Abstract
In this article, we report about the first results of the mapKITE system, a tandem terrestrial-aerial concept for geodata acquisition and processing, obtained in corridor mapping missions. The system combines an Unmanned Aerial System (UAS) and a Terrestrial Mobile Mapping System (TMMS) operated in a singular way: real-time waypoints are computed from the TMMS platform and sent to the UAS in a follow-me scheme. This approach leads to a simultaneous acquisition of aerial-plus-ground geodata and, moreover, opens the door to an advanced post-processing approach for sensor orientation. The current contribution focuses on analysing the impact of the new, dynamic Kinematic Ground Control Points (KGCPs), which arise inherently from the mapKITE paradigm, as an alternative to conventional, costly Ground Control Points (GCPs). In the frame of a mapKITE campaign carried out in June 2016, we present results entailing sensor orientation and calibration accuracy assessment through ground check points, and precision and correlation analysis of self-calibration parameters’ estimation. Conclusions indicate that the mapKITE concept eliminates the need for GCPs when using only KGCPs plus a couple of GCPs at each corridor end, achieving check point horizontal accuracy of μ E , N ≈ 1.7 px (3.4 cm) and μ h ≈ 4.3 px (8.6 cm). Since obtained from a simplified version of the system, these preliminary results are encouraging from a future perspective.
Highlights
Unmanned Aerial Systems have became a standard of the mapping community [1]
A mapKITE system is a tandem Terrestrial Mobile Mapping System (TMMS) and Unmanned Aerial System (UAS) equipped with remote sensing instruments that co-operate in the data acquisition task, that is, the waypoints to be followed by the Unmanned Aircraft (UA) are computed at and sent from its Ground Control Station (GCS) installed inside the Terrestrial Vehicle (TV), which is interfaced to the real-time navigation system of the TMMS
Aerial control—position-only or position and attitude from post-processed Inertial Navigation System (INS)/Global Navigation Satellite Systems (GNSS)—it may include conventional Ground Control Points (GCPs)—fewer than in conventional corridor mapping missions—and it aims at the use of the new Kinematic Ground Control Points (KGCPs). mapKITE fosters the use of Precise Point Positioning (PPP) processing to free the concept from ground GNSS stations
Summary
Unmanned Aerial Systems have became a standard of the mapping community [1]. We have seen in the recent years that small, low-cost and easy-to-operate aerial robots have been used within the. Sensor orientation is an additional challenge in corridors due to the weak geometry (no crossed strips) This weakness is usually addressed by densifying the coverage of Ground Control Points (GCPs) [5] or by INS/GNSS aerial control. Avoiding photogrammetric tie point measurements might be the only way to go when flying above ill-textured environments, e.g., rivers, sand, trees, snow, etc In this introduction, we have identified weaknesses of the leading mapping technology paradigms for corridor mapping, namely UAS and TMMS, and we have aimed at the combination of these to overcome issues related to mapping (geodata coverage gaps and lack of simultaneous point of view), navigation (weak corridor geometries, high cost GCPs) and operation (per-segment basis due to static set-ups).
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