Kit PPK L1/L2 da T2R Soluções

Tecnológicas em um DJI Air 2S

Sistema PPK L1/L2 da T2R Soluções Tecnológicas em um DJI Air 2S
07 November 2022
Survey Data
>9
9
8
7
6
5
4
3
2
1

200 m

Fig. 1. Camera locations and image overlap.

Number of images: 645 Camera stations: 645

Flying altitude: 131 m Tie points: 98,065
Ground resolution: 3.68 cm/pix Projections: 213,900
Coverage area: 1.27 km² Reprojection error: 0.217 pix

Camera Model Resolution Focal Length Pixel Size Precalibrated

Test_Pro (8.38mm) 5472 x 3648 8.38 mm 2.51 x 2.51 μm No
Test_Pro (8.38mm) 5472 x 3648 8.38 mm 2.51 x 2.51 μm No
Table 1. Cameras.

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Camera Calibration

1 pix
Fig. 2. Image residuals for Test_Pro (8.38mm).

Test_Pro (8.38mm)
316 images, rolling shutter

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.38 mm 2.51 x 2.51 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3483.8 0.096 1.00 0.02 0.07 -0.27 0.20 -0.14 -0.03 0.03

Cx 1.25782 0.052 1.00 -0.00 -0.02 0.04 -0.06 0.46 -0.01

Cy -9.95112 0.061 1.00 -0.02 0.03 -0.03 -0.05 0.87

K1 -0.0610638 7.3e-05 1.00 -0.96 0.90 0.05 0.02

K2 0.017461 0.00023 1.00 -0.98 -0.02 -0.01

K3 0.0435681 0.0002 1.00 0.01 0.00

P1 0.000440587 4.3e-06 1.00 -0.04

P2 0.000548907 7.2e-06 1.00

Table 2. Calibration coefficients and correlation matrix.

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Camera Calibration

1 pix
Fig. 3. Image residuals for Test_Pro (8.38mm).

Test_Pro (8.38mm)
329 images, rolling shutter

Type Resolution Focal Length Pixel Size

Frame 5472 x 3648 8.38 mm 2.51 x 2.51 μm

Value Error F Cx Cy K1 K2 K3 P1 P2

F 3490.92 0.11 1.00 -0.01 0.05 -0.31 0.23 -0.17 -0.01 -0.01

Cx 1.21286 0.075 1.00 0.02 0.02 -0.03 0.01 0.45 0.01

Cy -16.4362 0.088 1.00 -0.06 0.07 -0.07 0.00 0.89

K1 -0.0632829 0.0001 1.00 -0.96 0.91 0.01 -0.05

K2 0.0232486 0.00031 1.00 -0.98 0.03 0.06

K3 0.0373283 0.00026 1.00 -0.03 -0.06

P1 0.0004576 6.2e-06 1.00 -0.01

P2 0.000563613 1.1e-05 1.00

Table 3. Calibration coefficients and correlation matrix.

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Camera Locations
6 cm
4.8 cm
3.6 cm
2.4 cm
1.2 cm
0 cm
-1.2 cm
-2.4 cm
-3.6 cm
-4.8 cm
-6 cm

x 1000

200 m

Fig. 4. Camera locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated camera locations are marked with a black dot.

X error (cm) Y error (cm) Z error (cm) XY error (cm) Total error (cm)
2.24528 2.6347 1.38731 3.46164 3.72928
Table 4. Average camera location error.
X - Easting, Y - Northing, Z - Altitude.

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Ground Control Points
45 cm
36 cm
27 cm
01 18 cm
08
07 9 cm
0 cm
-9 cm
02
-18 cm
-27 cm
-36 cm
09
V1_006
V1_008 -45 cm
03

06
x 800

04 10

05

11
13
V2_008
V2_006

12

Control points Check points

200 m

Fig. 5. GCP locations and error estimates.

Z error is represented by ellipse color. X,Y errors are represented by ellipse shape.
Estimated GCP locations are marked with a dot or crossing.

Count X error (cm) Y error (cm) Z error (cm) XY error (cm) Total (cm)
4 0.242565 0.171892 2.16565 0.297295 2.18596
Table 5. Control points RMSE.
X - Easting, Y - Northing, Z - Altitude.

Count X error (cm) Y error (cm) Z error (cm) XY error (cm) Total (cm)
13 4.0024 3.68941 22.006 5.44343 22.6693
Table 6. Check points RMSE.
X - Easting, Y - Northing, Z - Altitude.

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Label X error (cm) Y error (cm) Z error (cm) Total (cm) Image (pix)
V1_006 -0.300419 0.00474603 -2.38479 2.40365 0.635 (19)
V1_008 0.367602 -0.0274828 3.21004 3.23114 0.662 (20)
V2_006 0.0897563 -0.114757 1.61863 1.62517 1.185 (20)
V2_008 0.04373 0.322862 -0.385462 0.504711 0.766 (20)
Total 0.242565 0.171892 2.16565 2.18596 0.844
Table 7. Control points.
X - Easting, Y - Northing, Z - Altitude.

Label X error (cm) Y error (cm) Z error (cm) Total (cm) Image (pix)
01 -1.27015 -0.10513 26.8649 26.8951 0.520 (6)
02 -1.00228 -0.608776 10.9029 10.9658 0.610 (13)
03 -2.32134 3.32136 9.39161 10.2285 0.925 (25)
04 -3.5645 -2.79772 11.7914 12.6321 0.671 (14)
05 0.143864 -0.408763 12.2365 12.2441 0.644 (11)
06 -2.08407 4.3961 9.70453 10.8557 1.176 (24)
07 -8.00099 4.02352 -0.676882 8.98125 0.721 (8)
08 1.57687 -6.20012 24.236 25.0661 0.660 (9)
09 -2.11643 -5.17573 12.6824 13.8604 0.673 (15)
10 2.527 -0.803368 21.1699 21.3353 0.365 (10)
11 7.67966 5.06199 40.2432 41.2809 0.685 (14)
12 6.82963 -4.98335 32.2523 33.342 0.635 (15)
13 0.429973 2.38705 33.5729 33.6604 0.709 (11)
Total 4.0024 3.68941 22.006 22.6693 0.779
Table 8. Check points.
X - Easting, Y - Northing, Z - Altitude.

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Digital Elevation Model
458 m

396 m

200 m

Fig. 6. Reconstructed digital elevation model.

Resolution: 14.7 cm/pix

Point density: 46.2 points/m²

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Processing Parameters

General
Cameras 645
Aligned cameras 645
Markers 17
Coordinate system SIRGAS 2000 / UTM zone 22S (EPSG::31982)
Rotation angles Yaw, Pitch, Roll
Point Cloud
Points 98,065 of 661,874
RMS reprojection error 0.150457 (0.217322 pix)
Max reprojection error 0.596498 (1.19282 pix)
Mean key point size 1.40675 pix
Point colors 3 bands, uint8
Key points No
Average tie point multiplicity 3.85266
Alignment parameters
Accuracy Highest
Generic preselection No
Reference preselection Source
Key point limit 40,000
Key point limit per Mpx 40,000
Tie point limit 4,000
Exclude stationary tie points Yes
Guided image matching No
Adaptive camera model fitting No
Matching time 12 minutes 44 seconds
Matching memory usage 664.05 MB
Alignment time 5 minutes 40 seconds
Alignment memory usage 502.00 MB
Optimization parameters
Parameters f, cx, cy, k1-k3, p1, p2
Adaptive camera model fitting No
Optimization time 3 seconds
Date created 2022:10:26 00:03:56
Software version 1.8.4.14856
File size 43.13 MB
Depth Maps
Count 612
Depth maps generation parameters
Quality Medium
Filtering mode Moderate
Max neighbors 16
Processing time 5 minutes 39 seconds
Memory usage 1.12 GB
Date created 2022:10:26 00:25:47
Software version 1.8.4.14856
File size 1.21 GB
Dense Point Cloud
Points 65,926,087
Point colors 3 bands, uint8
Depth maps generation parameters

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 Quality Medium
Filtering mode Moderate
Max neighbors 16
Processing time 5 minutes 39 seconds
Memory usage 1.12 GB
Dense cloud generation parameters
Processing time 13 minutes 32 seconds
Memory usage 7.06 GB
Date created 2022:10:26 00:39:20
Software version 1.8.4.14856
File size 1.03 GB
Model
Faces 13,119,345
Vertices 6,564,818
Vertex colors 3 bands, uint8
Depth maps generation parameters
Quality Medium
Filtering mode Moderate
Max neighbors 16
Processing time 5 minutes 39 seconds
Memory usage 1.12 GB
Reconstruction parameters
Surface type Height field
Source data Dense cloud
Interpolation Enabled
Strict volumetric masks No
Processing time 5 minutes 7 seconds
Memory usage 2.40 GB
Date created 2022:10:26 00:40:15
Software version 1.8.4.14856
File size 300.36 MB
Orthomosaic
Size 47,033 x 39,011
Coordinate system SIRGAS 2000 / UTM zone 22S (EPSG::31982)
Colors 3 bands, uint8
Reconstruction parameters
Blending mode Mosaic
Surface Mesh
Enable hole filling Yes
Enable ghosting filter Yes
Processing time 3 hours 23 minutes
Memory usage 13.60 GB
Date created 2022:10:26 01:13:28
Software version 1.8.4.14856
File size 15.58 GB
System
Software name Agisoft Metashape Professional
Software version 1.8.4 build 14856
OS Windows 64 bit
RAM 63.88 GB
CPU AMD Ryzen Threadripper 1950X 16-Core Processor
GPU(s) NVIDIA GeForce GTX 1080 Ti
NVIDIA GeForce RTX 3060 Ti

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