Analiza kakovosti direktnega georeferenciranja daljinsko vodenega letalnika z metodama RTK in PPK : magistrsko delo

Šinkovec, Anja (author), Pavlovčič Prešeren, Polona (mentor), Kozmus Trajkovski, Klemen (co-mentor)

Direktno georeferenciranje daljinsko vodenih letalnikov (angl. Unmanned Aerial Vehicle, UAV) se je v zadnjih letih izpopolnilo z vgrajenimi moduli izmere RTK (angl. Real-Time Kinematic) in PPK (angl. Post-Processed Kinematic), ki omogočajo določitev položaja v realnem času ali naknadno. Obe metodi imata svoje prednosti in slabosti, a se hkrati dopolnjujeta, ko ene izmed njiju zaradi različnih situacij (npr. lastnosti terena, ne/dostopnost mobilnega omrežja …) ni mogoče uporabiti. V raziskavi smo preizkušali letalnik Phantom 4 RTK na območju Strunjanskega klifa ob slovenski obali Jadranskega morja. Testno območje je zajemalo več snemalnih misij, katerih položaje smo določili v realnem času z navezavo na bazno postajo D-RTK 2 Mobile Station in naknadno na osnovi opazovanj GNSS z lastnih referenčnih baznih postaj v bližini snemanja. Položaje projekcijskih centrov posnetkov, pridobljene z metodama RTK in PPK, smo med sabo primerjali. Na podlagi koordinatnih razlik smo ugotavljali, ali različne lokacije baznih postaj vplivajo na kakovost rešitve PPK in ali se slednja značilno razlikuje od rešitve RTK. V članku je predstavljena tudi problematika obdelave PPK. Rezultati kažejo, da izbira lokacije bazne postaje lahko vpliva na kakovost določitve položaja UAV. Koordinatne razlike med rešitvami RTK in PPK v povprečju znašajo 0,3–8 cm v smereh E in ^ ter 1–6 cm v smeri ^.

• Language: Slovenian
• Keywords: RTK, PPK, direktno georeferenciranje, Phantom 4 RTK, UAV
• Work type: Master's thesis/paper
• Typology: 2.09 - Master's Thesis
• Organization: FGG - Faculty of Civil and Geodetic Engineering
• Place of publishing: Ljubljana
• Publisher: [A. Šinkovec]
• Year: 2021
• PID: 20.500.12556/RUL-131125
• UDC: 528.3:528.74(043.3)
• COBISS.SI-ID: 79169027
• Publication date in RUL: 23.09.2021

Secondary language

• Language: English
• Title: Positioning quality analysis of an unmanned aerial vehicle with direct georeferencing: the use of RTK and PPK methods : master thesis

Abstract

In recent years, direct georeferencing of Unmanned Aerial Vehicles (UAVs) has been perfected with built-in Real-Time Kinematic (RTK) and Post-Processed Kinematic (PPK) measurement modules, which enable real-time or subsequently positioning. Both methods have their advantages and disadvantages, but at the same time they complement each other when one of them cannot be used due to different situations (eg terrain characteristics, non / accessibility of the mobile network …). In the research, we tested the Phantom 4 RTK aircraft in the area of the Strunjan cliff along the Slovenian coast of the Adriatic Sea. The test area included several recording missions, the positions of which were determined in real time by connecting to the D-RTK 2 Mobile Station and subsequently based on GNSS observations from our own reference base stations in the vicinity of the survey. The positions of the projection centers of the images obtained by the RTK and PPK methods were compared with each other. Based on the coordinate differences, we determined whether different locations of base stations affect the quality of the PPK solution and whether the latter differs significantly from the RTK solution. The article also presents the issue of PPK processing. The results show that the choice of base station location can affect the quality of UAV positioning. The coordinate differences between the RTK and PPK solutions average 0.3–8 cm in the ^ and ^ directions and 1–6 cm in the ^ direction.

• Keywords: RTK, PPK, direct georeferencing, Phantom 4 RTK, UAV