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摘要:
消费级无人机的普及使得海滩监测有新的选择，但不同无人机平台的监测精度与适用情景各异，有必要进行适用性评价。本研究利用两种无人机平台（精灵4 RTK、经纬M300 RTK）与两种地形监测技术（SFM摄影测量、激光雷达）在象山县大沙海滩进行海滩地形监测，计算低空无人机监测海滩地形的平面误差与高程误差，分析不同无人机平台准同步监测结果之间的差异及其原因；利用无人机监测结果分析大沙海滩的地形特征，讨论海滩地形冬季前后变化。分析结果显示，无人机平台能胜任高精度的海滩地形变化监测工作。
Abstract:With the development of consumer-grade unmanned aerial vehicles (UAVs), new possibilities for beach monitoring are now available. However, different monitoring accuracies and suitability exist across different UAV platforms. We employed two UAV platforms, namely the DJI Phantom 4 RTK and DJI M300 RTK, in combination with two terrain monitoring techniques: Structure from Motion (SFM) photogrammetry and Light Detection and Ranging (LIDAR), to undertake beach terrain monitoring at Dasha Beach in Xiangshan County, Zhejiang, East China. The planimetric and elevation errors of low-altitude UAV measurements were assessed. Differences among the synchronously monitored results of diverse UAV platforms were analyzed, and their respective application scenarios were discussed. Additionally, we analyzed beach terrain characteristics and investigated beach terrain variations before and after winter. The analysis results show that the drone platform is capable of performing high-precision monitoring of beach topographic changes.
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表 1 无人机平台硬件参数
Table 1. Hardware parameters of two drone platforms used in this study
硬件参数 精灵4 RTK 经纬M300 RTK 硬件成本/（万元/台） 3.5 15.0 负载模块 测绘相机 测绘相机；激光雷达 测绘相机像素 有效像素2000万 有效像素2000万 激光雷达精度/m① — 平面精度0.1；高程精度0.05 飞行器定位精度② 垂直精度1.5 cm
水平精度1 cm垂直精度1.5 cm
水平精度1 cm最大水平飞行速度/(m/s) 14 17 最大信号范围/km 7 15 单组电池飞行时间/min 30 55 注：① 为生产商提供的技术参数，禅思L1的激光雷达系统在飞行高度为50 m的情况下平面精度为0.1 m，高程精度为0.05 m。② 表中所列定位精度为RTK启用且有固定解时的初始精度，此外，飞行器与起飞点的距离每增加1 km，误差也会增加1 mm。 
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表 2 不同测次的无人机平台及摄影技术参数
Table 2. Two drone platforms and photogrammetric parameters for different surveys
测次
编号测次日期 无人机平台 监测技术① 飞行高
度/m潮相
及潮位航向重
叠/%旁向重
叠/%覆盖面
积/km2GSD②
(cm/pixel)照片数
量/张飞行历
时/minA 2022-12-23 精灵4 RTK SFM摄影测量
(井字飞行)60 大潮
低潮位80 80 0.352 2.30 1921 82 B 2023-04-07 精灵4 RTK SFM摄影测量
(井字飞行)60 大潮
低潮位80 80 0.370 2.38 1918 81 C 2023-04-09 精灵4 RTK SFM摄影测量
（2D）30 中潮
低潮位80 70 0.044 1.13 371 16 D 2023-04-09 经纬M300 RTK SFM摄影测量
（2D）30 中潮
低潮位70 70 0.045 1.01 487 20 E 2023-04-09 经纬M300 RTK 单回波激光雷达
(LiDAR)30 中潮
低潮位70 70 0.045 —③ —③ 20 注：① “井字飞行模式”的飞行姿态为倾斜摄影，航迹线有垂直于岸线及平行于岸线的两组，似“井”字（图2a，图2b）；“SFM摄影测量（2D）模式”飞行时所得数据为正射影像，仅有单方向航线（图2c、d）；“单回波激光雷达”对一个目标点位仅打出一个激光点、且最多接收1个回波。
② 地面采样间隔（GSD，Ground Sampling Distance），单位为cm/pixel，其数值大小与相对地面的飞行高度有关，表内GSD数据为监测区域内地面采样间隔平均值；③ 激光雷达测量所得数据类型为数字点云，无影像数据。
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表 3 像控点、检查点和验证点的数量
Table 3. The quantity of image control points, check points, and validation points
测次编号 地面像控点数量/个 检查点数量/个 验证点数量/个 A 6 1 33 B 7 1 40 C 6 5 60 D 7 4 60
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表 4 SFM摄影测量像控点误差
Table 4. The positioning error of image control points in SFM photogrammetry
cm 测次编号 x向 y向 p z向 d A 0.65 0.98 1.16 3.40 3.59 B 2.20 2.17 3.09 2.23 3.81 C 1.04 0.90 1.38 1.36 1.94 D 1.42 0.72 1.59 1.54 2.21
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表 5 准同步监测不同测次数据离散程度
Table 5. The data dispersion level of measurement in different surveys in quasi-synchronous monitoring
测次编号 协方差cov/m² 测次C (P4-SFM) 1.923 测次D (M300-SFM) 1.905 测次E (M300-LiDAR) 1.902
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表 6 低空数字航摄与数据处理规范规定的点位误差
Table 6. The positioning errors specified in China’s national standard for low-altitude digital aerial photography and data processing
点位类型 成图比例尺 平面误差/cm 高程误差/cm 平地 丘陵地 山地 高山地 平地 丘陵地 山地 高山地 像控点 1∶500 15 15 20 20 11 21 26 40 1∶1000 30 30 40 40 21 26 40 75 1∶2000 60 60 80 80 21 26 60 90 检查点与验证点 1∶500 25 25 35 35 19 35 40 60 1∶1000 50 50 70 70 35 40 60 120 1∶2000 100 100 140 140 35 40 100 150
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