{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,22]],"date-time":"2026-04-22T14:58:45Z","timestamp":1776869925175,"version":"3.51.2"},"reference-count":73,"publisher":"MDPI AG","issue":"10","license":[{"start":{"date-parts":[[2020,9,30]],"date-time":"2020-09-30T00:00:00Z","timestamp":1601424000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IJGI"],"abstract":"<jats:p>The use of unmanned aerial vehicles (UAVs) is nowadays a standard approach in several application fields. Researches connected with these systems cover several topics and the evolution of these platforms and their applications are rapidly growing. Despite the high level of automatization reached nowadays, there is still a phase of the overall UAVs\u2019 photogrammetric pipeline that requires a high effort in terms of time and resources (i.e., the georeferencing phase). However, thanks to the availability of survey-grade GNSS (Global Navigation Satellite System) receivers embedded in the aerial platforms, it is possible to also enhance this phase of the processing by adopting direct georeferencing approaches (i.e., without using any ground control point and exploiting real time kinematic (RTK) positioning). This work investigates the possibilities offered by a multirotor commercial system equipped with a RTK-enabled GNSS receiver, focusing on the accuracy of the georeferencing phase. Several tests were performed in an ad-hoc case study exploiting different georeferencing solutions and assessing the 3D positional accuracies, thanks to a network of control points. The best approaches to be adopted in the field according to accuracy requirements of the final map products were identified and operational guidelines proposed accordingly.<\/jats:p>","DOI":"10.3390\/ijgi9100578","type":"journal-article","created":{"date-parts":[[2020,9,30]],"date-time":"2020-09-30T09:41:01Z","timestamp":1601458861000},"page":"578","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":38,"title":["Boosting the Timeliness of UAV Large Scale Mapping. Direct Georeferencing Approaches: Operational Strategies and Best Practices"],"prefix":"10.3390","volume":"9","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6316-8842","authenticated-orcid":false,"given":"Lorenzo","family":"Teppati Los\u00e8","sequence":"first","affiliation":[{"name":"LabG4CH, Department of Architecture and Design (DAD)\u2014Politecnico di Torino, Viale Mattioli 39, 10125 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4982-5236","authenticated-orcid":false,"given":"Filiberto","family":"Chiabrando","sequence":"additional","affiliation":[{"name":"LabG4CH, Department of Architecture and Design (DAD)\u2014Politecnico di Torino, Viale Mattioli 39, 10125 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5783-0951","authenticated-orcid":false,"given":"Fabio","family":"Giulio Tonolo","sequence":"additional","affiliation":[{"name":"LabG4CH, Department of Architecture and Design (DAD)\u2014Politecnico di Torino, Viale Mattioli 39, 10125 Torino, Italy"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,9,30]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"79","DOI":"10.1016\/j.isprsjprs.2014.02.013","article-title":"Unmanned aerial systems for photogrammetry and remote sensing: A review","volume":"92","author":"Colomina","year":"2014","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1007\/s12518-013-0120-x","article-title":"UAV for 3D mapping applications: A review","volume":"6","author":"Nex","year":"2014","journal-title":"Appl. Geomat."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"124","DOI":"10.1016\/j.isprsjprs.2018.09.008","article-title":"UAV-based multispectral remote sensing for precision agriculture: A comparison between different cameras","volume":"146","author":"Deng","year":"2018","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"152","DOI":"10.1016\/j.tplants.2018.11.007","article-title":"Perspectives for Remote Sensing with Unmanned Aerial Vehicles in Precision Agriculture","volume":"24","author":"Maes","year":"2019","journal-title":"Trends Plant Sci."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1007\/s11119-018-9600-7","article-title":"Improved estimation of rice aboveground biomass combining textural and spectral analysis of UAV imagery","volume":"20","author":"Zheng","year":"2019","journal-title":"Precis. Agric."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"84","DOI":"10.1016\/j.compag.2018.10.005","article-title":"Unsupervised detection of vineyards by 3D point-cloud UAV photogrammetry for precision agriculture","volume":"155","author":"Comba","year":"2018","journal-title":"Comput. Electron. Agric."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Aicardi, I., Nex, F., Gerke, M., and Lingua, A. (2016). An Image-Based Approach for the Co-Registration of Multi-Temporal UAV Image Datasets. Remote Sens., 8.","DOI":"10.3390\/rs8090779"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"2411","DOI":"10.1080\/01431161.2016.1225181","article-title":"Comparison of UAV photograph-based and airborne lidar-based point clouds over forest from a forestry application perspective","volume":"38","author":"Thiel","year":"2017","journal-title":"Int. J. Remote Sens."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"16","DOI":"10.1016\/j.ifacol.2016.10.004","article-title":"Precision Forestry: Trees Counting in Urban Areas Using Visible Imagery based on an Unmanned Aerial Vehicle","volume":"49","author":"Hassaan","year":"2016","journal-title":"IFAC-PapersOnLine"},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Grzn\u00e1rov\u00e1, A., Mokro\u0161, M., Surov\u00fd, P., Slav\u00edk, M., Pondel\u00edk, M., and Mergani\u010d, J. (2019). The Crown Diameter Estimation from Fixed Wing Type of Uav Imagery. Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci.","DOI":"10.5194\/isprs-archives-XLII-2-W13-337-2019"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"275","DOI":"10.1002\/arp.1569","article-title":"Drones in Archaeology. State-of-the-Art and Future Perspectives","volume":"24","author":"Campana","year":"2017","journal-title":"Archaeol. Prospect."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1066","DOI":"10.1016\/j.culher.2016.06.006","article-title":"Drones over Mediterranean landscapes. The potential of small UAV\u2019s (drones) for site detection and heritage management in archaeological survey projects: A case study from Le Pianelle in the Tappino Valley, Molise (Italy)","volume":"22","author":"Stek","year":"2016","journal-title":"J. Cult. Herit."},{"key":"ref_13","first-page":"355","article-title":"Evaluating unmanned aerial platforms for cultural heritage large scale mapping","volume":"XLI-B5","author":"Georgopoulos","year":"2016","journal-title":"ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"335","DOI":"10.1002\/arp.1547","article-title":"From Low Cost UAV Survey to High Resolution Topographic Data: Developing Our Understanding of a Medieval Outport of Bruges","volume":"23","author":"Trachet","year":"2016","journal-title":"Archaeol. Prospect."},{"key":"ref_15","first-page":"15","article-title":"Ultra Light Uav Systems for the Metrical Documentation of Cultural Heritage: Applications for Architecture and Archaeology","volume":"XLII-2\/W17","author":"Adami","year":"2019","journal-title":"ISPRS Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"519","DOI":"10.5194\/isprs-archives-XLII-2-W3-519-2017","article-title":"Close range uav accurate recording and modeling of St-Pierre-Le-Jeune Neo-Romanesque church in Strasbourg (France)","volume":"42","author":"Murtiyoso","year":"2017","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"229","DOI":"10.5194\/isprsarchives-XL-5-W4-229-2015","article-title":"Testing the low-cost rpas potential in 3D cultural heritage reconstruction","volume":"40","author":"Bolognesi","year":"2015","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Manfreda, S., McCabe, M.F., Miller, P.E., Lucas, R., Pajuelo Madrigal, V., Mallinis, G., Ben Dor, E., Helman, D., Estes, L., and Ciraolo, G. (2018). On the use of unmanned aerial systems for environmental monitoring. Remote Sens., 10.","DOI":"10.20944\/preprints201803.0097.v1"},{"key":"ref_19","unstructured":"Toro, F.G., and Tsourdos, A. (2018). UAV Sensors for Environmental Monitoring, MDPI AG\u2014Multidisciplinary Digital Publishing Institute."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"2757","DOI":"10.1080\/01431161.2017.1287975","article-title":"Dronesourcing: A modular, expandable multi-sensor UAV platform for combined, real-time environmental monitoring","volume":"38","author":"Tripolitsiotis","year":"2017","journal-title":"Int. J. Remote Sens."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Green, D.R., Hagon, J.J., G\u00f3mez, C., and Gregory, B.J. (2018). Using low-cost UAVs for environmental monitoring, mapping, and modelling: Examples from the coastal zone. Coastal Management: Global Challenges and Innovations, Elsevier.","DOI":"10.1016\/B978-0-12-810473-6.00022-4"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"5059","DOI":"10.1080\/01431161.2018.1446568","article-title":"Accuracy and effectiveness of low cost UASs and open source photogrammetric software for foredunes mapping","volume":"39","author":"Duarte","year":"2018","journal-title":"Int. J. Remote Sens."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"93","DOI":"10.5194\/isprs-archives-XLII-2-W6-93-2017","article-title":"Towards a more efficient detection of earthquake induced fa\u00e7ade damages using oblique UAV imagery","volume":"42","author":"Duarte","year":"2017","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"15717","DOI":"10.3390\/s150715717","article-title":"UAV Deployment Exercise for Mapping Purposes: Evaluation of Emergency Response Applications","volume":"15","author":"Boccardo","year":"2015","journal-title":"Sensors"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"1717","DOI":"10.1016\/j.trpro.2017.05.131","article-title":"Application of Unmanned Aerial Vehicles to Pedestrian Traffic Monitoring and Management for Shopping Streets","volume":"25","author":"Sutheerakul","year":"2017","journal-title":"Transp. Res. Procedia"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"54","DOI":"10.1109\/TITS.2018.2797697","article-title":"Real-Time Traffic Flow Parameter Estimation From UAV Video Based on Ensemble Classifier and Optical Flow","volume":"20","author":"Ke","year":"2018","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40327-015-0029-z","article-title":"Visual monitoring of civil infrastructure systems via camera-equipped Unmanned Aerial Vehicles (UAVs): A review of related works","volume":"4","author":"Ham","year":"2016","journal-title":"Vis. Eng."},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"289","DOI":"10.1260\/1369-4332.17.3.289","article-title":"Quality Assessment of Unmanned Aerial Vehicle (UAV) Based Visual Inspection of Structures","volume":"17","author":"Morgenthal","year":"2016","journal-title":"Adv. Struct. Eng."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"473","DOI":"10.1002\/esp.4012","article-title":"Cost-effective non-metric photogrammetry from consumer-grade sUAS: Implications for direct georeferencing of structure from motion photogrammetry","volume":"42","author":"Carbonneau","year":"2017","journal-title":"Earth Surf. Process. Landf."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"875","DOI":"10.1016\/j.bushor.2017.08.001","article-title":"From toys to tools: The co-evolution of technological and entrepreneurial developments in the drone industry","volume":"60","author":"Giones","year":"2017","journal-title":"Bus. Horiz."},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"St\u00f6cker, C., Bennett, R., Nex, F., Gerke, M., and Zevenbergen, J. (2017). Review of the current state of UAV regulations. Remote Sens., 9.","DOI":"10.3390\/rs9050459"},{"key":"ref_32","unstructured":"Regolamento, E.N. (2020, September 30). Mezzi Aerei A Pilotaggio Remoto, Edizione 3 del 11 novembre 2019, Available online: https:\/\/www.enac.gov.it\/news\/regolamento-mezzi-aerei-pilotaggio-remoto-ed-3-dell11-novembre-2019."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"503","DOI":"10.5194\/isprs-archives-XLII-2-W13-503-2019","article-title":"Photogrammetric assessment and comparison of dji phantom 4 pro and phantom 4 rtk small unmanned aircraft systems","volume":"42","author":"Peppa","year":"2019","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_34","doi-asserted-by":"crossref","first-page":"495","DOI":"10.5194\/isprs-archives-XLII-2-W13-495-2019","article-title":"Efficient flight planning for building fa\u00e7ade 3D reconstruction","volume":"42","author":"Palanirajan","year":"2019","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"87","DOI":"10.14358\/PERS.79.1.87","article-title":"An Automatic Approach to UAV Flight Planning and Control for Photogrammetric Applications","volume":"79","year":"2013","journal-title":"Photogramm. Eng. Remote Sens."},{"key":"ref_36","doi-asserted-by":"crossref","first-page":"835","DOI":"10.5194\/isprs-archives-XLI-B1-835-2016","article-title":"UAV photogrammetry with oblique images: First analysis on data acquisition and processing","volume":"41","author":"Aicardi","year":"2016","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_37","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1061\/(ASCE)SU.1943-5428.0000283","article-title":"Assessment of GCP Number and Separation Distance for Small UAS Surveys with and without GNSS-PPK Positioning","volume":"145","author":"Bolkas","year":"2019","journal-title":"J. Surv. Eng."},{"key":"ref_38","doi-asserted-by":"crossref","unstructured":"Tonkin, T.N., and Midgley, N.G. (2016). Ground-control networks for image based surface reconstruction: An investigation of optimum survey designs using UAV derived imagery and structure-from-motion photogrammetry. Remote Sens., 8.","DOI":"10.3390\/rs8090786"},{"key":"ref_39","first-page":"221","article-title":"Assessment of photogrammetric mapping accuracy based on variation ground control points number using unmanned aerial vehicle","volume":"98","year":"2017","journal-title":"Meas. J. Int. Meas. Confed."},{"key":"ref_40","first-page":"213","article-title":"Mapping with Small UAS: A Point Cloud Accuracy Assessment","volume":"9","author":"Toth","year":"2015","journal-title":"J. Appl. Geod."},{"key":"ref_41","first-page":"829","article-title":"Two-step camera calibration method developed for micro UAV\u2019S","volume":"41","author":"Gajski","year":"2016","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_42","doi-asserted-by":"crossref","first-page":"595","DOI":"10.5194\/isprs-archives-XLII-2-W3-595-2017","article-title":"Camera calibration accuracy at different UAV flying heights","volume":"42","author":"Yusoff","year":"2017","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_43","doi-asserted-by":"crossref","first-page":"879514","DOI":"10.1117\/12.2028988","article-title":"Accuracy assessment of minimum control points for UAV photography and georeferencing","volume":"Volume 8795","author":"Skarlatos","year":"2013","journal-title":"First International Conference on Remote Sensing and Geoinformation of the Environment (RSCy2013)"},{"key":"ref_44","doi-asserted-by":"crossref","first-page":"287","DOI":"10.1002\/esp.4502","article-title":"Automated co-registration and calibration in SfM photogrammetry for landslide change detection","volume":"44","author":"Peppa","year":"2019","journal-title":"Earth Surf. Process. Landf."},{"key":"ref_45","first-page":"1","article-title":"Assessment of UAV-photogrammetric mapping accuracy based on variation of ground control points","volume":"72","year":"2018","journal-title":"Int. J. Appl. Earth Obs. Geoinf."},{"key":"ref_46","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.isprsjprs.2017.05.008","article-title":"Bundle adjustment with raw inertial observations in UAV applications","volume":"130","author":"Cucci","year":"2017","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_47","doi-asserted-by":"crossref","first-page":"4931","DOI":"10.1080\/01431161.2018.1434331","article-title":"Calibration and accuracy assessment in a direct georeferencing system for UAS photogrammetry","volume":"39","author":"Gabrlik","year":"2018","journal-title":"Int. J. Remote Sens."},{"key":"ref_48","first-page":"444","article-title":"Decentering Distortion of Lenses","volume":"32","author":"Brown","year":"1966","journal-title":"Photom. Eng."},{"key":"ref_49","first-page":"855","article-title":"Close-range camera calibration","volume":"37","author":"Brown","year":"1971","journal-title":"Photogramm. Eng."},{"key":"ref_50","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1016\/S0924-2716(97)00005-1","article-title":"Digital camera self-calibration","volume":"52","author":"Fraser","year":"1997","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_51","first-page":"397","article-title":"Manual of photogrammetry","volume":"Volume 79","author":"McGlone","year":"2004","journal-title":"Photogrammetric Engineering and Remote Sensing"},{"key":"ref_52","doi-asserted-by":"crossref","first-page":"3","DOI":"10.1016\/j.isprsjprs.2014.04.019","article-title":"In-flight photogrammetric camera calibration and validation via complementary lidar","volume":"100","author":"Gneeniss","year":"2015","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_53","first-page":"166","article-title":"In-Flight Camera Calibration For Direct Georeferencing Abstract: R","volume":"2004","author":"Honkavaara","year":"2000","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci."},{"key":"ref_54","doi-asserted-by":"crossref","first-page":"11933","DOI":"10.3390\/rs70911933","article-title":"The impact of the calibration method on the accuracy of point clouds derived using unmanned aerial vehicle multi-view stereopsis","volume":"7","author":"Harwin","year":"2015","journal-title":"Remote Sens."},{"key":"ref_55","doi-asserted-by":"crossref","first-page":"807","DOI":"10.5194\/esurf-7-807-2019","article-title":"Evaluating the potential of post-processing kinematic (PPK) georeferencing for UAV-based structure-from-motion (SfM) photogrammetry and surface change detection","volume":"7","author":"Zhang","year":"2019","journal-title":"Earth Surf. Dyn."},{"key":"ref_56","doi-asserted-by":"crossref","first-page":"26212","DOI":"10.3390\/s151026212","article-title":"Real-Time Single-Frequency GPS\/MEMS-IMU Attitude Determination of Lightweight UAVs","volume":"15","author":"Eling","year":"2015","journal-title":"Sensors"},{"key":"ref_57","first-page":"355","article-title":"Quality assessment of combined IMU\/GNSS data for direct georeferencing in the context of UAV-based mapping","volume":"42","author":"Nex","year":"2017","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_58","doi-asserted-by":"crossref","unstructured":"Toma\u0161t\u00edk, J., Mokro\u0161, M., Surov\u00fd, P., Grzn\u00e1rov\u00e1, A., and Mergani\u010d, J. (2019). UAV RTK\/PPK Method\u2014An Optimal Solution for Mapping Inaccessible Forested Areas?. Remote Sens., 11.","DOI":"10.3390\/rs11060721"},{"key":"ref_59","doi-asserted-by":"crossref","first-page":"380","DOI":"10.1016\/j.ifacol.2015.07.064","article-title":"The use of direct georeferencing in aerial photogrammetry with micro UAV","volume":"28","author":"Gabrlik","year":"2015","journal-title":"IFAC-PapersOnLine"},{"key":"ref_60","doi-asserted-by":"crossref","unstructured":"Benassi, F., Dall\u2019Asta, E., Diotri, F., Forlani, G., Morra di Cella, U., Roncella, R., and Santise, M. (2017). Testing Accuracy and Repeatability of UAV Blocks Oriented with GNSS-Supported Aerial Triangulation. Remote Sens., 9.","DOI":"10.3390\/rs9020172"},{"key":"ref_61","doi-asserted-by":"crossref","first-page":"220","DOI":"10.1016\/j.nrjag.2018.05.003","article-title":"Using RTK and VRS in direct geo-referencing of the UAV imagery","volume":"7","author":"Rabah","year":"2018","journal-title":"NRIAG J. Astron. Geophys."},{"key":"ref_62","doi-asserted-by":"crossref","first-page":"165","DOI":"10.1080\/10095020.2019.1710437","article-title":"Accuracy assessment of real-time kinematics (RTK) measurements on unmanned aerial vehicles (UAV) for direct geo-referencing","volume":"23","author":"Ekaso","year":"2020","journal-title":"Geo-Spat. Inf. Sci."},{"key":"ref_63","doi-asserted-by":"crossref","first-page":"2318","DOI":"10.3390\/s20082318","article-title":"Evaluation of the georeferencing accuracy of a photogrammetric model using a quadrocopter with onboard GNSS RTK","volume":"20","author":"Urban","year":"2020","journal-title":"Sensors"},{"key":"ref_64","doi-asserted-by":"crossref","first-page":"247","DOI":"10.5194\/isprs-archives-XLII-2-W13-247-2019","article-title":"Uav direct georeferencing approach in an emergency mapping context. the 2016 central Italy earthquake case study","volume":"42","author":"Chiabrando","year":"2019","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_65","first-page":"507","article-title":"Are Measured Ground Control Points Still Required in Uav Based Large Scale Mapping? Assessing the Positional Accuracy of an Rtk Multi-Rotor Platform","volume":"XLIII-B1-2","author":"Chiabrando","year":"2020","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_66","unstructured":"(2020). Phantom 4 RTK User Manual, v2.2, DJI."},{"key":"ref_67","unstructured":"(2020). D-RTK 2 User Guide, DJI."},{"key":"ref_68","doi-asserted-by":"crossref","first-page":"625","DOI":"10.5194\/isprs-archives-XLII-2-W13-625-2019","article-title":"Using dji phantom 4 rtk drone for topographic mapping of coastal areas","volume":"42","author":"Taddia","year":"2019","journal-title":"Int. Arch. Photogramm. Remote Sens. Spat. Inf. Sci. ISPRS Arch."},{"key":"ref_69","doi-asserted-by":"crossref","unstructured":"Taddia, Y., Stecchi, F., and Pellegrinelli, A. (2020). Coastal Mapping Using DJI Phantom 4 RTK in Post-Processing Kinematic Mode. Drones, 4.","DOI":"10.3390\/drones4020009"},{"key":"ref_70","doi-asserted-by":"crossref","first-page":"8","DOI":"10.1117\/12.2557899","article-title":"Positioning accuracy assessment of a commercial RTK UAS","volume":"Volume 1141409","author":"Zhao","year":"2020","journal-title":"Autonomous Air and Ground Sensing Systems for Agricultural Optimization and Phenotyping V"},{"key":"ref_71","unstructured":"Cornaglia, P. (2020, September 30). Il Tempio di Diana: Giardini Italiani e Confronti Europei. Available online: https:\/\/www.torrossa.com\/it\/resources\/an\/4479316."},{"key":"ref_72","doi-asserted-by":"crossref","unstructured":"Forlani, G., Asta, E.D., Diotri, F., Morra, U., Id, R.R., and Santise, M. (2018). Quality Assessment of DSMs Produced from UAV Flights Georeferenced with On-Board RTK Positioning. Remote Sens., 10.","DOI":"10.3390\/rs10020311"},{"key":"ref_73","doi-asserted-by":"crossref","unstructured":"\u0106wi\u0105ka\u0142a, P. (2019). Testing Procedure of Unmanned Aerial Vehicles (UAVs) Trajectory in Automatic Missions. Appl. Sci., 9.","DOI":"10.3390\/app9173488"}],"container-title":["ISPRS International Journal of Geo-Information"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2220-9964\/9\/10\/578\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T10:15:19Z","timestamp":1760177719000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2220-9964\/9\/10\/578"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2020,9,30]]},"references-count":73,"journal-issue":{"issue":"10","published-online":{"date-parts":[[2020,10]]}},"alternative-id":["ijgi9100578"],"URL":"https:\/\/doi.org\/10.3390\/ijgi9100578","relation":{},"ISSN":["2220-9964"],"issn-type":[{"value":"2220-9964","type":"electronic"}],"subject":[],"published":{"date-parts":[[2020,9,30]]}}}