Gašparović Mateo, Jurjević Luka
Chair of Photogrammetry and Remote Sensing, Faculty of Geodesy, University of Zagreb, Zagreb 10000, Croatia.
Sensors (Basel). 2017 Feb 18;17(2):401. doi: 10.3390/s17020401.
In this paper, results from the analysis of the gimbal impact on the determination of the camera exterior orientation parameters of an Unmanned Aerial Vehicle (UAV) are presented and interpreted. Additionally, a new approach and methodology for testing the influence of gimbals on the exterior orientation parameters of UAV acquired images is presented. The main motive of this study is to examine the possibility of obtaining better geometry and favorable spatial bundles of rays of images in UAV photogrammetric surveying. The subject is a 3-axis brushless gimbal based on a controller board (Storm32). Only two gimbal axes are taken into consideration: roll and pitch axes. Testing was done in a flight simulation, and in indoor and outdoor flight mode, to analyze the Inertial Measurement Unit (IMU) and photogrammetric data. Within these tests the change of the exterior orientation parameters without the use of a gimbal is determined, as well as the potential accuracy of the stabilization with the use of a gimbal. The results show that using a gimbal has huge potential. Significantly, smaller discrepancies between data are noticed when a gimbal is used in flight simulation mode, even four times smaller than in other test modes. In this test the potential accuracy of a low budget gimbal for application in real conditions is determined.
本文介绍并解释了对万向节对无人机（UAV）相机外方位参数测定的影响进行分析的结果。此外，还提出了一种用于测试万向节对无人机采集图像外方位参数影响的新方法和新策略。本研究的主要目的是探讨在无人机摄影测量中获得更好的几何形状和有利的图像光线空间束的可能性。研究对象是基于控制器板（Storm32）的三轴无刷万向节。仅考虑两个万向节轴：横滚轴和俯仰轴。测试在飞行模拟以及室内和室外飞行模式下进行，以分析惯性测量单元（IMU）和摄影测量数据。在这些测试中，确定了不使用万向节时外方位参数的变化，以及使用万向节时稳定的潜在精度。结果表明，使用万向节具有巨大潜力。值得注意的是，在飞行模拟模式下使用万向节时，数据之间的差异明显更小，甚至比其他测试模式下小四倍。在该测试中，确定了低预算万向节在实际条件下应用的潜在精度。
