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\begin{document}

\title{Workflow for the Scientific Collection and Analysis of Drone
Photogrammetric Data}



\author[1]{Tim Jährig}%
\author[1]{Prof. Dr. Angelo Pio Rossi (Internal Supervisor)}%
\author[1]{Prof. Dr. Vikram Unnithan (Internal Supervisor)}%
\affil[1]{Jacobs University Bremen}%


\vspace{-1em}



  
  \date{May 04, 2024}


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\section*{Example: Lanzarote, Spain}

{\label{874460}}

\subsection*{Introduction}

{\label{386753}}

After discussing in detail the underlying concepts and options that are
available during photogrammetric data collection and analysis this part
aims at showcasing a sample workflow based on real data. This part
should give the reader the option to use the steps for his research
purposes and in the end obtain a high quality photogrammetric dataset
and analysis.~

The data used in the following example was collected during
the~PANGAEA-X 2017 ESA led field campaign in November 2017 on Lanzarote,
Spain. During the course of the campaign, over the course of 2 days, 14
photogrammetric datasets have been collected using a standard
off-the-shelf DJI Phantom 4 drone~\cite{ever} . The sampling site
was the Tinguaton area located in Southern Lanzarote. Figure \ldots{}
shows the location of the site on Lanzarote and Figure \ldots{} shows
the corresponding overlay of the sampled area. Further specifications of
the drone can be obtained from the DJI website~\cite{downloads} or by
using the DJI Phantom 4 manual \cite{manual}.A RTK GNSS system was
employed to improve accuracy of the data as discussed in Section
\ldots{} . Here an EMLID Reach RS~\cite{controller}~was used as base
station in conjunction with an EMLID Reach~\cite{mapping}~as rover
module. The set-up of the base station follows the basic guidelines as
discussed in Section \ldots{} and can be seen in Figure. The rover
module set-up was not as sophisticated but still followed the most basic
principles. The use of a monopod instead of tripod added a slight error
to the measurements as the device was more or less handheld. The set-up
can be seen in Figure \ldots{} If a tripod can be obtained and
portability is not a critical factor it is definitely advised to use a
tripod instead.~

\par\null

Figures \ldots{} - \ldots{} display the settings that were used during
data collection in the Field as set in the ReachView. For all possible
options please refer to Section \ldots{} .~

\par\null

Once the RTK data was downloaded from the devices post-processing began,
as we, most of the time, didn't establish a direct connection between
the rover and the base. To post-process the RTK data the corresponding
EMLID developed software, RTKLIB, was used. It is a free software
available for Windows, Mac and Linux and can be obtained
from~\cite{docs}. To process the data:

\par\null

\textbf{RTKCONV}

\begin{enumerate}
\tightlist
\item
  Open the RTKCONV application.
\item
  Add the rover raw log in the very first field and choose the output
  directory.~
\item
  Choose the format in the drop-down menu: If obtained from each rover
  use u-blox, otherwise RTCM3 if both were obtained from the rover.~
\item
  Open the `Options'
\item
  Ensure that the Version is set to 3.03 (Actual Version)
\item
  Click the needed satellites. This depends on your location. For our
  data we excluded QZSS and BEIDOU.~
\item
  Click `OK' and `Convert' in the main window.~
\item
  Repeat the procedure with the base log.
\end{enumerate}

\par\null

\textbf{RTKPOST}

\begin{enumerate}
\tightlist
\item
  Open the RTKPOST application.~
\item
  Choose the rover .obs file for the `RINEX OBS: Rover field'.
\item
  Choose the base station .obs file for the `RINEX OBS: Base Station
  field'.
\item
  You can add .nav file from the rover in the third field.~
\item
  Specify the output directory.
\item
  Open the `Options'.
\item
  Choose your needed positioning mode, in our case `Kinematic'.
\item
  Set the `Elevation Mask'. Usually between 15 - 20\selectlanguage{ngerman}°.
\item
  Activate `Rec Dynamics' to estimate rover velocity and acceleration.
  As we used `Kinematic' as `Positioning Mode'.
\item
  As before, select the used navigation systems.
\item
  ~Switch to `Setting 2'
\item
  Switch `Integer Ambiguity Res' to `Fix and Hold'.
\item
  Switch to `Positions' tab.
\item
  Under `Base Station' choose either `Average of Single Position' for
  any log to average single point solution or use approximate position
  in the RINEX .obs header by choosing `Rinex Header Position'.
\item
  Press `OK' and `Execute' in the main window.
\item
  Two .pos files should appear in your output folder after the process
  is completed.~
\end{enumerate}

\textbf{RTKPLOT}

\begin{enumerate}
\tightlist
\item
  Open the RTKPLOT application.~
\item
  You can either drag and drop the .pos file or open it by clicking on
  `File', `Open Solution-1' and choosing the .pos file.~
\item
  Green points display a fix solution, orange float, and red single
  solutions.
\item
  Click on `Show Track Point' in the toolbar to select an individual
  point
\item
  Look for aggregates of points and select the middle. These are the
  points we surveyed.~
\item
  Look at the timestamps in the bottom-left corner and use this
  information to extract the post-processed GPS coordinates for your
  survey from the .pos file (Use a simple text editor to view it).
\item
  Past the exact information in a new text file. I advise using a
  similar format as the one in Figure \ldots{}
\item
  Plot the extracted GPS coordinates using your desired GIS software.~
\item
  Add the ESRI Shapefile obtained from the `Survey' section on ReachView
  from the Rover.~
\item
  Correlate the two and give them indicative names. I advise looking for
  the highest resolution base map possible. This will make
  identification during Agisoft PhotoScan post-processing easier.~
\end{enumerate}

\par\null

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