Chengdu Rainpoo Technology Co., Ltd.

Chengdu Rainpoo Technology Co., Ltd.

Chengdu Rainpoo Technology Co., Ltd.

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Inqaku

Inqaku
Iindlela ze-GSD kunye nezo zithwala zichaphazela njani ukuchaneka kwemodeli ye-3D

Kwinqaku lokugqibela indlela amanqaku olawulo lomhlaba kunye nedatha ye-PPK echaphazela ngayo ukuchaneka kwemodeli ye-3D, sikhankanyile ukuba ukongeza kwii-GCPs kunye neenkcukacha ze-PPK, i-GSD kunye ne-drone yenethiwekhi nayo inezinga elithile leziphumo ezichanekileyo kwi-3D Umzekelo ke senza olunye uvavanyo ukukuqinisekisa.

Uvavanyo lwe-1: Iziphumo ze-GSD ngokuchaneka kwemodeli ye-3D;

Umqathango 1

Idrone yenethiwekhi

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

 CW10 VTOL

Iinkonzo

HAYI

HAYI

Iziphumo zeTheyibhile 1:

Inani lezinto

ubude bemilinganiselo (L0)

Imodeli ye3D ubude (L1, GSD = 2cm

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0397m, DS2 = 0.0356m

Umqathango 2

Idrone yenethiwekhi

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

CW10 VTOL

Iinkonzo

Ewe

Hayi

Iziphumo zeTheyibhile 2:

Inani lezinto

ubude bemilinganiselo (L0)

Imodeli ye3D ubude (L1, GSD = 2cm

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0328m, DS2 = 0.0259m

Umqathango 3

Idrone yenethiwekhi

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

CW10 VTOL

Iinkonzo

HAYI

EWE

 

Iziphumo zeTheyibhile 3:

Inani lezinto

ubude bemilinganiselo (L0)

Imodeli ye3D ubude (L1, GSD = 2cm

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0342m, DS2 = 0.0328m

Umqathango 4

Idrone yenethiwekhi

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

CW10 VTOL

Iinkonzo

EWE

EWE

Iziphumo zeTheyibhile 4:

Inani lezinto

ubude bemilinganiselo (L0)

Imodeli ye3D ubude (L1, GSD = 2cm

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0308m, DS2 = 0.0249m

Izigqibo

Umahluko wolingo 1 zezi:

1: Nge / Ngaphandle kwedatha yePPK.

2: Kunye / Ngaphandle kwee-GCPs.

3: eyahlukileyo GSD: 1.5 cm okanye 2cm

Emva kohlalutyo lweeseti ezine zedatha yovavanyo, sinokufikelela kwezi zigqibo zilandelayo:

 

Xa ikhamera ye-oblique yi-DG4Pros:

(1) Nge / Ngaphandle kwendawo yolawulo lomhlaba (GCP) kunye nedatha ye-PPK ebandakanyeka kuthungelwano lwe-AT, nokuba yi-VTOL okanye yidrone ye-rotor, nokuba i-GSD yi-2cm okanye i-1.5cm, imodeli ye-3D eyakhiwe yikhamera ye-oblique DG4Pros Uyakwazi ukuhlangabezana neemfuno zokuchaneka kwempazamo eyi-Ds≤10cm (Ngokwenene ≤5cm).

(2) Xa i-GSD ingumahluko omnye, ukuchaneka kokuhambelana kwemodeli ye-3D ene-GSD = 1.5cm kubhetele kunelo GSD = 2cm.

Uvavanyo lwe-2: isiphumo seentlobo zeedrone zokuphatha ngokuchaneka kwemodeli ye-3D

Umqathango 1

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

GSD

Iinkonzo

HAYI

HAYI

1.5cm

Iziphumo zeTheyibhile 1:

Inani lezinto

ubude bemilinganiselo (L0)

Ubude imodeli 3D, L1, CW10

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0356m, DS2 = 0.342m

Umqathango 2

Ikhamera ye-Oblique

Ii-GCPs

I-PPK

GSD

Iinkonzo

EWE

HAYI

1.5cm

 

Iziphumo zeTheyibhile 2:

Inani lezinto

ubude bemilinganiselo (L0)

Ubude imodeli 3D, L1, CW10

Imodeli yobude be3D, 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

I-RMSE: DS1 = 0.0259m, DS2 = 0.256m

Izigqibo

Umahluko wolingo 2 zezi:

1: Kunye / Ngaphandle kwee-GCPs.

2: Idrone yokuthwala eyahlukileyo: Idrone yeVTOL okanye idrone yeerotor

Emva kohlalutyo lweeseti ezimbini zedatha yovavanyo, sinokufikelela kwezi zigqibo zilandelayo:

 

Xa ikhamera ye-oblique yi-DG4Pros:

(1) Nge / Ngaphandle kwendawo yolawulo lomhlaba (GCP) nokuba ngaba yi-VTOL okanye i-drone ejikelezayo, imodeli ye-3D eyakhiwe yikhamera ye-oblique DG4Pros inokuhlangabezana neemfuno zempazamo yokuchaneka kwesihlobo Ds≤10cm (Ngokwenene ≤5cm).

(2) Xa iindidi zeedrone zokuphatha zinomahluko omnye, ukuchaneka kokuhambelana kwemodeli ye-3D eneerotor ezininzi kubhetele kunoko nge-VTOL, kodwa umahluko awukho mkhulu kakhulu.