低空摄影测量飞机惯导姿态精度评估技术
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摘要
针对试飞试验中飞机惯导系统的姿态数据精度评估问题,从航空摄影测量控制定位理论出发,基于POS辅助空中三角测量和光束法区域网平差理论与方法,充分利用各种传感器特性和地面控制条件,实现摄影瞬间飞机惯导系统姿态参数的高精度测量,并与飞机惯导系统实际获取的姿态数据进行残差计算和精度对比分析,进而实现对飞机惯导系统姿态数据精度的评估。飞行试验证明:利用低空摄影测量的密集控制网光束法区域平差方法,能够获取精度高于惯导数据一个等级以上的姿态数据,可充分实现对惯导数据精度的合理评估。
In order to evaluate the accuracy of attitude data of aircraft inertial navigation system in flight test,starting from aerial photography measurement and control positioning theory, with POS-based aerial triangulation and bundle block adjustment method, the characteristics of various sensors and ground control conditions are fully utilized to realize the high-precision measurement of attitude of aircraft at the moment of photography, which compared with the attitude data actually acquired by the aircraft inertial navigation system for residual error calculation and accuracy analysis, and then the aircraft inertial navigation system attitude data accuracy evaluation is realized. The flight test proves that the low-altitude aerial photogrammetry with bundle block adjustment method based on the intensive control network can obtain attitude data with a higher level accuracy than the inertial navigation data, which can fully realize the reasonable evaluation of the inertial navigation data accuracy.
In order to evaluate the accuracy of attitude data of aircraft inertial navigation system in flight test,starting from aerial photography measurement and control positioning theory, with POS-based aerial triangulation and bundle block adjustment method, the characteristics of various sensors and ground control conditions are fully utilized to realize the high-precision measurement of attitude of aircraft at the moment of photography, which compared with the attitude data actually acquired by the aircraft inertial navigation system for residual error calculation and accuracy analysis, and then the aircraft inertial navigation system attitude data accuracy evaluation is realized. The flight test proves that the low-altitude aerial photogrammetry with bundle block adjustment method based on the intensive control network can obtain attitude data with a higher level accuracy than the inertial navigation data, which can fully realize the reasonable evaluation of the inertial navigation data accuracy.
引文
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[2]PAYTSAR M,JENNIFER S H,FEIQIN X,et al.GPS/INSnavigation precision and its effect on airborne radio occultation retrieval accuracy[J].GPS Solutions,2011,15(3):207-218.
[3]PARAS K,LASKY T A,RAVANI B.Design and implementation of a mechatronic,all-accelerometer inertial measurement unit[J].IEEE/ASME Transactions on Mechatronics,2007,12(6):640-650.
[4]张和杰,李京书.基于双轴转台的捷联惯导系统姿态精度评定算法[J].舰船电子工程,2015,35(4):51-55.
[5]王浩,刘秀娟,齐建宇.捷联惯导动态角精度实时测试评定技术[J].计算机工程与应用,2017,53(13):266-270.
[6]邹勇平.POS辅助航空摄影测量应用方法研究与误差分析[D].西安:西安电子科技大学,2010.
[7]张永军.基于序列图像的视觉检测理论与方法[M].武汉:武汉大学出版社,2008.
[8]SUPANNEE T,IMPYEONG L.Using GPS/INS data to enhance image matching for real-time aerial triangulation[J].Computers&Geosciences,2014,72(11):244-254.
[9]袁修孝,季顺平,吴珍丽.POS辅助航空影像匹配方法:200810246336.0[P].2009-06-24.
[10]张剑清,潘励,王树根.摄影测量学[M].武汉:武汉大学出版社,2003.
[11]杨少文.IMU/DGPS辅助航空摄影新技术在铁路勘测中的应用[J].铁道勘察,2011,37(5):25-29.
[12]郭大海,吴立新,王建超,等.机载POS系统对地定位方法初探[J].国土资源遥感,2004,16(2):26-31.
[13]卢波.病态问题的奇异值分解算法与比较[J].测绘信息与工程,2011,36(4):19-22.
[14]HAN Q,ZENG L.FPGA implementation for low-rank channel estimation of OFDM[J].Journal of Networks,2012,7(10):1631-1638.
[15]MA W,KAYE M E,LUKE D M,et al.An FPGA-based singular value decomposition processor[C]//Electrical and Computer Engineering,2006.
[16]王晏民,胡春梅.一种地面激光雷达点云与纹理影像稳健配准方法[J].测绘学报,2012,41(2):266-272.