Improvements in the navigation systems incorporated into unmanned aerial vehicles (UAVs) and new sensors are improving the quality of 3D mapping results. In this study, two flights were compared over the archaeological remains of the castle of Almenara, situated in Cuenca, Spain. We performed one with a DJI Phantom 4 (DJI Innovations Co., Ltd., Shenzhen, China) and the other with a Matrice 300 RTK (DJI Innovations Co., Ltd., Shenzhen, China) and the new Zenmuse P1 camera (45 mp, RGB sensor). With the help of the new software incorporated into the Zenmuse P1 camera gimbal, we could significantly reduce the flight time. We analysed the data obtained with these two UAVs and the built-in RGB sensors, comparing the flight time, the point cloud, and its resolution and obtaining a three-dimensional reconstruction of the castle. We describe the work and the flights carried out, depending on the type of UAV and its RTK positioning system. The improvement in the positioning system provides improvements in flight accuracy and data acquisition. We compared the results obtained in similar studies, and thanks to the advances in UAVs and their sensors with better resolution, we managed to reduce the data collection time and obtained 3D models with the same results as those from other types of sensors. The accuracies obtained with the RTK and the P1 camera are very high. The volumes calculated for a future archaeological excavation are precise, and the 3D models obtained by these means are excellent for the preservation of the cultural asset. These models can have various uses, such as the preservation of an asset of cultural interest, or even its dissemination and analysis in various studies. We propose to use this technology for similar studies of archaeological documentation and the three-dimensional reconstruction and visualisation of cultural heritage in virtual visits on the web.
