GNSS / GNSS/inertial data in aerial triangulation

Direct sensor orientation / Direct georeferencing

Copyright: Institute for Photogrammetry, Uni Stuttgart 1

 Aerial triangulation

 standard AT (1)
 Tie points
Control pts.
 Control points (observed)
acc. quality
 extended AT (2a)
 as (1) but with additional params
 extended AT (2b)
 as (1) or (2a) but with
 Directly measured positions Minimal
from GNSS or GNSS/inertial amount of
sensors GCPs
 Directly measured positions and
orientations from GNSS/inertial
sensors No GCPs
 Extended collinearity equations

 Transformation from Object  Image

r11X  r21Y  r31Z with

xz  x
r13X  r23Y  r33Z X  X  X 0 x  x  x0
r X  r22 Y  r32 Z Y  Y  Y0 y  y  y0
y  z 12  y
r13X  r23Y  r33Z Z  Z  Z 0 z  z  z0   c

 typically the standard model is amended by additional parameters (AP) x, y

 allow for compensation of systematic errors in image space and estimation
camera calibration parameters (dependent on block geometry)
 models are functions of reduced image coordinates
 classification of AP sets
 physical models, obtained from physical interpretable params
 pure mathematical models without physical meanings
 combined/mixed models (combination of former two)
3
 GPS Supported Aerial Triangulation

Standard collinearity equation: Modified collinearity equation:

  
   X P  X 0    Mp
X P  X 0    Mp
 
X GPS
 X  (a  a t )
0
0 1

 observed  observed
z'  image coordinates
 image coordinates y'
 control points x'  control points
PC
 camera position
 unknown
 camera position  unknown
 camera orientation Z  camera orientation
 point coordinates Y  point coordinates
X  calibration parameters
(GPS drift and offset)

Copyright: Institute for Photogrammetry, Uni Stuttgart 15.12.2019 4

 Standard AT
distribution of control points

Vollpasspunkt / Full 3D GCP

Höhenpasspunkt / Vertical GCP
b = Basis (Modellbreite) – base length
iH = Passpunktintervall Höhe – interval vertical GCPs
iL = Passpunktintervall Lage – interval horizontal GCPs

5
 GPS-supported AT

Modified geometry used in

GPS-supported AT
GPS antenna phase centre

e zc
GPS observations used
as direct observations of O perspective centre
camera perspective centre y cp camera
coordinates
X GPS xc
0
P‘ image point
X0
(Rp)
Z

P object point
Y
Object coordinate
X
system X
6
Airborne Data Acquisition SS07 Fritsch/Cramer (ifp) 7
 Why GPS-supported AT

 conventional/standard AT lacks from non favourable height

accuracy
 for highest accuracy demands there is a need for dense vertical control
point distribution on the block corners and control point chains
 in order to bridge larger areas without vertical control additional
observations might be helpful
 see for example statoscope or APR applications but with somewhat
limited success due to costs and accuracy limitations
 the use kinematic GPS positioning (better GNSS) is straight forward
 offers high absolute accuracy
 when using precise differential positioning based on phase
observations (dPGPS) absolute positioning with an accuracy of ± 10
cm (or better) is possible, under the assumption that the phase
ambiguities are resolved correctly
 control points are „shifted in the air“, almost no more need for
height control on ground

8
 Extended observation equations
for GPS-supported AT

 under less favourable GPS conditions

Section 4 – GPS/inertial data in AT

or from long base lengths the correct

determination of phase ambiguities
might fail
 causes errors in GPS positions, but
 in first approximation such errors can
be modelled with linear correction
polynom (offset and shift)
 additional corrections in AT
 a0 , b0 , c0 (offset) Simulated error in GPS positioning due
 a1 , b1 , c1 (drift) to erroneous ambiguities (here N = 2)

 additional observation equations

X GPS
j  VXGPS
j
 X 0
j
 (a0  a1t j ) k
Y jGPS  VYGPS
j
 Y0
j
 (b0  b1t j ) k j image number
k flight line number
Z GPS
j  VZGPS
j
 Z 0
j
 (c0  c1t j ) k tj time difference ( tjk - t0k )

9
 Eccentricities (GNSS supported AT)

t = 0.25 ... 1.0 sek

GPS-time

Puls Time eccentricity

Camera imaging times

GPS Antenna

E
Z
Spatial eccentricity

EY
Camera perspective centre EX

10
 Integration of GPS perspective center
observations into AT

 GPS perspective center observations Note: in case no

Section 4 – GPS/inertial data in AT

offset/drift correction is
 substitute former GCPs
applied, no cross strips
 define the absolute accuracy of the block are necessary!
 only very few GCPs still necessary (mainly datum)
 GPS observations are good for stabilization within the flight strip, but
 for cross strip direction additional stabilization necessary, otherwise
 numerical problems with normal equations (if strip wise corrections used)
 thus the following GPS-AT block layouts have been recommended

case 1: vertical CP chains case 2: additional cross strips

full control point

vertical control point

11
 GPS-supporte AT without any GCPs

only for block structure

Section 4 – GPS/inertial data in AT

based on absolute GPS

but without redundancy

GPS camera
perspective centres
Photogrammetric
tie points

12