Chengdu Rainpoo Technology Co., Ltd.

Chengdu Rainpoo Technology Co., Ltd.

Chengdu Rainpoo Technology Co., Ltd.

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Paukū

Paukū
Pehea e hoʻopili ai ka GSD a me nā ʻano drone lawe i ka pololei o ka hoʻohālikelike 3D

I ka ʻatikala hope loa Pehea ka hopena o nā helu kaohi honua a me ka ʻikepili PPK i ka pololei o ke kumu hoʻohālikelike 3D, ua ʻōlelo mākou ma waho o nā GCP a me nā datas PPK, loaʻa i kahi GSD a me nā mokulele drone kekahi kekele o nā hopena e pili ana i ka pololei o ka 3D. no laila hana mākou i kahi hōʻike hou e hōʻoia iā ia.

Hoʻokolohua 1: ka hopena o GSD ma ka pololei o ka hoʻohālikelike 3D;

Kūlana 1

Kaʻi drone

Kāmela Oblique

Nā GCP

PPK

 CW10 VTOL

ʻO DG4pros

AʻOLE

AʻOLE

Papa Hualoaʻa 1:

Ka helu o nā mea

loa ana (L0)

3D k lengthkohu lōʻihi (L1) GSD = 2cm

3D k lengthkohu lōʻihi (L2) GSD = 1.5cm

DS1 (L0-L1)

DS2 (L0-L2)

1

7.210

7.18

7.20

0.030

0.010

 

8.706

8.69

8.65

0.016

0.056

 

10.961

10.89

10.90

0.071

0.061

2

7.010

6.88

6.86

0.130

0,150

3

1.822

1.76

1.76

0.062

0.062

4

10.410

10.38

10.37

0.030

0.040

5

10.718

10.65

10.68

0.068

0.038

6

13.787

13.72

13.71

0.067

0.077

7

11.404

11.41

11.38

-0.006

0.024

 

12.147

12.13

12.12

0.017

0.027

8

7.526

7.44

7.49

0.086

0.036

 

13.797

13.83

13.77

-0.033

0.027

9

10.374

10.35

10.35

0.024

0.024

10

2.109

1.98

2.09

0.129

0.019

 

4.281

4.14

4.19

0.141

0.091

11

14.675

14.55

14.64

0.125

0.035

 

8.600

8.58

8.57

0.020

0.030

12

13.394

13.36

13.38

0.034

0.014

13

12.940

12.95

12.91

-0.010

0.030

14

7.190

7.21

7.20

-0.020

-0.010

15

13.371

13.36

13.38

0.011

-0.009

 

6.435

6.37

6.43

0.065

0.005

16

3.742

3.74

3.70

0.002

0.042

17

6.022

6.03

5.99

-0.008

0.032

18

3.937

3.91

3.94

0.027

-0.003

19

8.120

8.09

8.12

0.030

0.000

 

14.411

14.40

14.37

0.011

0.041

20

6.077

6.06

6.04

0.017

0.037

21

13.696

13.68

13.65

0.016

0.046

RMSE : DS1 = 0.0397m , DS2 = 0.0356m

Kūlana 2

Kaʻi drone

Kāmela Oblique

Nā GCP

PPK

CW10 VTOL

ʻO DG4pros

ae

Aʻole

Papa Hualoaʻa 2:

Ka helu o nā mea

loa ana (L0)

3D k lengthkohu lōʻihi (L1) GSD = 2cm

3D k lengthkohu lōʻihi (L2) GSD = 1.5cm

DS1 (L0-L1)

DS2 (L0-L2)

1

7.210

7.18

7.21

0.030

0

 

8.706

8.68

8.68

0.026

0.026

 

10.961

10.91

10.87

0.051

0.091

2

7.010

6.92

6.88

0.090

0.13

3

1.822

1.79

1.76

0.032

0.062

4

10.410

10.39

10.38

0.020

0.03

5

10.718

10.66

10.72

0.058

-0.002

6

13.787

13.77

13.79

0.017

-0.003

7

11.404

11.38

11.38

0.024

0.024

 

12.147

12.12

12.13

0.027

0.017

8

7.526

7.47

7.53

0.056

-0.004

 

13.797

13.83

13.78

-0.033

0.017

9

10.374

10.34

10.37

0.034

0.004

10

2.109

2.03

2.11

0.079

-0.001

 

4.281

4.18

4.28

0.101

0.001

11

14.675

14.59

14.67

0.085

0.005

 

8.600

8.57

8.58

0.030

0.02

12

13.394

13.35

13.39

0.044

0.004

13

12.940

12.92

12.9

0.020

0.04

14

7.190

7.21

7.19

-0.020

0

15

13.371

13.36

13.37

0.011

0.001

 

6.435

6.43

6.42

0.005

0.015

16

3.742

3.72

3.7

0.022

0.042

17

6.022

6.00

5.98

0.022

0.042

18

3.937

3.94

3.91

-0.003

0.027

19

8.120

8.09

8.07

0.030

0.05

 

14.411

14.41

14.38

0.001

0.031

20

6.077

6.03

6.04

0.047

0.037

21

13.696

13.65

13.65

0.046

0.046

RMSE: DS1 = 0.0328m , DS2 = 0.0259m

Kūlana 3

Kaʻi drone

Kāmela Oblique

Nā GCP

PPK

CW10 VTOL

ʻO DG4pros

AʻOLE

AE

 

Papa Hualoaʻa 3:

Ka helu o nā mea

loa ana (L0)

3D k lengthkohu lōʻihi (L1) GSD = 2cm

3D k lengthkohu lōʻihi (L2) GSD = 1.5cm

DS1 (L0-L1)

DS2 (L0-L2)

1

7.210

7.20

7.20

0.01

0.01

 

8.706

8.71

8.69

0.00

0.02

 

10.961

10.87

10.88

0.09

0.08

2

7.010

6.89

6.87

0.12

0.14

3

1.822

1.79

1.75

0.03

0.07

4

10.410

10.39

10.38

0.02

0.03

5

10.718

10.67

10.69

0.05

0.03

6

13.787

13.75

13.78

0.04

0.01

7

11.404

11.39

11.38

0.01

0.02

 

12.147

12.13

12.12

0.02

0.03

8

7.526

7.51

7.49

0.02

0.04

 

13.797

13.79

13.78

0.01

0.02

9

10.374

10.35

10.34

0.02

0.03

10

2.109

2.03

2.02

0.08

0.09

 

4.281

4.15

4.21

0.13

0.07

11

14.675

14.61

14.65

0.07

0.03

 

8.600

8.60

8.57

0.00

0.03

12

13.394

13.37

13.40

0.02

-0.01

13

12.940

12.88

12.89

0.06

0.05

14

7.190

7.20

7.18

-0.01

0.01

15

13.371

13.36

13.38

0.01

-0.01

 

6.435

6.40

6.46

0.03

-0.03

16

3.742

3.75

3.75

-0.01

-0.01

17

6.022

5.97

5.97

0.05

0.05

18

3.937

3.93

3.91

0.01

0.03

19

8.120

8.10

8.08

0.02

0.04

 

14.411

14.40

14.38

0.01

0.03

20

6.077

6.04

6.05

0.04

0.03

21

13.696

13.65

13.67

0.05

0.03

RMSE: DS1 = 0.0342m , DS2 = 0.0328m

Kūlana 4

Kaʻi drone

Kāmela Oblique

Nā GCP

PPK

CW10 VTOL

ʻO DG4pros

AE

AE

Papa Hualoaʻa 4:

Ka helu o nā mea

loa ana (L0)

3D k lengthkohu lōʻihi (L1) GSD = 2cm

3D k lengthkohu lōʻihi (L2) GSD = 1.5cm

DS1 (L0-L1)

DS2 (L0-L2)

1

7.21

7.21

7.21

0.00

0.00

8.706

8.68

8.7

0.03

0.01

10.961

10.90

10.89

0.06

0.07

2

7.01

6.98

6.99

0.03

0.02

3

1.822

1.80

1.78

0.02

0.04

4

10.41

10.40

10.39

0.01

0.02

5

10.718

10.70

10.69

0.02

0.03

6

13.787

13.77

13.76

0.02

0.03

7

11.404

11.39

11.39

0.01

0.01

12.147

12.13

12.12

0.02

0.03

8

7.526

7.49

7.51

0.04

0.02

13.797

13.81

13.8

-0.01

0.00

9

10.374

10.36

10.35

0.01

0.02

10

2.109

2.02

2.11

0.09

0.00

4.281

4.16

4.28

0.12

0.00

11

14.675

14.66

14.68

0.02

0.00

8.6

8.54

8.53

0.06

0.07

12

13.394

13.35

13.37

0.04

0.02

13

12.94

12.89

12.91

0.05

0.03

14

7.19

7.18

7.2

0.01

-0.01

15

13.371

13.35

13.35

0.02

0.02

6.435

6.41

6.4

0.02

0.03

16

3.742

3.72

3.71

0.02

0.03

17

6.022

5.98

5.98

0.04

0.04

18

3.937

3.89

3.89

0.05

0.05

19

8.12

8.12

8.1

0.00

0.02

14.411

14.40

14.39

0.01

0.02

20

6.077

6.03

6.03

0.05

0.05

21

13.696

13.66

13.64

0.04

0.06

RMSE : DS1 = 0.0308m , DS2 = 0.0249m

Nā Hopena

ʻO nā loli o ka hoʻokolohua 1:

1: Me / me ka ʻole o ka ʻike PPK.

2: Me / me ka ʻole o GCPs.

3: ʻokoʻa GSD : 1.5 cm a i ʻole 2cm

Ma hope o ke kālailai ʻana i nā ʻehā o ka ʻikepili hoʻokolohua, hiki iā mākou ke kahaki i kēia mau hopena:

 

Ke kiʻi nei ʻo DG4Pros i ka pahupaʻi oblique:

(1) Me / me kahi kiko ʻole o ka honua (GCP) a me ka ʻikepili PPK e pili ana i ka triangulation AT, inā he VTOL a i ʻole drone multi-rotor, inā he 2cm a 1.5cm paha ka GSD, ke k modelkohu 3D i kūkulu ʻia e DG4Pros pahupaʻi oblique hiki ke hoʻokō i nā koi o ka hewa pololei Ds≤10cm (ʻoiaʻiʻo ≤5cm).

(2) Ke GSD ka loli hoʻokahi, ʻoi aku ka maikaʻi o ka hoʻohālikelike 3D me GSD = 1.5cm ma mua o kēlā GSD = 2cm.

Hoʻokolohua 2: ka hopena o nā ʻano drone halihali i ka pololei pili o ke ʻano 3D

Kūlana 1

Kāmela Oblique

Nā GCP

PPK

GSD

ʻO DG4pros

AʻOLE

AʻOLE

1.5cm

Papa Hualoaʻa 1:

Ka helu o nā mea

loa ana (L0)

3D k modelkohu lōʻihi (L1) CW10

3D k lengthkohu lōʻihi (L2) M600Pro

DS1 (L0-L1)

DS2 (L0-L2)

1

7.21

7.20

7.19

0.010

0.02

 

8.706

8.65

8.70

0.056

0.01

 

10.961

10.90

10.91

0.061

0.05

2

7.01

6.86

6.98

0,150

0.03

3

1.822

1.76

1.79

0.062

0.03

4

10.41

10.37

10.39

0.040

0.02

5

10.718

10.68

10.69

0.038

0.03

6

13.787

13.71

13.76

0.077

0.03

7

11.404

11.38

11.38

0.024

0.02

 

12.147

12.12

12.12

0.027

0.03

8

7.526

7.49

7.50

0.036

0.03

 

13.797

13.77

13.77

0.027

0.03

9

10.374

10.35

10.33

0.024

0.04

10

2.109

2.09

2.02

0.019

0.09

 

4.281

4.19

4.20

0.091

0.08

11

14.675

14.64

14.65

0.035

0.03

 

8.6

8.57

8.57

0.030

0.03

12

13.394

13.38

13.35

0.014

0.04

13

12.94

12.91

12.92

0.030

0.02

14

7.19

7.20

7.17

-0.010

0.02

15

13.371

13.38

13.35

-0.009

0.02

 

6.435

6.43

6.41

0.005

0.02

16

3.742

3.70

3.70

0.042

0.04

17

6.022

5.99

5.99

0.032

0.03

18

3.937

3.94

3.89

-0.003

0.05

19

8.12

8.12

8.08

0.000

0.04

 

14.411

14.37

14.36

0.041

0.05

20

6.077

6.04

6.06

0.037

0.02

21

13.696

13.65

13.65

0.046

0.05

RMSE: DS1 = 0.0356m, DS2 = 0.342m

Kūlana 2

Kāmela Oblique

Nā GCP

PPK

GSD

ʻO DG4pros

AE

AʻOLE

1.5cm

 

Papa Hualoaʻa 2:

Ka helu o nā mea

loa ana (L0)

3D k modelkohu lōʻihi (L1) CW10

3D k lengthkohu lōʻihi (L2) M600Pro

DS1 (L0-L1)

DS2 (L0-L2)

1

7.21

7.21

7.21

0

0.00

 

8.706

8.68

8.70

0.026

0.01

 

10.961

10.87

10.91

0.091

0.05

2

7.01

6.88

6.98

0.13

0.03

3

1.822

1.76

1.80

0.062

0.02

4

10.41

10.38

10.39

0.03

0.02

5

10.718

10.72

10.70

-0.002

0.02

6

13.787

13.79

13.75

-0.003

0.04

7

11.404

11.38

11.38

0.024

0.02

 

12.147

12.13

12.13

0.017

0.02

8

7.526

7.53

7.49

-0.004

0.04

 

13.797

13.78

13.79

0.017

0.01

9

10.374

10.37

10.35

0.004

0.02

10

2.109

2.11

2.07

-0.001

0.04

 

4.281

4.28

4.21

0.001

0.07

11

14.675

14.67

14.66

0.005

0.02

 

8.6

8.58

8.57

0.02

0.03

12

13.394

13.39

13.35

0.004

0.04

13

12.94

12.9

12.93

0.04

0.01

14

7.19

7.19

7.18

0

0.01

15

13.371

13.37

13.36

0.001

0.01

 

6.435

6.42

6.42

0.015

0.01

16

3.742

3.7

3.71

0.042

0.03

17

6.022

5.98

6.00

0.042

0.02

18

3.937

3.91

3.91

0.027

0.03

19

8.12

8.07

8.10

0.05

0.02

 

14.411

14.38

14.35

0.031

0.06

20

6.077

6.04

6.06

0.037

0.02

21

13.696

13.65

13.67

0.046

0.03

RMSE: DS1 = 0.0259m, DS2 = 0.256m

Nā Hopena

ʻO nā loli o ka hoʻokolohua 2 ka:

1: Me / me nā GCP ʻole.

2: Drone Carriers ʻokoʻa: kahi drone VTOL a i ʻole kahi drone multi-rotor

Ma hope o ke kālailai ʻana i nā ʻelua o ka ʻikepili hoʻokolohua, hiki iā mākou ke kahaki i kēia mau hopena:

 

Ke kiʻi nei ʻo DG4Pros i ka pahupaʻi oblique:

(1) Me / me ka loaʻa ʻole o ka point control ground (GCP) inā he VTOL a i ʻole drone multi-rotor, hiki i ke k 3Dkohu 3D i kūkulu ʻia e ka pahupaʻi kiʻi DG4Pros ke hoʻokō i nā koi o ka hewa pololei Ds≤10cm (ʻoiaʻiʻo ≤5cm).

(2) Ke ʻano o ka mea lawe drone, he ʻoi aku ka maikaʻi o ka hoʻohālikelike 3D me multi-rotor ma mua o kēlā me VTOL, akā ʻaʻole nui ka ʻokoʻa.