automatic point landmark matching for each slot and band. A study of the geometric performance characteristics of the Level 1B data was conducted over a period from August 2010 to September 2011 using residual data from Bands 7 and 8. To evaluate the geometric performance in detail, this paper examines the following four types of image navigation and registration errors: navigation performance, within-frame registration, frame-to-frame registration, and band-toband registration. In addition to the performance statistics based on mosaic images, we used a slot-based analysis method for the rainy season (here, June 2011) to understand the local distribution of the geometric performance. From the image-based results, the navigation and frame-to-frame accuracies were better than 1 pixel and the band-to-band registration accuracy was better than 0.4 pixels, while the within-frame registration accuracy was less than 1 pixel. However, for the band-to-band performance, the percentage of observations that fell within the specifications was slightly less than 99.7% for all 240 frames from June 2011. The within-frame performance was much lower than the other performance categories and the residual error for the east-west direction was higher than that for the north-south direction. The results from the slotbased performance evaluation suggest that abnormal errors (e.g. above 53 ??rad for navigation) occur in some slots, although the performance during an estimation period of 7 continuous days was within the desired criteria.     

RTK GPS在超短基线声学定位系统安装校准中的应用

超短基线（uhra short base line,USBL）声学定位系统的换能器安装是具有一定方向性的,但是,在安装过程中,不能保证换能器方向与船艏方向严格一致,必然存在不可忽视的系统误差,影响了测量精度;因此,必须通过校准消除系统误差。本文应用高精度RTKGPS实现了换能器安装方向的校准,取得了满意的结果。     

GPS测速精度分析与应用

全球定位系统(GPS)技术的出现,为速度测量提供了新的手段。基于GPS测速的基本原理,采用单点定位模式、无线电信标/差分GPS模式和GPS RTK模式,研究了不同模式下速度测量的方法和精度概况,重点分析了GPS RTK模式下的测速精度,并对高精度速度测量应用提出了建议。     

RTK技术在杭州湾跨海大桥桥位地形测绘中的应用

介绍了RTK技术在杭州湾跨海大桥桥位地形测绘中的应用,并对其定位结果进行了精度比较与分析,结果表明:RTK定位测量的点位精度可达厘米级,各点位之间不存在误差积累,与全站仪等测量手段取得的结果符合得较好,可以用来代替二三级导线控制测量和等外水准等测量方法;流动站与基准站的距离在10km范围以内时,应用RTK技术对近岸水下地形进行测量具有方便、快捷、精度高等特点,但当此距离超过10km时,其精度则难以保证。杭州湾跨海大桥施工时应用RTK技术进行定位、高程测量,可提高工作效率和成果的质量。     

全极化合成孔径雷达近岸风场反演研究

Coastal winds are strongly influenced by topology and discontinuity between land and sea surfaces. Wind assessment from remote sensing in such a complex area remains a challenge. Space-borne scatterometer does not provide any information about the coastal wind field, as the coarse spatial resolution hampers the radar backscattering. Synthetic aperture radar （SAR） with a high spatial resolution and all-weather observation abilities has become one of the most important tools for ocean wind retrieval, especially in the coastal area. Conventional methods of wind field retrieval from SAR, however, require wind direction as initial information, such as the wind direction from numerical weather prediction models （NWP）, which may not match the time of SAR image acquiring. Fortunately, the polarimetric observations of SAR enable independent wind retrieval from SAR images alone. In order to accurately measure coastal wind fields, this paper proposes a new method of using co-polarization backscattering coefficients from polarimetric SAR observations up to polarimetric correlation backscattering coefficients, which are acquired from the conjugate product of co-polarization backscatter and cross-polarization backscatter. Co-polarization backscattering coefficients and polarimetric correlation backscattering coefficients are obtained form Radarsat-2 single-look complex （SLC） data.The maximum likelihood estimation is used to gain the initial results followed by the coarse spatial filtering and fine spatial filtering. Wind direction accuracy of the final inversion results is 10.67 with a wind speed accuracy of 0.32 m/s. Unlike previous methods, the methods described in this article utilize the SAR data itself to obtain the wind vectors and do not need external wind directional information. High spatial resolution and high accuracy are the most important features of the method described herein since the use of full polarimetric observations contains more information about the space measured.This article is a useful addition to the work of independent SAR wind retrieval. The experimental results herein show that it is feasible to employ the co-polarimetric backscattering coefficients and the polarimetric correlation backscattering coefficients for coastal wind field retrieval.     

碟形浮标观测方向波谱误差分析及修正

改进了方向波谱的分析方法及噪声谱经验公式，使本法随测波环境及仪器特性自动修正经验参值，更易于实际应用。基于Maximum heave/pitch quad-spectrum method，由时域及频率域上的浮标动力反应数值计算，推求反应增益因子及相位延迟项，并进一步将其导入方向波谱计算，使其能修正资料浮标对波浪之轴不对称动态反应所造成的相位延迟不一致及主波向误差。经数值仿真验证，该方法的确能消减因资料浮标对波浪之轴不对称动态反应所造成的相位延迟及对主波向估算所造成之影响。应用花莲现场观测资料验证改良之主波向估算方法，得出是否考虑波浪运动与浮标运动间之振幅响应因子及相位延迟因子，所得之主波向的差异介于0－12℃之间。     

基于姿态校正的RTK潮位在琼州海峡地形测量中的应用

潮位改正是多波束地形勘测中的重要环节。琼州海峡跨海工程中分别利用验潮潮位和RTK潮位进行潮位改正,对比结果发现初始RTK潮位改正后的数据存在较大偏差,最大可达1.5 m。通过对RTK测量潮位进行姿态校正后,其结果与验潮潮位的偏差减小,可以控制在0.3 m以内。5-6月的琼州海峡正是西南季风爆发时间,海峡海流的流向具有复杂性,涨落潮都伴随着较大的风浪,RTK潮位测量忽略风浪带来的影响是出现较大误差的重要原因。     

区域电离层延迟的时空变化分析

GPS在差分导航、车载导航和RTK的应用中,精确修正电离层延迟是决定测量定位结果能否达到精度要求的重要因素。利用GPS接收机综合检定场的登封、洛阳、梅山、平顶山和西安5个基准站2002年3月23日的部分观测数据,利用双频组合技术研究分析了郑州及周边地区电离层延迟的时空变化及其时空相关性,并在此基础上讨论了区域差分的可行性和即将广泛应用于城市控制测量中的RTK技术的可行性。     

Operational Wave, Current, and Wind Measurements With the Pisces HF Radar

This paper presents results of a trial of a Pisces HF radar system aimed at assessing its use as a component of a wave-monitoring network being installed around the coasts of England and Wales. The radar system has been operating since December 2003 and the trial continued to June 2005. The data have been processed in near-real time and displayed on a website. Radar measurements of the directional spectrum and derived parameters are compared with those measured with a directional waverider and with products from the Met Office, United Kingdom, operational wave model. Radar measurements of currents and winds are also compared with Met Office model products and, in the case of winds, with the QuikSCAT scatterometer. Statistics on data availability and accuracy are presented. The results demonstrate that useful availability and accuracy in wave and wind parameters are obtained above a waveheight threshold of 2 m and at ranges up to 120 km at the radar operating frequencies (7-10 MHz) used. Waveheight measurements above about 1 m can be made with reasonable accuracy (e.g., mean difference of 2.5% during January-February 2004). Period and direction parameters in low seas are often contaminated by noise in the radar signal. The comparisons provide some evidence of wave model limitations in offshore wind and swell conditions     

基于改进SICP算法的多源点云配准研究

三维激光点云数据具有精度高、数据获取高效、几何信息丰富的优势,在地形数据获取方面起到了越来越重要的作用。但在实际的外业测量中,由于视场角限制,一般都难以获取待测物体完整的点云数据,发生数据缺失现象。而根据摄影测量技术生成密集的影像点云,能获取复杂区域的测量数据。针对三维激光点云数据外业采集缺失的状况,结合影像密集点云特征,提出了一种加入动态迭代因子和分步最优求解尺度的改进尺度迭代最近点(scaling iterative closest point, SICP)算法,对影像点云与三维激光点云进行配准研究。实验结果表明:基于改进的SICP算法提高了影像点云与三维激光点云的配准精度、减少了迭代次数,能有效解决不同源平台获取的点云数据融合问题。     

Study on Measurement Methods of Multi-Directional Waves—Wave Gauge Array Method

- Measuring multi-directional waves with the wave gauge array is one of the fundamental and easily realised methods. In this paper, the wave gauge array is described and the effects of the gauge spacing, the array orientations, etc. of the three array arrangements, i. e., linear array, T-type array and pentagon array, on the resolution of the directional spreading of waves, are investigated experimentally. This study can be used as a reference in the experimental study and the field measurement of directional waves.     

沿岸多模式GNSS三维水深测量方法研究

在沿岸水下地形测量中,高程控制是难点,在远离岸边的区域,不仅布设潮位站困难,而且潮位站水位改正的精度也难以保证,为提高沿岸水域测量的可靠性和灵活性,在河口区域的水深测量项目中进行了RTK、PPK、PPP3种模式的同步作业方式研究。结果表明,基于GNSS多模式三维水深测量的方法能有效提高水位改正的精度和可靠性。无论测区离岸距离多远,可以同步采用RTK、PPK和PPP的方式进行高程控制,这3种模式的高程测量差值均方差接近0.10m,精度能满足沿岸水域一般比例尺地形测量的高程精度要求。     

辽东湾地区锦州25—1油田油气成藏特点和运聚模拟研究

在对构造演化、成藏要素、油源对比、成藏期次分析的基础上,结合Trinity油气运移成藏模拟分析软件对锦州25—1油田的油气运聚模拟研究,分析了形成锦州25—1油田的成藏主控因素,建立了其成藏模式,指出了该地区有利勘探方向。模拟分析结果表明,锦州25—1构造是辽西凹陷沙三段烃源岩生成油气运聚的有利指向区,而优良成藏要素的优势时空配置则是形成锦州25—1油田的关键因素。其成藏模式为：辽西凹陷沙三段烃源岩在东下段时期进入了大量生排烃期,生成的油气为一期充注,充注时间发生在东营组末期,沿东下段时期强烈构造运动伴生的断裂系统、沙二段广泛发育的砂体、沙二段与沙三段之间大型不整合面以及古构造脊所构成的疏导体系运移至沙二段圈闭成藏,而沙三段砂体则可以近源优势成藏。辽西凹陷西斜坡、凹中隆以及古构造脊是今后较为有利的勘探区域。