<abstract xmlns="http://www.w3.org/1999/xhtml"><p>Currently, UAVs are intensively being introduced into topographic-photogrammetric production for topographic digital aerial photography and laser scanning. These technologies have a number of advantages: they don’t require specially prepared platforms and launchers, they are relatively inexpensive unlike large aircrafts, and they are safe. However, there are still many unsolved problems for ultralight UAVs, especially when the aerial photography is made. As you know, the requirements for the implementation of the aerial survey process are quite stringent, first of all, for horizontal flight: the angles of inclination must be within 3–5 degrees, since exceeding these tolerances significantly affects the accuracy for determining the spatial coordinates of objects. Therefore, there was an idea to conduct researches of dependences between the pitch α, roll ω and yaw κ. For this purpose, 100 images obtained from aircraft-type UAV ‘Arrow’ developed and created by specialists from Lviv Polytechnic National University and ‘Abris’ were used. As a result of the study, the multiple correlation coefficient and the parameters of the linear regression equation for the angular elements of the exterior orientation of digital images were calculated. In addition, statistical quality evaluations for the obtained regression model were carried out. Analysis of the received data allows to assert that angular elements of exterior orientation are correlated with each other. Therefore, in the further imaging materials, processing it becomes possible to make compensation of this fact and to improve calculation accuracy of spatial coordinates of points.</p></abstract>

Currently, UAVs are intensively being introduced into topographic-photogrammetric production for topographic digital aerial photography and laser scanning. These technologies have a number of advantages: they don’t require specially prepared platforms and launchers, they are relatively inexpensive unlike large aircrafts, and they are safe. However, there are still many unsolved problems for ultralight UAVs, especially when the aerial photography is made. As you know, the requirements for the implementation of the aerial survey process are quite stringent, first of all, for horizontal flight: the angles of inclination must be within 3–5 degrees, since exceeding these tolerances significantly affects the accuracy for determining the spatial coordinates of objects. Therefore, there was an idea to conduct researches of dependences between the pitch α, roll ω and yaw κ. For this purpose, 100 images obtained from aircraft-type UAV ‘Arrow’ developed and created by specialists from Lviv Polytechnic National University and ‘Abris’ were used. As a result of the study, the multiple correlation coefficient and the parameters of the linear regression equation for the angular elements of the exterior orientation of digital images were calculated. In addition, statistical quality evaluations for the obtained regression model were carried out. Analysis of the received data allows to assert that angular elements of exterior orientation are correlated with each other. Therefore, in the further imaging materials, processing it becomes possible to make compensation of this fact and to improve calculation accuracy of spatial coordinates of points.

Determining of correlation relationship between roll, pitch, and yaw for UAVs

Reports on Geodesy and Geoinformatics

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Determining of correlation relationship between roll, pitch, and yaw for UAVs"}

Currently, UAVs are intensively being introduced into topographic-photogrammetric production for topographic digital aerial photography and laser scanning....

Regression statistics
R	0.378
R²	0.143
Standardized R²	0.125

	Coeff. of regr. model	Standard Error	t-statistic	P-value	Lower 95%	Upper 95%
a₀	4.482	1.759089	2.5478	0.0124444	0.9896	7.9741
a₁	-1.233	0.312375	-3.9469	0.0001517	-1.8530	-0.6128
a₂	-0.248	0.228563	-1.0851	0.2806222	-0.7018	0.2057

	df	SS	MS	F-value	Significance level F
Factors (m)	2	1046.16831	523.0841551	7.937286751	0.000649162
Residue	95	6260.70297	65.90213653
n – m – 1	97	7306.871281

Characteristics	Parameters
Digital camera	Sony QX1
Take-off weight [kg]	4.8
Battery capacity [Ah]	16
Minimum flight speed [km/h]	50
Cruising flight speed [km/h]	60–80
Maximum flight time [min]	100
Maximum flight range [km]	100
Maximum controlled distance from the base [km]	15
Maximum flight altitude [m]	5000
Minimum operational altitude [m]	75
The maximum image resolution [sm/px]	2
Dimensions in transportation configuration [sm]	120 × 25 × 25
Limiting wind speed [m/s]	12

Determining of correlation relationship between roll, pitch, and yaw for UAVs

Article Category: Original Article

Publié en ligne: 11 mai 2019

Pages: 13 - 18

Reçu: 07 sept. 2018

Accepté: 15 mars 2019

DOI: https://doi.org/10.2478/rgg-2019-0002

© 2019 Volodymyr Hlotov, Alla Hunina, Mariana Yurkiv and Zbigniew Siejka, published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Coefficient of multiple correlation

Parameters of the regression model

Dispersion analysis

The technical characteristics of the UAV ‘Arrow’