System Calibration Including Time Delay Estimation for GNSS/INS-Assisted Pushbroom Scanners Onboard UAV Platforms

Unmanned aerial vehicles (UAVs ) equipped with imaging sensors and integrated global navigation satellite system/inertial navigation system (GNSS/INS ) units are used for numerous applications. Deriving reliable 3D coordinates from such UAVs is contingent on accurate geometric calibration, which encompasses the estimation of mounting parameters and synchronization errors. Through a rigorous impact analysis of such systematic errors, this article proposes a direct approach for spatial and temporal calibration (estimating system parameters through a bundle adjustment procedure) of a GNSS/INS -assisted pushbroom scanner onboard a UAV platform. The calibration results show that the horizontal and vertical accuracies are within the ground sampling distance of the sensor. Unlike for frame camera systems, this article also shows that the indirect approach is not a feasible solution for pushbroom scanners due to their limited ability for decoupling system parameters. This finding provides further support that the direct approach is recommended for spatial and temporal calibration of UAV pushbroom scanner systems.