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Ann Arbor, Ml 48106-1346 USA 313/761-4700 800/521-0600 Order Number 9111738 Analytical calibration of the airborne photogramrnetric system using a priori knowledge of the exposure station obtained from kinematic global positioning system techniques Lapine, Lewis A., Ph.D. The Ohio State University, 1990 UMI 300 N. Zeeb Rd. Ann Arbor, MI 48106 ANALYTICAL CALIBRATION OF THE AIRBORNE PHOTOGRAMMETRIC SYSTEM USING R PRIORI KNOWLEDGE OF THE EXPOSURE STATION OBTAINED FROM KINEMATIC GLOBAL POSITIONING SYSTEM TECHNIQUES DISSERTATION Presented In Partial Fulfillment of the Requirements for the Degree Doctor of Philosophy in the Graduate School of the Ohio State University By Commander Lewis A. Lapine, NOAA ***** The Ohio State University 1990 Dissertation Committee: Approved by D.C. Merchant C.C. Goad Advisor U.A. Uotila Department of Geodetic Science and Surveying To My Parents Jack and Selma Lapine Who Gave Me The Start and My Wife and Children Maryann, Cynthia, and Meghann Without Whom, I Could Not Have Finished ii ACKNOWLEDGEMENTS I wish to express my slvjere appreciation to Professor Emeritus Dean C. Merchant for his understanding, guidance and constant attention provided throughout the research. Warm appreciation is extended to the other members of my advisory committee, Drs. Clyde Goad and Urho Uotila, for their teaching enthusiasm, suggestions and comments during the research. I wish to thank the Professors and Staff of the Department of Geodetic Science and Surveying who have given me an outstanding education over the past 22 years. I am grateful to the National Oceanic and Atmospheric Administration (NOAA) for providing the opportunity to perform the research by assigning me to full time university training. I wish to express my appreciation for the aircraft and photogrammetric resources extended to me by Rear Admiral Wesley V. Hull and Captain Christian Andreasen of the NOAA Office of Charting and Geodetic Services. Gratitude is also expressed to the Ohio Department of Transportation, Division of Aerial Engineering for their surveying expertise and support. The technical assistance of James Lucas, Dr. Gerald Mader, David Crump, David iii Conners, Dennis Hoar, Lloyd Herd, and the NOAA pilots and photographers, is gratefully acknowledged. To my wife, Maryann, I offer sincere thanks for your loving . understanding, unshakable confidence, endless favors and patience during the most trying times of my research. To my children, Cynthia and Meghann, I thank you for giving up your friends in Maryland, your trOst and long peaceful bicycle rides. iv VITA August 16, 1947 ................ Born - Cleveland, Ohio 1969 ......................... B.S., The Ohio State University, Columbus, Ohio 1970-Present ................. Commissioned Officer, National Oceanic and Atmospheric Administration, Rockville, Maryland 1975 ......................... M.S., The Ohio State University, Columbus, Ohio 1989 ......................... President, American Association of Geodetic Surveyors FIELDS OF STUDY Major Field: Geodetic Science Studies in: Geodetic Surveying Hydrography Photogrammetry Cartography TABLE OF CONTENTS DEDICATION ............................................ ü ACKNOWLEDGEMENTS ...................................... i ü VITA ................................................... V LIST OF TABLES ........................................ ix LIST OF FIGURES ....................................... xi CHAPTER PAGE I. INTRODUCTION .................................. 1 II. GEODETIC SURVEY CONTROL ...................... 16 2.1 Introduction ............................ 16 2.2 Airport Survey .......................... 18 2.2.1 Purpose ......................... IB 2.2.2 Origin .......................... IB 2.2.3 Accuracy Requirements .......... 20 2.2.4 Mensuration ..................... 24 2.2.5 Computations and Results ....... 26 2.3 Calibration Range and Target Survey .... 32 2.3.1 Survey Design Considerations ... 32 2.3.2 Geodetic Tie to Airport ........ 33 2.3.3 Kinematic GPS Observations ..... 34 2.3.4 Analysis of Results ............ 35 2.4 Aircraft Survey ......................... 36 2.4.1 Survey Design Considerations ... 37 2.4.2 GPS Antenna to Airframe ........ 38 2.4.3 GPS Antenna to Camera .......... 43 2.4.4 Film Plane to Entrance Node .... 56 III. PHOTO MISSION PLAN ............................ 62 3.1 Instrumentation ......................... 62 3.1.1 Aerial Camera System ........... 63 3.1.2 GPS Receiver System ............ 63 3.1.3 Exposure Timing Apparatus ...... 64 3.2 Flight Line Design ...................... 65 3.3 GPS Initialization ...................... 66 3.3.1 Baseline Method ................. 6B 3.3.2 Antenna Swap Method ............. 70 3.4 Mission Scenario ........................ 72 vi IV. KINEMATIC GPS PROCESSING...................... 75 4.1 Day of Year 299 ......................... 83 4.2 Day of Year 301 ......................... 87 V. IMAGE PROCESSING AND MENSURATION ............. 91 5.1 Processing and Printing................ 91 5.2 Image coordinate observations .......... 93 5.2.1 BC-1 Observations .............. 93 5.2.2 IDPF Observations .............. 99 5.3 Coordinate transformation .............. 100 5.3.1 Film Deformation............ 100 5.3.2 Isogonal Affine Transformation . 101 VI. DATA ANALYSIS ................................. 108 6.1 Identification of Systematic Errors .... 108 6.1.1 Timing .......... 110 6.1.1.a An Example of System Timing Techniques ..... Ill 6.1.1.b Horizon Camera Pulse to Center of Exposure ....’. 114 6.1.1.C Testing the NOAA G Lens C o n e ........... 117 6.1.1.d Timing Bias Tests of NOAA B, G, Z Cones .......... 132 6.1.1.e True Exposure to Indicated Exposure Time .......... 134 6.1.1.f Timing Biases in Timing Circuit ................ 135 6.1.1.g Timing Biases from GPS Receiver ............... 137 6.1.2 The Exposure S t a t i o n ........ 139 6.1.3 The Environment - Atmospheric Refraction.................. 163 6.1.4 The C a m e r a ...................... 177 6.1.5 The Aircraft .................... 180 6.1.6 The Ground Survey Control ...... 189 6.2 Photogrammetric Solution ............... 194 6.2.1 Observation Equations .......... 196 6.2.2 Weighting System ............... 207 6.2.2.a Survey Coordinates .... 209 6.2.2.b Photo Coordinates .... 210 6.2.2.C Elements of Exterior Orientation............ 211 6.2.2.d Elements of Interior Orientation............ 212 6.2.3 The Least-Squares Solution ..... 212 6.3.2.a Linear Dependencies ... 216 vii 6.3.2.b A Priori Constraints .. 221 VII. RESULTS ........................................ 223 7.1 NOAA G Cone Camera Calibration......... 223 7.2 NOAA B Cone Camera Calibration......... 241 VIII. CONCLUSIONS ................................... 246 8.1 Summary of Results ...................... 246 8.2 Major Contributions ..................... 247 APPENDICES A. Kinematic Global Positioning System Survey Report ........................................ 250 A. 1 Cycles - A Layman's Description........ 280 A.2 Kinematic Processing and Cycle-Slip Handling ................................. 283 B. Internodal Separation Determination........... 295 C. NOAA Film Processing Specifications........... 300 D. G and B Cone Lens Calibration Reports ........ 324 E. Final Iteration of G Cone Calibration ................................... 328 LIST OF REFERENCES ................................... 347 viii LIST OF TABLES 1. Summary of Observations and Results for the Geodetic Survey at the Union County Airport .... 30 2. Comparison of Distances, Angles and Elevations Between the Classic Geodetic Survey and GPS Kinematic Survey of Photo Control Points at the TRC .............................................. 36 3. Comparison of Three Independent Methods for the Determination of the Aircraft Diameter ..... 42 4. Spatial Offsets Between the GPS Antenna and the Camera Exposure Station ......................... 56 5. A Typical 90-Minute Mission Timetable ........... 74 6a. Delay in Milliseconds Between the Horizon Pulse and Shutter Midpoint of Opening ................. 128 6b. Shutter Speed