CN108195359A - The acquisition method and system of spatial data - Google Patents
The acquisition method and system of spatial data Download PDFInfo
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- CN108195359A CN108195359A CN201711318919.5A CN201711318919A CN108195359A CN 108195359 A CN108195359 A CN 108195359A CN 201711318919 A CN201711318919 A CN 201711318919A CN 108195359 A CN108195359 A CN 108195359A
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Abstract
The invention discloses the acquisition methods and system of a kind of spatial data, are related to data acquisition technology field, can collect the space-time data that vehicle-mounted mobile systematic absence part is blocked.The method includes：It obtains through collected first spatial data of ground acquisition equipment；It obtains through the collected second space data of airborne acquisition equipment；First spatial data and the second space data are spliced, obtain spliced spatial data.Present invention is mainly used for the acquisitions of spatial data.
Description
Technical field
The present invention relates to data acquisition technology field, more particularly to the acquisition method and system of a kind of spatial data.
Background technology
In recent years, with the high speed development of geomatics industry, road-based infrastructure makes rapid progress, and people are to space number
According to demand it is also higher and higher, in order to ensure on road that traffic management measure is legal effectively, it is necessary to acquire road or street
The space-time data of both sides grasps urban traffic status by analyzing space-time data.
Vehicle-mounted mobile measuring system is that a kind of global positioning satellite module, inertial navigation module, three-dimensional laser of having merged is swept
Retouch module, full-view image acquisition module and the polynary emerging system of distance measuring module.The system can be realized quick comprehensive empty
Between geographic information data obtain, the prior art is mainly using vehicle-mounted mobile measuring system to the spatial geographic information number of road both sides
According to being acquired, abundant two dimension, three can be obtained by further carrying out deep processing to collected geo-spatial data
Wiki plinth space-time data information.
However, since hardware and external condition limit, geo-spatial data is being carried out in vehicle-mounted mobile measuring system
Gatherer process in, it is easy to blocked by atural objects such as curbside trees, vehicle, pedestrians, be blocked so as to can not collect
Geo-spatial data, lead to the missing of both sides building facade data information so that collected spatial data is limited
System.
Invention content
In view of this, the embodiment of the present invention provides a kind of acquisition method and system of spatial data, can collect vehicle-mounted
The space-time data that mobile system lack part is blocked.
In order to achieve the above objectives, present invention generally provides following technical solutions：
On the one hand, an embodiment of the present invention provides a kind of acquisition method of spatial data, this method includes：
It obtains through collected first spatial data of ground acquisition equipment；
It obtains through the collected second space data of airborne acquisition equipment；
First spatial data and the second space data are spliced, obtain spliced spatial data.
Further, marker is configured in the ground acquisition equipment, is adopted in the acquisition by ground acquisition equipment
Before the first spatial data collected, the method further includes：
School is carried out to the location information of the airborne acquisition equipment according to the marker being configured in the ground acquisition equipment
It is accurate.
Further, before described receive through the collected second space data of airborne acquisition equipment, the method
It further includes：
By scanning first spatial data, the height of shelter in first spatial data is extracted；
The flying height of the airborne acquisition equipment is determined according to the height of the shelter.
Further, first spatial data and the second space data are spliced described, is spliced
Before spatial data afterwards, the method further includes：
Leakage is carried out to collected first spatial data and second space data and claps inspection.
Further, it is described to splice first spatial data and the second space data, after obtaining splicing
Spatial data include：
With the space coordinate of marker and the marker that are configured in the ground acquisition equipment in the first spatial data
Picpointed coordinate on corresponding photo is parametric configuration central projection equation of image formation, and the space for obtaining unmanned plane projection centre is sat
Mark；
Using the error equation and normal equation of space resection's algorithm by the space coordinate of the unmanned plane projection centre
Precision is obtained with the second space data corresponded in ground acquisition equipment in space coordinates；
By first spatial data and the second space data in the corresponding space coordinates of ground acquisition equipment
Spliced, obtain spliced spatial data.
Further, described with the space coordinate of marker being configured in the ground acquisition equipment and the marker
It is parametric configuration central projection equation of image formation in the picpointed coordinate that the first spatial data is corresponded on photo, obtains unmanned plane projection
Before the space coordinate at center, the method further includes：
The second space data are handled into line distortion using Sphere Measurement Model.
On the other hand, the embodiment of the present invention additionally provides a kind of acquisition system of spatial data, which includes：
First receiving unit, for obtaining through collected first spatial data of ground acquisition equipment；
Second receiving unit, for receiving through the collected second space data of airborne acquisition equipment；
Concatenation unit, for first spatial data and the second space data to be spliced, after obtaining splicing
Spatial data.
Further, the system also includes：
Alignment unit, for carrying out school to the location information of the airborne acquisition equipment according to the ground acquisition equipment
It is accurate.
Further, the system also includes：
Extraction unit scans first spatial data for passing through, and extracts first spatial data and corresponds to barrier
Height；
Determination unit, for determining the flying height of the airborne acquisition equipment according to the height of the barrier.
Further, the system also includes：
Inspection unit claps inspection for carrying out leakage to collected first spatial data and second space data.
Further, the concatenation unit includes：
Constructing module, for being existed with the space coordinate for the marker being configured in the ground acquisition equipment and the marker
The picpointed coordinate that first spatial data is corresponded on photo is parametric configuration central projection equation of image formation, is obtained in unmanned plane projection
The space coordinate of the heart；
Processing module, used in being projected the unmanned plane using the error equation of space resection's algorithm and normal equation
The space coordinate precision of the heart, obtains with the second space data corresponded in ground acquisition equipment in space coordinates；
Concatenation module, for by first spatial data with described in the corresponding space coordinates of ground acquisition equipment
Second space data are spliced, and obtain spliced spatial data.
Further, the system also includes：
Distort unit, for being handled into line distortion the second space data using Sphere Measurement Model.
The acquisition method and system of a kind of spatial data provided in an embodiment of the present invention, by the way that ground acquisition equipment is acquired
To the first spatial data matched with the collected second space data of airborne acquisition equipment, obtain spliced space number
According to compensate for ground acquisition equipment easily by both sides barrier image the defects of, ground acquisition equipment missing portion can be collected
Divide the space-time data being blocked.Compared with the prior art only carries out the method for space data collection by ground acquisition equipment, this
The advantage of airborne acquisition equipment flexibility and changeability in height is utilized in inventive embodiments, by the way that airborne acquisition equipment is collected
Second space data are synchronized in collected first spatial data of ground acquisition equipment, can not to ground collecting device with realization
The supplement of collected space-time data, so as to collect more complete spatial data.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, below the special specific embodiment for lifting the present invention.
Description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings：
Fig. 1 shows a kind of acquisition method flow chart of spatial data provided in an embodiment of the present invention；
Fig. 2 shows the acquisition method flow charts of another spatial data provided in an embodiment of the present invention；
Fig. 3 a are shown arranges target schematic diagram in the vehicle-mounted mobile measuring system that inventive embodiments provide；
Fig. 3 b show the target schematic diagram that inventive embodiments provide；
Fig. 4 shows the relation schematic diagram of the flying height for the unmanned plane that inventive embodiments provide and the height of shelter；
Fig. 5 shows the unmanned plane structure diagram that inventive embodiments provide；
Fig. 6 shows the unmanned plane of inventive embodiments offer and traverse measurement system synchronization operation schematic diagram；
Fig. 7 shows the spherical surface correction model schematic diagram that inventive embodiments provide；
Fig. 8 shows a kind of acquisition system structure diagram of spatial data provided in an embodiment of the present invention；
Fig. 9 shows the acquisition system structure diagram of another spatial data provided in an embodiment of the present invention.
Specific embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
The embodiment of the present invention provides a kind of acquisition method of spatial data, as shown in Figure 1, the method includes：
101st, it obtains through collected first spatial data of ground acquisition equipment.
Wherein, ground acquisition equipment can be vehicle-mounted mobile measuring system, or other can acquire ground data
Mobile collection equipment, the embodiment of the present invention without limit, the first spatial data be ground acquisition equipment acquisition height
In the range of the collected ground data of institute, for example, data of building on ground, on ground road data.
The present invention is implemented, the detailed process that ground acquisition equipment acquires the first spatial data can be：Ground acquisition
The track of equipment operation acquires color image by multiple image sensor, and passes through in camera record road and road both sides
Object using the integrated data of GPS/DR, is capable of providing the absolute coordinate of object and the size of object, is measured with 3D rendering soft
Part can extract the information of needs from the image of preservation, so as to obtain collected first spatial data.
The embodiment of the present invention is obtained through collected first spatial data of ground acquisition equipment, can Quick Acquisition arrive
Spatial information and live-action image realize the on-demand acquisition on arbitrary image.
102nd, it obtains through the collected second space data of airborne acquisition equipment.
Wherein, airborne acquisition equipment can be unmanned plane equipment, or other can acquire ground data in the air
Mobile collection equipment, the embodiment of the present invention is without limiting, acquisition height of the second space data for collecting device in the air
In the range of the collected ground data of institute, since ground acquisition equipment is during the first space data collection is carried out, due to
Blocking for vehicle or building, can not collect the spatial data sheltered from, therefore, second space data here are usually
Ground acquisition equipment can not collected spatial data.
For the embodiment of the present invention, the detailed process of airborne acquisition equipment acquisition second space data can be：Pass through sky
The alignment sensor that middle collecting device carries acquires position with ground acquisition equipment Alignment, and the acquisition position based on calibration is using empty
The high resolution camera that middle collecting device carries carries out data acquisition, the three-dimensional carried by airborne acquisition equipment to road streetscape
Laser scanning head obtains road streetscape point cloud data, can be by the information of needs from the figure of preservation with 3D rendering Survey Software
It is extracted as in, so as to obtain collected second space data.
The embodiment of the present invention is obtained through the collected second space data of airborne acquisition equipment, can Quick Acquisition arrive
Ground acquisition equipment can not collected spatial information and live-action image, airborne acquisition equipment flexibility and changeability in height is utilized
Advantage, to ground collecting device can not collected spatial data supplemented and optimized, improve space data collection
Completeness.
103rd, first spatial data and the second space data are spliced, obtains spliced space number
According to.
Since the data that the first spatial data and second space data are synchronous progress acquire, for the ease of later stage space number
According to image registration and Model Reconstruction, need to splice the first spatial data and second space data, it is complete so as to obtain
Spatial data.
It should be noted that the embodiment of the present invention to algorithm used in splicing without limit, may be used based on area
The relevant stitching algorithm of feature based may be used in the relevant stitching algorithm in domain, of course for matching demand is reached, needs to refer to
Image and information with the extraction in stitching image and stitching algorithm is chosen to the characteristics of stitching image and for existing
Stitching algorithm etc. is adjusted when being difficult to match condition in time.
The acquisition method of a kind of spatial data provided in an embodiment of the present invention, by by ground acquisition equipment collected
One spatial data is matched with the collected second space data of airborne acquisition equipment, is obtained spliced spatial data and is made up
Ground acquisition equipment easily by both sides barrier image the defects of, ground acquisition equipment lack part can be collected and hidden
The space-time data of gear.Compared with the prior art only carries out the method for space data collection by ground acquisition equipment, the present invention is real
The advantage that airborne acquisition equipment flexibility and changeability in height is utilized in example is applied, by the way that airborne acquisition equipment collected second is empty
Between data be synchronized in collected first spatial data of ground acquisition equipment, with realize ground collecting device can not be collected
Space-time data supplement, so as to collect more complete spatial data.
Further, the embodiment of the present invention provides the acquisition method of another spatial data, when ground collecting device is vehicle
Traverse measurement system is carried, when airborne acquisition equipment is unmanned plane, acquisition method flow chart such as Fig. 2 institutes of specific spatial data
Show, the method includes：
201st, the location information of unmanned plane is calibrated according to the marker being configured on traverse measurement vehicle.
Since ground acquisition equipment is needed in real time in ground moving, and highly stable, so the biography of ground acquisition equipment
Sensor precision is high and can be accurately positioned, and airborne acquisition equipment is highly unstable, and the sensor accuracy carried is low
And it is unstable, in order to determine position and the posture of airborne acquisition equipment in real time, need that mark is configured in ground acquisition equipment
Know object, and pass through the marker being configured in ground acquisition equipment and the location information of airborne acquisition equipment is calibrated.
For the embodiment of the present invention, traverse measurement vehicle is equivalent to ground acquisition equipment, and unmanned plane is equivalent to airborne acquisition and sets
It is standby, can be by being used as marker in the top layout target of traverse measurement vehicle, Fig. 3 is arrangement target signal on traverse measurement vehicle
Figure, as shown in Figure 3a, in four targets of top layout of traverse measurement vehicle, calibrates airborne acquisition equipment by target,
Fig. 3 b are target schematic diagram, and further the location information of unmanned plane is adjusted in real time so that unmanned plane and traverse measurement vehicle
Synchronize operation.
202nd, it obtains through collected first spatial data of traverse measurement vehicle.
For the embodiment of the present invention, traverse measurement vehicle is that GPS (global positioning system), CCD (solids are installed on motor vehicle
Digital Photogrammetric System), INS (inertial navigation system) or dead reckoning system, laser scanning system, Digital Video System etc. it is advanced
Sensor, can be in vehicle high-speed traveling, Quick Acquisition road and road both sides ground physics space geometry data, in road
Heart line or edge positions coordinate, have a lot of social connections, bridge is high, traffic sign or road equipment etc..
It should be noted that while traverse measurement vehicle obtains the geospatial location of target, additionally it is possible to acquire atural object
Live-action image, enrich geographic information data content, so as to be extended to the application field of geographic information data.
203rd, by scanning first spatial data, the height of shelter in first spatial data is extracted.
For the embodiment of the present invention, since traverse measurement vehicle has road both sides during the first spatial data is acquired
Shelter blocks, the shelters such as Ru great Shu, building construction, leads to collected first spatial data there are certain data to lack
It loses, the embodiment of the present invention is by scanning the first spatial data, since record has collected road both sides in the first spatial data
The corresponding spatial data of object, the first data can be extracted to the height of middle shelter, so as to make with the height of shelter
For the foundation of unmanned plane during flying height, so as to ensure that unmanned plane can collect the spatial data that shelter is blocked.
204th, the flying height of the unmanned plane is determined according to the height of the shelter.
For the embodiment of the present invention, since the flying height of unmanned plane depends on the height of both sides of the road shelter, pass through
The point cloud data that traverse measurement vehicle scans both sides barrier can clearly obtain the height of shelter, with reference to shelter
Highly, the height of unmanned plane is determined.
Fig. 4 is the relation schematic diagram of the flying height of unmanned plane and the height of shelter, it is assumed that needed for unmanned plane
Minimum flight altitude for H, after unmanned plane is ascended to heaven to desired height, by from traverse measurement system acquisition to the first space number
According to the middle height h for extracting shelter respectively, the distance L1 of traverse measurement vehicle and shelter, the distance L2 of shelter and building, root
Have according to angle formulae calculatingDerive the flying height of unmanned plane
205th, it obtains through the collected second space data of unmanned plane.
Unmanned plane has easy to operate, flies the characteristics of flexible, Fig. 5 shows for unmanned plane structure provided in an embodiment of the present invention
It is intended to, as shown in figure 5, UAV flight sweeps there are one alignment sensor, two high resolution cameras and a three-dimensional laser
Head is retouched, alignment sensor is used to position the location information of traverse measurement vehicle, and two high resolution cameras 1 and camera 2 are used for road
Road streetscape carries out data acquisition, and 3 D laser scanning head is for obtaining city streetscape point cloud data, in addition, the GPS module in figure
Be mainly used for the positioning of unmanned plane, the communication module in figure be mainly used for monitored in traverse measurement vehicle unmanned plane during flying speed,
The module of position and attitude communicates, and of course for the safe and reliable of unmanned plane during flying is ensured, can also be added in unmanned plane
Intelligent barrier avoiding system, the embodiment of the present invention is to the concrete structure of unmanned plane without limiting.
It should be noted that in order to ensure that unmanned plane is run with traverse measurement system synchronization, need through traverse measurement system
Calibration is identified in target on system, and Fig. 6 is unmanned plane and traverse measurement system synchronization operation schematic diagram, as shown in fig. 6, in figure
Respectively illustrate the scanning area of unmanned plane scanning area and traverse measurement system.
206th, leakage is carried out to collected first spatial data and second space data and claps inspection.
It should be noted that traverse measurement vehicle is acquiring the first spatial data and unmanned plane in acquisition second space data
During leakage is caused to clap phenomenon in the presence of lag or other special circumstances due to communicating, the embodiment of the present invention can pass through
Image processing software carries out collected first spatial data and second space data leakage and claps inspection.
Traverse measurement vehicle and the collected image data of unmanned plane are specifically imported into image processing software, such as
The softwares such as smart3D, photoscan are apparent that the position of every image by image processing software, by image
Position checked, discover whether exist leakage clap phenomenon, in order to timely retake.
207th, the second space data are handled into line distortion using Sphere Measurement Model.
Due to unmanned plane image data have the characteristics that phase is small, quantity is more, inclination angle is big and it is irregular, distortion is irregular,
Meanwhile in the case where geographical environment is complicated or real-time property is more demanding, these shortcomings will be protruded more, be seriously affected
The extraction quality of unmanned plane image data.For quick, effective application of unmanned plane low latitude image data, need to solve unmanned plane
The problem of image data geometric distortion correction, to unmanned plane, collected second space data are handled into line distortion.
For the embodiment of the present invention, need have overlapping region between per sheet photo when being acquired due to data, so to camera lens
Visual requirement it is very high, therefore use wide-angle fish eye lens, but the distortion of bigger separate the central area in visual angle is bigger, so need
Lens distortion correction is carried out, to reduce error in this respect.
Fig. 7 is spherical surface correction model schematic diagram provided in an embodiment of the present invention, as shown in fig. 7, the OZ in figure is flake mirror
Head primary optical axis, XOY plane is imaging plane, and f is focal length, and O (0,0,0) is the location of coordinate origin and image center,
M (x, y, z) is space any point.Then the coordinate after correction is：
β=r/f
R=tan β × f
Wherein, the corresponding radians of β O ' OP, Q point correspondences P ' points in projection tangent plane arrive the distance R of center picture, and f is
The radius of spherical surface correction model, r are the arc length that P points are put to O ', and d is object to the distance of camera lens and the proportionate relationship of focal length.
208th, with the space coordinate of marker and the marker that are configured on the traverse measurement vehicle in the first space number
It is parametric configuration central projection equation of image formation according to the picpointed coordinate on corresponding photo, the space for obtaining unmanned plane projection centre is sat
Mark.
For the embodiment of the present invention, on traverse measurement vehicle target space coordinate it is known that target in the first spatial data pair
The picpointed coordinate of phase on piece is answered to be also known, with the space coordinate of target on traverse measurement vehicle and picture point of the target on photo
Coordinate is parametric configuration central projection imaging equation, can obtain the space coordinate of unmanned plane projection centre, and specific center is thrown
The formula of shadow equationof structure formula is as follows：
Wherein, f for photograph master away from, a, b, c be coefficient, XA、YA、ZAFor the space coordinate of target on traverse measurement vehicle, XS、
YS、ZSFor the approximation space coordinate of unmanned plane projection centre, x, y are picpointed coordinate of the target spot on photo.
209th, using the error equation of space resection's algorithm and normal equation by the space of the unmanned plane projection centre
Coordinate refines, and obtains with the second space data corresponded in traverse measurement vehicle in space coordinates.
It is as follows for the specific calculating process of space resection's error equation and normal equation of the embodiment of the present invention, first
Linearization process is carried out to above-mentioned formula, it is as follows using classical adjustment method export error equation：
Wherein, Vx、VyFor the corrected value of picpointed coordinate (x, y), lx、lyFor constant term, further pass through above-mentioned error equation
Formula can calculate the value of 6 elements of exterior orientation, from which further follow that and calculate lx、lyFormula it is as follows：
It is finally constituted error equation
ATPAX=ATPL
It should be noted that due to remaining approximate correction by once calculating obtained correction, in order to carry
Data precision of the high second space data in traverse measurement vehicle respective coordinates system is needed approximation plus correction as under
The approximation once calculated calculates repeatedly in this way until corrected value is less than a certain limit value.
For the embodiment of the present invention, calculate using the method gradually approached, i.e., by the use of approximation and correction and as newly
Approximation, the process of computing repeatedly is obtained new corrected value, so iterates, until correction is less than a certain limit value, finally
Obtain the solution of six elements of exterior orientation.By the elements of exterior orientation of every photo, can restore aerophoto and ground shot it
Between correlation, the X in this six elements of exterior orientationS、YS、ZSFor the space coordinate of unmanned plane projection centre, and then can obtain
Second space data under traverse measurement vehicle respective coordinates system.
210th, by first spatial data and the second space number in the corresponding space coordinates of traverse measurement vehicle
According to being spliced, spliced spatial data is obtained.
It should be noted that during traverse measurement vehicle carries out the first space data collection, it should synchronize and utilize unmanned plane
It is obtained into line tilt image data, for the ease of later image registration and Model Reconstruction, needs to ensure the endlap of unmanned plane
The degree of overlapping that degree obtains image with traverse measurement vehicle reaches more than 60%.The shortcomings that by traverse measurement vehicle caused point cloud data
Missing, can carry out supplement encryption using the point cloud data acquired in unmanned plane.
For the embodiment of the present invention, by unifying the point cloud data got to after the same coordinate system, directly by data
Splicing can be realized by importing in software.Compared to the previous data connecting method for using Feature Points Matching, the embodiment of the present invention
Data connecting method avoid data splicing when it is cumbersome, can be by unmanned plane and traverse measurement by above-mentioned splicing
Under the Point-clouds Registration to unified coordinate system of vehicle, may then based on these point cloud datas using geometry three-dimensional reconstruction software into
Row Model Reconstruction, so as to fulfill the comprehensive acquisition of urban road three-dimensional space data.
The acquisition method of another spatial data of the embodiment of the present invention, by by ground acquisition equipment collected first
Spatial data is matched with the collected second space data of airborne acquisition equipment, is obtained spliced spatial data and is compensated for
Ground acquisition equipment easily by both sides barrier image the defects of, ground acquisition equipment lack part can be collected and be blocked
Space-time data.Compared with the prior art only carries out the method for space data collection by ground acquisition equipment, the present invention is implemented
The advantage of airborne acquisition equipment flexibility and changeability in height is utilized in example, by by the collected second space of airborne acquisition equipment
Data are synchronized in collected first spatial data of ground acquisition equipment, can not be collected to ground collecting device with realization
The supplement of space-time data, so as to collect more complete spatial data.
In order to realize above method embodiment, the present embodiment provides a kind of systems corresponding with above method embodiment to implement
Example, as shown in figure 8, it illustrates a kind of acquisition system of spatial data, which can include：
First receiving unit 31 can be used for obtaining through collected first spatial data of ground acquisition equipment；
Second receiving unit 32 can be used for receiving through the collected second space data of airborne acquisition equipment；
Concatenation unit 33 can be used for splicing first spatial data and the second space data, obtain
Spliced spatial data.
The acquisition system of a kind of spatial data provided in an embodiment of the present invention, by by ground acquisition equipment collected
One spatial data is matched with the collected second space data of airborne acquisition equipment, is obtained spliced spatial data and is made up
Ground acquisition equipment easily by both sides barrier image the defects of, ground acquisition equipment lack part can be collected and hidden
The space-time data of gear.Compared with the prior art only carries out the method for space data collection by ground acquisition equipment, the present invention is real
The advantage that airborne acquisition equipment flexibility and changeability in height is utilized in example is applied, by the way that airborne acquisition equipment collected second is empty
Between data be synchronized in collected first spatial data of ground acquisition equipment, with realize ground collecting device can not be collected
Space-time data supplement, so as to collect more complete spatial data.
Further, as shown in figure 9, an embodiment of the present invention provides another spatial data acquisition system, describedly
Marker is configured on the collecting device of face, the system also includes：
Alignment unit 34 can be used for setting the airborne acquisition according to the marker being configured in the ground acquisition equipment
Standby location information is calibrated；
Extraction unit 35 can be used for, by scanning first spatial data, extracting first spatial data and corresponding to
The height of barrier；
Determination unit 36 can be used for determining that the flight of the airborne acquisition equipment is high according to the height of the barrier
Degree；
Inspection unit 37 can be used for carrying out collected first spatial data and second space data leakage bat inspection
It looks into；
Distort unit 38, can be used for handling the second space data into line distortion using Sphere Measurement Model.
Further, the concatenation unit 33 includes：
Constructing module 331, can be used for the space coordinate of marker being configured in the ground acquisition equipment with it is described
Marker is parametric configuration central projection equation of image formation in the picpointed coordinate that the first spatial data is corresponded on photo, obtains nobody
The space coordinate of machine projection centre；
Processing module 332, can be used for using space resection's algorithm error equation and normal equation by it is described nobody
The space coordinate precision of machine projection centre, obtains with the second space number corresponded in ground acquisition equipment in space coordinates
According to；
Concatenation module 333 can be used for described sitting first spatial data in the corresponding space of ground acquisition equipment
Second space data in mark system are spliced, and obtain spliced spatial data.
The acquisition system of another spatial data of the embodiment of the present invention, by by ground acquisition equipment collected first
Spatial data is matched with the collected second space data of airborne acquisition equipment, is obtained spliced spatial data and is compensated for
Ground acquisition equipment easily by both sides barrier image the defects of, ground acquisition equipment lack part can be collected and be blocked
Space-time data.Compared with the prior art only carries out the method for space data collection by ground acquisition equipment, the present invention is implemented
The advantage of airborne acquisition equipment flexibility and changeability in height is utilized in example, by by the collected second space of airborne acquisition equipment
Data are synchronized in collected first spatial data of ground acquisition equipment, can not be collected to ground collecting device with realization
The supplement of space-time data, so as to collect more complete spatial data.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, there is no the portion being described in detail in some embodiment
Point, it may refer to the associated description of other embodiment.
It is understood that the correlated characteristic in the above method and system can be referred to mutually.In addition, in above-described embodiment
" first ", " second " etc. be for distinguishing each embodiment, and do not represent the quality of each embodiment.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of system and unit can refer to the corresponding process in preceding method embodiment, and details are not described herein.
Algorithm and display be not inherently related to any certain computer, virtual system or miscellaneous equipment provided herein.
Various general-purpose systems can also be used together with teaching based on this.As described above, required by constructing this kind of system
Structure be obvious.In addition, the present invention is not also directed to any certain programmed language.It should be understood that it can utilize various
Programming language realizes the content of invention described herein, and the description done above to language-specific is to disclose this hair
Bright preferred forms.
In the specification provided in this place, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the present invention
Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each inventive aspect,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention：I.e. required guarantor
Shield the present invention claims the more features of feature than being expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim is in itself
Separate embodiments all as the present invention.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.It can be the module or list in embodiment
Member or component be combined into a module or unit or component and can be divided into addition multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Profit requirement, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included certain features rather than other feature, but the combination of the feature of different embodiments means in of the invention
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
One of meaning mode can use in any combination.
The all parts embodiment of the present invention can be with hardware realization or to be run on one or more processor
Software module realize or realized with combination thereof.It will be understood by those of skill in the art that it can use in practice
Microprocessor or digital signal processor (DSP) realize a kind of method of data storage according to embodiments of the present invention and are
The some or all functions of some or all components in system.The present invention is also implemented as described here for performing
Some or all equipment of method or system program (for example, computer program and computer program product).This
The program of the realization present invention of sample can may be stored on the computer-readable medium or can have one or more signal
Form.Such signal can be downloaded from internet website to be obtained either providing or with any other on carrier signal
Form provides.
It should be noted that the present invention will be described rather than limits the invention, and ability for above-described embodiment
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such
Element.The present invention can be by means of including the hardware of several different elements and being come by means of properly programmed computer real
It is existing.If in the unit claim for listing dry systems, several in these systems can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any sequence.These words can be explained and run after fame
Claim.
Claims (10)
1. a kind of acquisition method of spatial data, which is characterized in that including：
It obtains through collected first spatial data of ground acquisition equipment；
It obtains through the collected second space data of airborne acquisition equipment；
First spatial data and the second space data are spliced, obtain spliced spatial data.
2. according to the method described in claim 1, it is characterized in that, marker is configured in the ground acquisition equipment, in institute
Acquisition is stated by the way that before collected first spatial data of ground acquisition equipment, the method further includes：
The location information of the airborne acquisition equipment is calibrated according to the marker being configured in the ground acquisition equipment.
3. it according to the method described in claim 1, it is characterized in that, is received described through airborne acquisition equipment collected the
Before two spatial datas, the method further includes：
By scanning first spatial data, the height of shelter in first spatial data is extracted；
The flying height of the airborne acquisition equipment is determined according to the height of the shelter.
4. according to the method described in claim 1, it is characterized in that, described that first spatial data is empty with described second
Between data spliced, before obtaining spliced spatial data, the method further includes：
Leakage is carried out to collected first spatial data and second space data and claps inspection.
5. according to the described method of any one of claim 1-4, which is characterized in that described by first spatial data and institute
It states second space data to be spliced, obtains spliced spatial data and include：
The space coordinate of marker to be configured in the ground acquisition equipment is corresponding in the first spatial data with the marker
Picpointed coordinate on photo is parametric configuration central projection equation of image formation, obtains the space coordinate of unmanned plane projection centre；
It is using the error equation and normal equation of space resection's algorithm that the space coordinate of the unmanned plane projection centre is accurate
Change, obtain with the second space data corresponded in ground acquisition equipment in space coordinates；
First spatial data is carried out with the second space data in the corresponding space coordinates of ground acquisition equipment
Splicing, obtains spliced spatial data.
6. according to the method described in claim 5, it is characterized in that, in the mark to be configured in the ground acquisition equipment
The picpointed coordinate of the space coordinate of object and the marker on the corresponding photo of the first spatial data is parametric configuration central projection
Equation of image formation, before obtaining the space coordinate of unmanned plane projection centre, the method further includes：
The second space data are handled into line distortion using Sphere Measurement Model.
7. a kind of acquisition system of spatial data, it is characterised in that：Including：
First receiving unit, for obtaining through collected first spatial data of ground acquisition equipment；
Second receiving unit, for receiving through the collected second space data of airborne acquisition equipment；
Concatenation unit for first spatial data and the second space data to be spliced, obtains spliced sky
Between data.
8. system according to claim 7, which is characterized in that marker is configured in the ground acquisition equipment, it is described
System further includes：
Alignment unit, for being believed according to the marker being configured in the ground acquisition equipment the position of the airborne acquisition equipment
Breath is calibrated.
9. system according to claim 7, which is characterized in that the system also includes：
Extraction unit scans first spatial data for passing through, and extracts the height that first spatial data corresponds to barrier
Degree；
Determination unit, for determining the flying height of the airborne acquisition equipment according to the height of the barrier.
10. system according to claim 7, which is characterized in that the system also includes：
Inspection unit claps inspection for carrying out leakage to collected first spatial data and second space data.
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