Aiming at the difficulties of the existing methods for waterline surveying and mapping,a shipborne photogrammetry method without support of image control point and inertial navigation unit is proposed.This method realizes automation of data collection through GNSS compass and digital camera as well as computer networking and communication port programming;The sensor calibration and data registration are realized by self-calibration bundle adjustment;By introducing the constraint of water level and minimum norm of exterior orientation line element,a free network bundle aero-triangulation adjustment model is established to realize the high-precision extraction of three-dimensional waterline.The typical experimental results of the Yangtze River real-time waterline surveying show that the accuracy of this method is reliable,with a mean square error better than 0.2m.Furthermore,the significant advantages include:effectively removing the risk of operators,reducing labor intensity,realizing the synchronous integration of underwater and waterline surveying,low hardware cost,long endurance capability,etc.
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