Analysis of Interpolation Methods for Kinematic DGPS Control in Aerial Photogrammetry

Kinematic differential Global Positioning System (DGPS) positioning is routinely used in industry for directly observing an aircraft's position at each instant of photographic exposure during a photogammetric survey. A critical aspect of the subsequent data processing is estimation of the aircraft position at the exact time of exposure. GPS measurements are acquired at a uniform sampling rate, typically 1 Hz. The exposure times, however, do not generally coincide with these times. As a result, the exposure station positions must be interpolated from the adjacent GPS positions. This is typically done using a low-order polynomial, expressed as a function of time, for each coordinate dimension. However, trajectory perturbations induced by atmospheric turbulence can render such interpolation methods ineffective. This article will convey the results of an investigation into the use of several different interpolation models with airborne GPS data during straight, level flight. The fundamental task of time series reconstruction will first be addressed, in which several possible interpolation models are described. Two 10-Hz, airborne GPS data sets were collected to test the accuracy of each model. The error properties resulting from the application of each model to these data will be presented and analyzed in terms of time-domain statistics and frequency-domain characteristids. It will be demonstrated that interpolation error can be significantly reduced, especially in the height dimension, through judicious choice of an interpolator. ? 2000 John Wiley & Sons, Inc.     

测绘用离轴三反光学系统技术

离轴三反光学系统可以同时兼顾长焦距与大视场, 可以优化为零畸变、低场曲的光学系统, 很好地满足了测绘对光学系统的要求, 被公认为航天遥感测绘相机的发展方向。本文阐述了航天测绘相机的现状和发展趋势, 对离轴三反光学系统应用于测绘的相机内方位元素定义、焦距计算公式的修正、调焦方式对主点位置精度的影响、系统畸变标定以及系统稳定性等问题进行讨论为中国自主获取高分辨率、高精度的测绘数据提供了技术参考。     

Deriving rules from activity diary data: A learning algorithm and results of computer experiments

 Activity-based models consider travel as a derived demand from the activities households need to conduct in space and time. Over the last 15 years, computational or rule-based models of activity scheduling have gained increasing interest in time-geography and transportation research. This paper argues that a lack of techniques for deriving rules from empirical data hinders the further development of rule-based systems in this area. To overcome this problem, this paper develops and tests an algorithm for inductively deriving rules from activity-diary data. The decision table formalism is used to exhaustively represent the theoretically possible decision rules that individuals may use in sequencing a given set of activities. Actual activity patterns of individuals are supplied to the system as examples. In an incremental learning process, the system progressively improves on the selection of rules used for reproducing the examples. Computer experiments based on simulated data are performed to fine-tune rule selection and rule value update functions. The results suggest that the system is effective and fairly robust for parameter settings. It is concluded, therefore, that the proposed approach opens up possibilities to derive empirically tested rule-based models of activity scheduling. Follow-up research will be concerned with testing the system on empirical data. Received: 31 January 2001 / Accepted: 13 September 2001     

10 Hz or 10 s?

Data sampling frequencies in many kinematic GNSS applications are often in the range of 2–10 Hz or even higher. In contrast, the sampling frequency of standard reference stations is usually not higher than 1 Hz, and many stations even deliver data at sampling intervals as large as 30 s. An easily implemented algorithm for data interpolation will be presented and it will be demonstrated that interpolation of pseudorange and carrier phase reference station data is possible at a high level of accuracy. This technique—which has not received proper attention so far—is helpful to reduce data storage capacity for postprocessing applications, but and can also be beneficial for real-time applications suffering from slow data links. Results of test trials indicate that a standard deviation better than 2 mm can be reached for interpolated carrier phases collected at reference sites sampling data with 5-s intervals in double difference mode. These interpolated double difference data obviously still follow a Gaussian distribution. A trend function for the expected standard deviation of interpolated double difference carrier phase measurements will be presented. From this function, a recommendation for an optimal sampling rate of reference station data can be derived which is close to 10 s.     

IAU2000决议对卫星轨道的影响

研究了IAU2000对GPS卫星轨道确定的影响。以2006年DOY186的GPS数据为例,分析了GPS卫星在IAU2000决议模型以及原有模型下,惯性参考系统以及地固坐标系中轨道的差别。结果显示,采用不同模型,卫星轨道在惯性参考系中的差值存在周期性,其中X、Z方向的幅度达到了2.5 m,Y方向的幅度约为1 m;在地固系中,轨道差别也存在周期,幅度约为4 mm。并对卫星轨道的差值进行了统计,得出了在惯性系下,不同模型引起轨道差值的3D RMS为m级。     

利用多探测任务数据建立新一代月球全球控制网的方案与关键技术

目前广泛应用的月球统一控制网2005（Unified Lunar Control Network 2005,ULCN2005）是由1994年的克莱门汀（Clementine）影像和之前的遥感数据联合平差构建的。提出利用21世纪获取的分辨率更高、精度更好的多探测任务数据,建立新一代月球控制网的方案与关键技术。该方案基于全球覆盖的月球遥感影像与激光高度计数据的联合平差,同时利用在月球轨道侦察器窄角相机影像上能高精度定位的绝对定位精度在厘米级的5个激光棱角反射标志点作为绝对控制。此外,还通过新的无线电测量方法对嫦娥三号着陆器进行高精度定位,将其定位结果也作为一个新的绝对控制数据。新一代控制网构建的重点有高精度的轨道器严密及通用成像几何模型的构建、多任务多模态数据间的多尺度特征提取与匹配、最优化多重覆盖影像的选择、全月球整体平差等。基于新的数据和技术,新一代月球控制网的精度和点的密度有望远超ULCN2005。     

Towards a New Approach for Absolute and Exterior Orientation

This paper briefly examines the current position in absolute and exterior orientation and highlights some of the limitations of existing techniques. An alternative system for performing absolute orientation and, potentially, exterior orientation is introduced. Some preliminary tests have given encouraging results.     

月球遥感制图回顾与展望

对月球探测任务、月球遥感制图技术与产品进行综述。从1958年开始,全世界已开展126次(其中70次成功)月球探测工程任务,其中月球遥感制图是其必需的基础性工作。由于月球环境的特殊性,其遥感制图技术与对地观测制图相比具有很大的挑战和更大的难度。目前,中国嫦娥二号轨道器获取的7 m分辨率立体影像是覆盖全月球分辨率最高的立体影像数据,美国月球侦察轨道器LRO任务的激光雷达高度计LOLA数据是精度和密度最高的激光测高数据,LRO NAC影像的分辨率最高(0.5—2 m)但未覆盖全球。在各个探测任务中,基于月球遥感数据和摄影测量技术,已经制作了大量的全球及区域的影像拼图、正射影像图和数字高程模型等制图产品。对月球遥感制图技术发展进行展望,探讨了利用国际多探测任务数据建立新一代控制网和进行精细制图的必要性及技术思路。     

伽利略(GALILEO)系统对美国GPS的冲击

伽利略(GALILEO)计划是迄今为止欧洲将要开发的、最重要的航天计划,是世界上第一个基于民用的全球卫星导航定位系统,是以欧盟为主并联合中国在内的多国共同研发的国际合作项目。本文在简要介绍伽利略系统的开发动机、体系结构和服务方式以及实施方案等基础上,重点论述了伽利略系统在技术上、经济上及军事上对美国GPS的冲击,并分析了伽利略系统目前存在的问题以及发展前景。     

基于数据与模型双驱动的音频/惯性传感器耦合定位方法

北斗卫星导航系统已于2020年实现全球覆盖。在开阔的室外环境,北斗可提供厘米级的定位服务,正向着更泛在、更融合、更智能的综合时空体系迈进。目前高精度室内定位技术处于百花齐放、百家争鸣的状态,尽管苹果支持的超宽带技术在市场中拥有优势,但是5G、音频和蓝牙测角等可支持所有大众手机的技术在市场中也具备竞争力。室内定位目前主要面临部署成本高、定位精度低、信号覆盖范围小和系统泛化能力差等难题。多源融合定位技术是解决这些难题的重要途径之一,特别地,融合低成本惯导定位源和高精度射频/音频定位源是目前具备实用价值的融合定位组合。行人航迹推算(pedestrian dead reckoning,PDR)定位源具有抑制积分误差累积的优势,但是由于用户手机握持姿态的复杂性和手机惯性传感器硬件的差异性,其在相对定位精度、手机泛化能力和多握持姿态支撑等方面也存在劣势,此外,受步频的影响,PDR定位源的位置更新率低于2 Hz。为了实现低成本、高精度和广覆盖的室内定位解决方案,本文提出了一种数据与模型双驱动的多源融合定位新范式,其中数据驱动的PDR部分通过构建神经网络模型,训练加速度传感器和陀螺仪测量值特征,学习速度变化矢量,推算高精度行人航迹,模型驱动部分为将数据驱动输出的相对航迹与高精度定位源输出的观测量通过扩展卡尔曼滤波,实现融合定位输出。试验结果表明,基于数据驱动的PDR方法可提供20 Hz的位置更新率,与高精度音频定位源融合,可实现0.23 m的动态定位精度。     

POS数据用于立体模型恢复时的上下视差分析

从连续法相对定向原理出发，推导了直接由像片外方位元素恢复立体模型时模型点上下视差的计算公式，用模拟数据验证了计算方法的正确性，并对两组不同摄影比例尺的实际航摄像片进行了试验。通过比较利用GPS辅助光束法区域网平差获得的像片外方位元素和POS提供的像片外方位元素重建立体模型所产生的模型上下视差，分析了POS系统误差对模型上下视差的影响。结果表明，直接利用POS提供的像片外方位元素进行安置元素测图会出现作业员难以忍受的模型上下视差，不能满足地形测图的规范要求。     

GPS seismology

GPS seismology uses convential geodetic models to analyze GPS data at high sampling rates, such as 1 Hz. GPS seismology results are shown for the Denali, San Simeon, Tokachi-oki, and Chuetsu earthquakes. Records for these earthquakes indicate that GPS is an excellent instrument for measuring large displacements near earthquake ruptures. GPS systems can be improved for seismic applications if their sampling rates are increased from 1 to 10 Hz.     

椭圆形地理实体定位中的平差问题

在地理实体中,有很多是椭圆或圆形的,大部分实体的中心无法到达或无法判定,必须对椭圆形实体边界进行测量,然后确定椭圆的中心位置(椭圆的定位)、长轴和短轴长度(椭圆形状)及长轴方向(椭圆的定向)。当测量其5个边界点,可惟一解出定位和定向参数,超过5个测点时,就产生平差问题。本文推导出一套椭圆定位和定向的直接计算公式,并提出平差模型,通过实例论证该模型的正确性和实用性。     

Solutions for Exterior Orientation in Photogrammetry: A Review

The determination of the attitude, the position and the intrinsic geometric characteristics of the camera is recognised as the fundamental photogrammetric problem. It can be summarised as the determination of camera interior and exterior orientation parameters, as well as the determination of 3D coordinates of object points. The term "exterior orientation"of an image refers to its position and orientation related to an exterior (object space) coordinate system. Several methods can be applied to determine the parameters of the orientation of one, two or more photos. The orientation can be processed in steps (as relative and absolute orientation) but simultaneous methods (such as bundle adjustments) are now available in many software packages. Several methods have also been developed for the orientation of single images. They are based in general on geometric and topological characteristics of imaged objects.
This paper presents a survey of classical and modern methods for the determination of the exterior parameters in photogrammetry, some of which are available as software packages (with practical examples) on the Internet. The methods presented are classified in three principal groups. In the first, a selection of approximate methods for applications that do not require great accuracy is presented. Such methods are also used to calculate values required for iterative processes. In the second group, standard point–based methods derived from collinearity, coplanarity or coangularity conditions are briefly reviewed, followed by line–based approaches. The third group represents orientation methods based on constraints and on concepts of projective geometry, which are becoming of increasing interest for photogrammetrists. In the last section, the paper gives a summary of existing strategies for automatic exterior orientation in aerial photogrammetry.     

GNSS-R DDM波形仿真的时延与多普勒间隔研究

DDM波形是GNSS-R技术用于反演地球物理参量的基本观测量,其仿真结果的可靠性直接影响GNSS-R的理论研究及项目工程参数设计。利用GREEPS仿真软件分析了时延间隔与多普勒间隔对DDM波形仿真结果可靠性的影响,得到了用于获取可靠DDM仿真波形的时延与多普勒间隔参数。研究表明,时延和多普勒间隔越小,DDM仿真波形与理论波形吻合度越高;当时延间隔取1/16个GPS L1 C/A码元、多普勒间隔取50 Hz时,DDM仿真波形与理论波形几乎完全吻合,二者的相关系数大于0.99;时延间隔对DDM仿真波形峰值位置的影响远大于对峰值信噪比的影响;而多普勒间隔对DDM仿真波形峰值位置与信噪比的影响相当。     

“天绘一号”卫星三线阵影像条带式区域网平差

针对框幅式影像传统的空中三角测量算法不适用于三线阵影像, 因此必须设计相应的数学模型。三线阵推扫式传感器在成像时, 不同扫描线对应的摄影中心位置和姿态都不一样, 空中三角测量解算时, 外方位元素个数大于观测值个数, 理论上无法解算每一条扫描线的方位元素, 因此需要采用合适的数学模型模拟卫星轨道。目前常用的有3种轨道模型:线性多项式模型, 分段多项式模型和定向片模型。本文利用“天绘一号”卫星的真实数据, 在WGS-84坐标系统下进行3种模型的平差对比试验, 同时采用不同的控制点布设方案, 分析各模型在不同控制点布设方案下所能达到的精度水平。     

Ionospheric applications of the scintillation and tomography receiver in space (CITRIS) mission when used with the DORIS radio beacon network

The scintillation and tomography receiver in space (CITRIS) instrument will orbit the Earth near 560 km altitude to detect signals from the ground-based array of more than 50 DORIS UHF/S-band radio beacons established at sites around the world by the French Centre National d‘Etudes Spatiales (CNES) and the Institut Géographique National (IGN). The CITRIS receiver is on the US Air Force Space Test Program satellite STPSAT1, which is scheduled for launch in November 2006. CITRIS will record ionospheric total electron content (TEC) and radio scintillations with a unique ground-to-space geometry. The new instrument has been developed to study the ionosphere using data obtained with the UHF and S-band radio transmissions from the DORIS beacons because ionospheric radio scintillations can seriously degrade the performance of many space-geodetic systems, including the DORIS precise satellite orbitography system and GNSS (Global Navigation Satellite Systems). The ionospheric data will be based on radio signals sampled at a rate of 200 Hz by the CITRIS receiver. Numerical models have been used to predict that the DORIS signals measured by CITRIS may have 30 dB fluctuations in amplitude and 30 rad in phase as the satellite flies over kilometer-scale ionospheric structures. The data from the space-based CITRIS receiver will help update and validate theories on the generation and effect of ionospheric irregularities known to influence radio systems. By using simultaneous beacon transmissions from DORIS on the ground and from low-Earth-orbit beacons in space, the concept of reciprocity in a non-bilateral propagation medium like the ionosphere will be tested. Computer simulations are used to predict the magnitude of amplitude and phase scintillations that are expected to be recorded with the CITRIS instrument.     

Identifying degrees of freedom in pushbroom bundle adjustment

An analytical method of detecting and enumerating degrees of freedom (DOF) in bundle adjustment (BA) is developed, and used to analyze several scene geometries for pushbroom cameras. While it is well recognized in the photogrammetric community that BA can be poorly constrained, especially with pushbroom imagery, the literature is absent of techniques to study the DOF in BA except through numerical analysis, which does not delineate them except through the suggestion of their existence in degraded results. The analytical methods presented here provide insight into the DOF. The method is based on finding the singular values, and the associated singular directions, of a Hessian matrix from the minimization process in BA. These directions are scrutinized as possible DOF along which the minimal cost of BA will not change from the true solution. To demonstrate the use of the methods six different scene geometries are analyzed, some of which are commonly employed by current remote sensing satellites. Several of the scene geometries are shown to have multiple DOF beyond the well known scaling and absolute position and orientation that are not recoverable from stereo imagery without exterior orientation control of the cameras or ground control points. As a simple example, the effects of these DOF images from the HiRISE camera on the Mars Reconnaissance Orbiter are used along with the associated ephemeris data to demonstrate possible distortions in the results of a terrain reconstruction problem.     

GIS中三维模型的视觉变量

视觉变量是作为平面图形符号设计的理论基础而提出来的,在平面地图的符号化中起着非常重要的作用。然而,平面地图符号中的视觉变量并不能完全适用于GIS中三维模型的视觉变量,本文首先对比分析了平面地图表达和三维GIS表达的特点和异同,然后提出了GIS中三维模型的视觉变量,即:形状、空间姿态、尺寸、纹理、明暗度(光照)、阴影和清晰度。     

云南地区GPS基准站噪声模型分析

以云南地区陆态网27个全球定位系统(GPS)基准站在2011-2017年不同时间跨度的观测数据为例,使用赤池信息量和贝叶斯信息量估计准则(AIC/BIC)对解算结果进行分析,从而确定其最优有色噪声模型.结果表明,不同时间跨度基准站各坐标分量上噪声特性主要体现为白+闪烁噪声(WN+FN)、幂律噪声(PL)模型组合.部分基准站在北向和垂向的最优噪声模型会随着观测时间的累积而改变,PL模型所占比例有所下降,WN+FN模型所占比例有所上升.当时间跨度大于5 a时,基准站噪声模型的稳定性显著提高.随着坐标时间序列积累时长的增加,未知噪声分量出现的可能性也相应提高.