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1 2023

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Algorithms for improving the position determination of an UAV equipped with a single-frequency GPS receiver for low-altitude photogrammetry

Krasuski Kamil, Wierzbicki Damian, Lalak Marta, Ciećko Adam

Metrology and Measurement Systems

2023

Vol. 30, nr 3

441--459

The article presents the results of research on the development of a method for improving the positioning accuracy of an UAV equipped with a single-frequency GPS receiver for determining the linear elements of exterior orientation in aerial photogrammetry. Thus, the paper presents a computational strategy for improving UAV position determination using the SPP code method and the products of the IGS service. The developed algorithms were tested in two independent research experiments performed with the UAV platform on which an AsteRx-m2 UAS single-frequency receiver was installed. As a result of the experiments, it was shown that the use of IGS products in the SPP code method made it possible to improve the accuracy of the linear elements to the level of about ±2.088 m for X coordinate, ±1.547 m for Y coordinate, ±3.712 m for Z coordinate. The paper also shows the trend of changes in the obtained accuracy in determining linear elements of exterior orientation in the form of a linear regression function. Finally, the paper also applies the SBAS corrections model for the improvement of UAV position calculation and determination of linear elements of exterior orientation. In this case, the improvement in the accuracy of determining the linear elements of exterior orientation is about ±1.843 m for X coordinate, ±1.658 m for Y coordinate, ±7.930 m for Z coordinate. As the obtained test results show, the use of IGS products and SBAS corrections in the SPP code method makes it possible to improve the determination of UAV positions for the use in aerial photogrammetry.