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首页> 外文期刊>ISPRS Journal of Photogrammetry and Remote Sensing >Real-time georeferencing of thermal images using small fixed-wing UAVs in maritime environments
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Real-time georeferencing of thermal images using small fixed-wing UAVs in maritime environments

机译：在海上环境中使用小型固定翼无人机对热图像进行实时地理配准

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摘要

This article considers real-time georeferencing using a fixed-wing unmanned aerial vehicle (UAV) with a thermal camera. A flexible system for direct georeferencing is proposed without the need for ground reference points. Moreover, as the system is tailored for highly maneuverable and agile fixed-wing UAVs, no restrictions on the motion are assumed. The system is designed with a solution for accurate time synchronization between sensors. This feature enables tracking of objects with low uncertainty. Sensors for navigation, permitting estimation of the UAV pose with a nonlinear observer, are employed in addition to a thermal camera. The estimated UAV pose is utilized in georeferencing to acquire Earth-fixed coordinates of objects. The main examples studied in this research are georeferencing of a static object and of a moving marine vessel. To obtain the desired accuracy, thermal camera calibration and compensation of mounting misalignment errors are discussed. The entire system is validated in two independent field experiments with a thorough analysis of the results. Georeferencing of a static object is conducted with centimeter accuracy when the average position of all measurements is used. The position of a moving marine vessel is obtained with mean accuracy of two meters.
机译：本文考虑了使用带有热像仪的固定翼无人机（UAV）进行实时地理配准。提出了一种灵活的直接地理参考系统，不需要地面参考点。此外，由于该系统是为高度机动和灵活的固定翼无人机量身定制的，因此对运动没有任何限制。该系统设计有一个解决方案，用于传感器之间的准确时间同步。此功能使跟踪具有低不确定性的对象成为可能。除了热像仪外，还使用导航传感器，允许使用非线性观测器估算无人机姿态。估计的无人机姿态用于地理配准中，以获取对象的地球固定坐标。在这项研究中研究的主要例子是静态物体和移动船舶的地理配准。为了获得所需的精度，讨论了热像仪校准和安装失准误差的补偿。整个系统在两次独立的现场实验中得到了验证，并对结果进行了全面的分析。当使用所有测量的平均位置时，静态对象的地理配准将以厘米为单位进行。获得的移动船舶的位置的平均精度为2米。

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