Uncrewed aerial vehicles (UAVs), affordable precise global navigation satellite system hardware, multi-beam echo sounders, open-source 3D hydrodynamic modelling software, and freely available satellite data have opened up opportunities for a robust, affordable, physics-based approach to monitoring river flows. Traditional methods of river discharge estimation are based on point measurements, and heterogeneity of the river geometry is not contemplated. In contrast, a UAV-based system which makes use of geotagged images captured and merged through photogrammetry in order to generate a high-resolution digital elevation model (DEM) provides an alternative. This UAV system can capture the spatial variability in the channel shape for the purposes of input to a hydraulic model and hence probably a more accurate flow discharge. In short, the system can be used to produce the river geometry at greater resolution so as to improve the accuracy in discharge estimations. Three-dimensional hydrodynamic modelling offers a framework to establish relationships between river flow and state variables such as width and depth, while satellite images with surface water detection methods or altimetry records can be used to operationally monitor flows through the established rating curve. Uncertainties in the data acquisition may propagate into uncertainties in the relationships found between discharge and state variables. Variations in acquired geometry emanate from the different ground control point (GCP) densities and distributions used during photogrammetry-based terrain reconstruction. In this study, we develop a rating curve using affordable data collection methods and basic principles of physics. The basic principal involves merging a photogrammetry-based dry bathymetry and wet bathymetry measured using an acoustic Doppler current profiler (ADCP). The output is a seamless bathymetry which is fed into the hydraulic model so as to estimate discharge. The impact of uncertainties in the geometry on discharge estimation is investigated. The impact of uncertainties in satellite observation of depth and width is also analysed. The study shows comparable results between the 3D and traditional river rating discharge estimations. The rating curve derived on the basis of 3D hydraulic modelling was within a 95 % confidence interval of the traditional gauging-based rating curve. The 3D-hydraulic-model-based estimation requires determination of the roughness coefficient within the stable bed and the floodplain using field observation at the end of both the dry and wet season. Furthermore, the study demonstrates that variations in the density of GCPs beyond an optimal number have no significant influence on the resultant rating relationships. Finally, the study observes that which state variable approximation (water level and river width) is more accurate depends on the magnitude of the flow. Combining stage-appropriate proxies (water level when the floodplain is entirely filled and width when the floodplain is filling) in data-limited environments yields more accurate discharge estimations. The study was able to successfully apply advanced UAV and real-time kinematic positioning (RTK) technologies for accurate river monitoring through hydraulic modelling. This system may not be cheaper than in situ monitoring; however, it is notably more affordable than other systems such as crewed aircraft with lidar. In this study the calibration of the hydraulic model is based on surface velocity and the water depth. The validation is based on visual inspection of an RTK-based waterline. In future studies, a larger number of in situ gauge readings may be considered so as to optimize the validation process.

Rapid modern technological advancements have led to significant improvements in river monitoring using unmanned aerial vehicles (UAVs), photogrammetric reconstruction software, and low-cost real-time kinematic Global Navigation Satellite System (RTK GNSS) equipment. UAVs allow for the collection of dry bathymetric data in environments that are difficult to access. Low-cost RTK GNSS equipment facilitates accurate measurement of wet bathymetry when combined with subaqueous measuring tools such as acoustic Doppler current profilers (ADCPs). Hydraulic models may be constructed from these data, which in turn can be used for various applications such as water management, forecasting, early warning and disaster preparedness by responsible water authorities, and construction of river rating curves. We hypothesise that the reconstruction of dry terrain with UAV-based photogrammetry combined with RTK GNSS equipment leads to accurate geometries particularly fit for hydraulic understanding and simulation models. This study sought to (1) compare open-source and commercial photogrammetry packages to verify if water authorities with low resource availability have the option to utilise open-source packages without significant compromise on accuracy; (2) assess the impact of variations in the number of ground control points (GCPs) and the distribution of the GCP markers on the quality of digital elevation models (DEMs), with a particular emphasis on characteristics that impact hydraulics; and (3) investigate the impact of using reconstructions based on different GCP numbers on conveyance and hydraulic slope. A novel method which makes use of a simple RTK tie line along the water edge measured using a low-cost but highly accurate GNSS is presented so as to correct the unwanted effect of lens distortion (“doming effect”) and enable the concatenation of geometric data from different sources. Furthermore, we describe how merging of the dry and wet bathymetry can be achieved through gridding based on linear interpolation. We tested our approach over a section of the Luangwa River in Zambia. Results indicate that the open-source software photogrammetry package is capable of producing results that are comparable to commercially available options. We determined that GCPs are essential for vertical accuracy, but also that an increase in the number of GCPs above a limited number of five only moderately increases the accuracy of results, provided the GCPs are well spaced in both the horizontal and vertical dimension. Furthermore, insignificant differences in hydraulic geometries among the various cross sections are observed, corroborating the fact that a limited well-spaced set of GCPs is enough to establish a hydraulically sound reconstruction. However, it appeared necessary to make an additional observation of the hydraulic slope. A slope derived merely from the UAV survey was shown to be prone to considerable errors caused by lens distortion. Combination of the photogrammetry results with the RTK GNSS tie line was shown to be essential to correct the slope and made the reconstruction suitable for hydraulic model setup.