新型便携式行业级无人机精灵4RTK定位精度分析

本文针对新型便携式行业级无人机精灵4RTK开展了实测数据的定位精度分析，从有、无控制点情况下的绝对定位精度和无控制点情况下的相对定位精度2方面入手，详细计算后者水平距离和高程差的测量误差，探讨网络RTK技术的无控制点情况在活动构造中的应用。结果表明，无人机精灵4RTK在天气较晴朗、飞行高度100 m、镜头角度正射向下、旁向和航向重叠率均为70%等实测条件下，有控制点情况下水平位置和高程测量误差均<4.5 cm，无控制点情况下水平位置测量误差<0.60 m、高程测量误差<1.90 m；无控制点情况下，当实际水平距离<300 m时，水平距离测量误差<0.100 m，当高程差<2.8 m时，高程差测量误差<0.100 m；以复合运动性质的发震断层为例，初步探讨认为无人机精灵4RTK的网络RTK技术在无控制点情况下提取活动构造的定量参数时，其水平位移量精度能够达到厘米级，垂直位错量精度可能达不到厘米级，当垂直位错量小于8.0 m时，精度能够达到0.157 m。

Positioning Accuracy Analysis of the New Portable Industry-level Unmanned Aerial Vehicle Phantom 4RTK

This paper carried out a study on positioning accuracy of measured data for the new portableindustry-level unmanned aerial vehicle Phantom 4RTK. Starting from the absolute positioning accuracy with and without control points and relative positioning accuracy without control points aspects, the measurement errors of the horizontal distance and elevation difference of the latter are calculated in detail, and the application of the network RTK technology without control points in active tectonics is discussed. The results show that the horizontal position and elevation measurement errors of unmanned aerial vehicle Phantom 4RTK are less than 4.5 cm with control points under the measured conditions of sunny weather, flying altitude of 100 m, camera angle downwards, lateral and course overlap rate of 70%. Without control points,the measurement errors of horizontal position and elevation are less than 4.5 cm, in the case of no control points the horizontal position measurement error is less than 0.60 m, and the elevation measurement error is less than 1.90 m. In the case of no control points, when the actual horizontal distance is less than 300 m, the horizontal distance measurement error is less than 0.100 m, when the elevation difference is less than 2.8 m, the elevation difference measurement error is less than 0.100 m. Taking causative faults of composite motion as an example, this paper preliminarily discussed that the network RTK technology based on Phantom 4RTK can extract the quantitative parameters of the active tectonics without control points, the accuracy of the horizontal displacement can reach centimeter level, but the accuracy of the vertical dislocation may not reach centimeter level, when the vertical dislocation is less than 8.0 m, the accuracy can reach 0.157 m.