A Low Cost UWB Based Solution for Direct Georeferencing UAV Photogrammetry

Thanks to their flexibility and availability at reduced costs, Unmanned Aerial Vehicles (UAVs) have been recently used on a wide range of applications and conditions. Among these, they can play an important role in monitoring critical events (e.g., disaster monitoring) when the presence of humans close to the scene shall be avoided for safety reasons, in precision farming and surveying. Despite the very large number of possible applications, their usage is mainly limited by the availability of the Global Navigation Satellite System (GNSS) in the considered environment: indeed, GNSS is of fundamental importance in order to reduce positioning error derived by the drift of (low-cost) Micro-Electro-Mechanical Systems (MEMS) internal sensors. In order to make the usage of UAVs possible even in critical environments (when GNSS is not available or not reliable, e.g., close to mountains or in city centers, close to high buildings), this paper considers the use of a low cost Ultra Wide-Band (UWB) system as the positioning method. Furthermore, assuming the use of a calibrated camera, UWB positioning is exploited to achieve metric reconstruction on a local coordinate system. Once the georeferenced position of at least three points (e.g., positions of three UWB devices) is known, then georeferencing can be obtained, as well. The proposed approach is validated on a specific case study, the reconstruction of the façade of a university building. Average error on 90 check points distributed over the building façade, obtained by georeferencing by means of the georeferenced positions of four UWB devices at fixed positions, is 0.29 m. For comparison, the average error obtained by using four ground control points is 0.18 m

COMPARISON OF LOW COST PHOTOGRAMMETRIC SURVEY WITH TLS AND LEICA PEGASUS BACKPACK 3D MODELS

This paper considers Leica backpack and photogrammetric surveys of a mediaeval bastion in Padua, Italy. Furhtermore, terrestrial laser scanning (TLS) survey is considered in order to provide a state of the art reconstruction of the bastion. Despite control points are typically used to avoid deformations in photogrammetric surveys and ensure correct scaling of the reconstruction, in this paper a different approach is considered: this work is part of a project aiming at the development of a system exploiting ultra-wide band (UWB) devices to provide correct scaling of the reconstruction. In particular, low cost Pozyx UWB devices are used to estimate camera positions during image acquisitions. Then, in order to obtain a metric reconstruction, scale factor in the photogrammetric survey is estimated by comparing camera positions obtained from UWB measurements with those obtained from photogrammetric reconstruction. Compared with the TLS survey, the considered photogrammetric model of the bastion results in a RMSE of 21.9cm, average error 13.4cm, and standard deviation 13.5cm. Excluding the final part of the bastion left wing, where the presence of several poles make reconstruction more difficult, (RMSE) fitting error is 17.3cm, average error 11.5cm, and standard deviation 9.5cm. Instead, comparison of Leica backpack and TLS surveys leads to an average error of 4.7cm and standard deviation 0.6cm (4.2 cm and 0.3 cm, respectively, by excluding the final part of the left wing)

Kinematics and geomorphological changes of a destabilising rock glacier captured from close-range sensing techniques (Tsarmine rock glacier, Western Swiss Alps)

Accurately assessing landform evolution and quantifying rapid environmental changes are gaining importance in the context of monitoring techniques in alpine environments. In the European Alps, glaciers and rock glaciers are among the most characteristic cryospheric components bearing long and systematic monitoring periods. The acceleration in rock glacier velocities and the onset of destabilization processes, mainly since 1990, have raised several concerns due to the potential effects on the high alpine natural and anthropic environments. This study presents a combination of uncrewed aerial vehicle (UAV) and terrestrial laser scanning (TLS) surveys for monitoring the current changes on the quickly accelerating, destabilised Tsarmine rock glacier in the Arolla Valley, Western Swiss Alps, delivering a considerable volume of debris to a steep torrential gully. High-resolution digital elevation models (DEMs) and orthomosaics are derived from UAV image series combined with structure from motion (SfM) photogrammetry techniques. Multitemporal orthomosaics are employed for measuring spatially continuous rock glacier kinematics using image matching algorithms. Superficial displacements are evaluated with simultaneous in-situ differential global navigation satellite system (GNSS) measurements. Elevation and volume changes are computed from TLS and UAV-derived DEMs at similar periods. Between June 2017 and September 2019, both datasets showed a similar elevation change pattern and surface thinning rates of 0.15 ± 0.04 and 0.16 ± 0.03 m yr−1, respectively. Downward of a rupture zone developing about 150 m above the front, the rock glacier doubled its overall velocity during the study period, from around 5 m yr−1 between October 2016 and June 2017 to more than 10 m yr−1 between June and September 2019. The kinematic information reveals striking differences in the velocity between the lower and upper rock glacier sections. The monitoring approach based on close-sensing techniques provides accurate surface velocity and volume change information, allowing an enhanced description of the current rock glacier dynamics and its surface expression

UAV-based investigations into the hydrology and dynamics of the Greenland Ice Sheet

Variation in the rate of meltwater input into the subglacial system of the Greenland Ice Sheet can force dynamic responses on a range of scales from hourly to interannual. Observations of the ice sheet dynamic response are commonly made either through ground-based Global Navigation Satellite System (GNSS) measurements, which can provide continuous and accurate point measurements, or through satellite remote sensing, which can provide regional-scale observations but at coarse temporal resolutions. This thesis investigates the potential of Uncrewed Aerial Vehicles (UAVs) to provide intermediate-level observations of the interactions between ice sheet hydrology and dynamics at a fast-flowing, marine terminating glacier in West Greenland. I first describe the development of a low- cost UAV suitable for deriving ice sheet velocity fields from Structure-from-Motion photogrammetry. In order to geolocate products without using ground control, image locations are determined directly using an on-board L1 GNSS receiver. I validate this method, showing that accuracies are sufficient for producing velocity fields in the ice sheet interior. Next, this method is used, alongside in-situ geophysical observations, to characterise the causes and dynamic influence of a rapid supraglacial lake drainage. I show that rapid drainage can induce a significant dynamic response up to 4 km away from the lake itself, and that fracture history can exert controls on interannual lake drainage behaviour. Finally, I upscale UAV ob- servations using satellite datasets over a ~3,000 km² area, exploring dynamic controls on crevasse hydrology. I find that in compressive mean stress compressive regimes, crevasses are more likely to display ponding and rapid hydrofracture than in extensional regimes, where continuous slow drainage is typical. Continued high-resolution observations are necessary to further identify key controls on the hydrological influences of Greenland Ice Sheet dynamics.Funded by a Natural Environment Research Council studentship awarded through the Cambridge Earth System Science Doctoral Training Partnership (Grant NE/L002507/1). Research logistics funded by the European Research Council as part of the RESPONDER project under the European Union’s Horizon 2020 research and innovation program (Grant 683043)

A New Passive 3-D Automatic Target Recognition Architecture for Aerial Platforms

The 3-D automatic target recognition (ATR) has many advantages over its 2-D counterpart, but there are several constraints in the context of small low-cost unmanned aerial vehicles (UAVs). These limitations include the requirement for active rather than passive monitoring, high equipment costs, sensor packaging size, and processing burden. We, therefore, propose a new structure from motion (SfM) 3-D ATR architecture that exploits the UAV's onboard sensors, i.e., the visual band camera, gyroscope, and accelerometer, and meets the requirements of a small UAV system. We tested the proposed 3-D SfM ATR using simulated UAV reconnaissance scenarios and found that the performance was better than classic 3-D light detection and ranging (LIDAR) ATR, combining the advantages of 3-D LIDAR ATR and passive 2-D ATR. The main advantages of the proposed architecture include the rapid processing, target pose invariance, small template size, passive scene sensing, and inexpensive equipment. We implemented the SfM module under two keypoint detection, description and matching schemes, with the 3-D ATR module exploiting several current techniques. By comparing SfM 3-D ATR, 3-D LIDAR ATR, and 2-D ATR, we confirmed the superior performance of our new architecture