CN101159066A - Highway measuring and setting method based on three-dimensional airborne LIDAR - Google Patents
Highway measuring and setting method based on three-dimensional airborne LIDAR Download PDFInfo
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Abstract
The invention discloses a road measurement method based on 3D plane-carried LIDAR. The steps include: firstly, constructing GPS base stations in a measurement area and setting technical parameters based on a road design proposal by employing a ground data collection system and taking a plane as a platform; secondly, building a database of a large amount of high density DEM data, and performing dynamic block management on the database via a range index file to satisfy rapid scheduling of required data in design procedure; thirdly, generating a 3D DLG based on DEM and DOM; fourthly, generating ground broken section data satisfying road measurement and design requirement of construction blueprint; and fifthly, realizing 3D visibility and dynamic design based on combination of plane-carried LIDAR and road CAD to automatically generate various design schemes and construction blueprints. The inventive method has the advantages of simple and convenient operation, directly-realized road measurement and construction blueprint design based on data generated by a plane-carried LIDAR, reduced external field work flow, shortened measurement and design period, and greatly increased measurement and design efficiency.
Description
Technical field
The present invention relates to a kind of road survey technical field, more specifically relate to a kind of road survey method based on three-dimensional airborne LIDAR, it adapts to the road survey method based on airborne LIDAR technology of face of land difficulty complex area.
Background technology
Current, the main means of road survey and method are based on aerophotogrammetric survey and establish pattern, promptly obtain the ground stereoscopic image by low latitude aeroplane photography, flushing photograph egative film and scanning (or directly obtain digital photo with the CCD camera), control net and photogrammetric photo control point in conjunction with the artificial open-air ground highway foundation of laying, handle, and produce through a large amount of artificial interior industries by photogrammetric workstation, obtain products such as DEM, DLG, DOM, carry out the highway CAD Aided Design on this basis.Close mapping and construction documents design phase, a large amount of section survey work still needed artificial field work to finish.
At face of land difficulty complex area, because vegetation is luxuriant and landform, landforms factor and shade influence, add the restriction of season, weather conditions, based on aerophotogrammetric road survey pattern survey the cycle of establishing long, the field work amount is big, is difficult to satisfy the heavy demand of highway construction task.Therefore, press for a kind of novel technical method that can overcome effect of natural conditions, data acquisition precision height, testing and processing cycle weak point and carry out highway survey and design, particularly close mapping and working drawing design in the highway construction.
Summary of the invention
The objective of the invention is to survey based on aerophotogrammetric road survey pattern the problem of long, limitation such as the field process amount is big of the cycle of establishing at present face of land difficulty complex area, a kind of road survey method based on three-dimensional airborne LIDAR has been proposed, method is simple, easy to operate, directly utilize the LIDAR data just can satisfy traffic engineering and build close mapping, working drawing designing requirement, greatly improve prospective design efficient, shortened to survey and established the cycle, had remarkable economic and social benefit.
In order to achieve the above object, the present invention adopts following technical measures:
The present invention adopts the design of airborne LIDAR aerial mission and data acquisition, high-density digital ground model DEM (hereinafter to be referred as high density DEM) modeling and dynamic management, three-dimensional DLG generation, elevation interpolation and section line generates automatically, five parts of highway CAD collaborative design realize.It comprises the steps:
(1) adopts laser range finder (hereinafter to be referred as LIDAR), the face of land data acquisition system (DAS) that global position system GPS, Inertial Measurement Unit IMU, CCD camera are formed, with the aircraft is platform, surveying GPS base station of every 50km laying, district, press the technical parameters such as height, bandwidth, face of land data sampling interval and image resolution of highway geometry conceptual design flight.
(2) magnanimity high density dem data is built the storehouse, carry out the database dynamic block management, satisfy the fast dispatch of desired data in the design process by the range index file.
(3) generate three-dimensional DLG based on high density DEM and high resolving power orthography DOM (hereinafter to be referred as high resolving power DOM), precision can reach engineer's scale requirement in 1: 500.
(4) adopt high density DEM, high resolving power DOM, generate the face of land data of the single-point or the section line that satisfy close mapping and working drawing designing requirement automatically.
(5) airborne LIDAR and highway CAD are collaborative, based on high density DEM, high resolving power DOM and three-dimensional DLG, in the highway CAD aided design system, realize three-dimensional visualization, dynamic design, generate various working drawing design charts automatically, finish the detailed design of engineering proposal.
The present invention compared with prior art has the following advantages and effect:
First, difficult complex area only need be provided with a GPS base station by every approximately 50Km in that geographic and geomorphic conditions complexity, vegetation be luxuriant etc., adopt Airborne GPS, IMU, LIDAR etc., no road engineering chopped-off head basis control survey, just can directly obtain the face of land data that satisfy road construction figure design, vertical accuracy reaches 0.15m, greatly reduces field work amount and operating cost.
The second, high resolving power DOM generates level line in conjunction with high density DEM, is aided with a small amount of field operation accent and paints work, can finish the generation of 1: 500 three-dimensional DLG of engineer's scale.
The 3rd, not only overcome the influence of atural object such as vegetation, house, bridge and shade, and required more traditional photogrammetric measurement mode loose season, weather, sun altitude etc.
The 4th, directly the high density dem data that generates based on airborne LIDAR can carry out preliminary survey, close mapping and working drawing design effort, has removed sport technique segments such as lead control survey, cross-sectioning from; Compare based on aerophotogrammetric road survey pattern, reduced middle flow process, shortened to survey and established the cycle about 1/3.
The present invention provides a kind of new survey equipment, method for transportation industry, and the data that generate based on airborne LIDAR are directly carried out the design of highway location survey and working drawing innovatively, have saved the field process flow process, has shortened to survey and has established the cycle, has significantly improved to survey and has established efficient.Through facts have proved, the plane error that this method is handled the topocentric coordinates that obtains is in ± 0.3m, and vertical error can directly satisfy requirements such as face of land difficulty complex area highway geometry location survey, working drawing design in ± 0.15m.(surveying equipment, method is a kind of prospecting and the method that designs)
Description of drawings
Fig. 1 is a kind of road survey method block scheme based on three-dimensional airborne LIDAR;
Fig. 2 lays for the GPS base station and airborne LIDAR flight synoptic diagram;
Fig. 3 is three-dimensional DLG product process figure;
Fig. 4 is airborne LIDAR and highway CAD collaborative work process flow diagram.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in further detail:
Embodiment 1:
Below by accompanying drawing embodiments of the present invention are described, concrete workflow is described below as shown in Figure 1.
The first step, the design of airborne LIDAR aerial mission and LIDAR data acquisition 1
According to the design route terminal, carry out airborne LIDAR aerial mission design and LIDAR data acquisition.The standard and the standard of its execution have:
■ 1: 10000,1; 50000 topomap IMU/DGPS auxiliary aviation camera works regulations (trying), in Dec, 2004, State Bureau of Surveying and Mapping
■ GPS auxiliary aviation camera work regulation (trying), in Dec, 2004, State Bureau of Surveying and Mapping
■ GB 6962-86 " 1: 500,1: 1000,1: 2000 topographic maps aeroplane photography standard ", in Dec, 1986, State Bureau of Surveying and Mapping
■ GB/T16341-2001 highway GPS (GPS) specifications of surveys, 2001, National Quality ﹠ Technology Inspection Bureau
■ JTG C10-2007 Highway Survey standard, in July, 2007, The Ministry of Communications of the People's Republic of China, MOC
Specific implementation method is as follows:
1. coordinate base journey design.Planimetric coordinates is Xi'an Geodetic Coordinate System 1980 or Beijing Geodetic Coordinate System 1954 or local coordinate system.
Adopt Gauss projection, central meridian is for surveying the warp of district center.GPS measures and adopts the WGS-84 coordinate basis.Height datum adopts 1985 national height datums or other height datum.
2. data precision design.Determine mesh spacing (as 0.5m), high resolving power DOM pixel resolution (as 0.14m) that high density DEM gathers.
3.GPS design is laid in the base station.As shown in Figure 2, when surveying distributing GPS base station, district, guarantee that the straight line horizontal range of surveying adjacent GPS base station in the district is about 50km, the covering radius of each GPS base station is about 30km.
4. according to the laser beam performance of LIDAR equipment and DEM acquisition interval roughly, and the CCD imaging makes the pixel resolution of DOM, determines flying height.
5. press laser scanning drift angle, design flight cover width and the heading of LIDAR equipment.Comprehensive route plan is determined the air strips number of covering and the length of air strips.The LIDAR data should cover more than the 500m of the route plan outside at least.Four corner is answered complete covering route plan, and difference is taken the photograph between interval, air strips should not exist leak.
6.CCD during camera imaging, for mapping needs, photo longitudinal overlap degree is not less than 60%, the sidelapping degree is not less than 30%.
7. in the 50km scope that the GPS base station covers, have the WGS-84 coordinate system simultaneously and survey the reference mark of distinguishing benchmark, be convenient to the conversion of planimetric coordinates and elevation along at least 5 of engineering route plan translocations.
8. utilize airborne LIDAR system data process software (as Leica FPES, Leica IPASPro, IPAS PPP, the IPAS Co etc. of Leica company, TerraModelerTM, the TerraScanTM of Finland Terrasolid company and TerraPhotoTM etc.) finish the works of treatment such as filtration, classification and origin coordinate system transform of laser measurement data, generate ground point raw data and digital terrain model (DEM), orthography (DOM).
Second step, DEM modeling and dynamic management 2
According to gained DEM, calculate and survey the minimum outer frame that surrounds in district, with the lower left corner is initial point, from West to East, from south orientation north, according to 1km * 1km (promptly when the DEM mesh spacing is 1.0m, block size is 1000 row * 1000 row) to the terrain data piecemeal, simultaneously adjacent DEM piece in north and south, east-west direction has the overlapping width of 50m mutually; Every DEM sets up the DEM document data bank with national standard Interchange Format (NSDTF) storage.
Set up database index, the coordinate range of each DEM block file and filename are formed corresponding relation, the searching, retrieve of convenience file.
During the DEM scheduling, elder generation is according to the geographic coordinate of desired data, obtain the minimum outer frame that surrounds that calls data, in file index, search corresponding D EM block file according to its scope, directly the scope (x in the lower left corner and the upper right corner, y coordinate) by data block is a key word, retrieves corresponding DEM file and call to get final product.
When the dem data amount is excessive, can set up the second grade file index.The one-level index is thicker scope division, and secondary index then segments corresponding one-level index again, improves the retrieval rate of file.The 3rd step, three-dimensional DLG generate 3
As shown in Figure 3, from highdensity DEM3-1, can generate level line 3-3 and required elevation number point 3-4 automatically, contour interval proportionately figure needs to set.
Utilize photogrammetric workstations such as VintuoZo or JX-4, can extract terrain feature 3-5 such as terrain feature line, topographical crest, valley route, steep bank automatically from high resolving power DOM3-2, and terrestrial object information 3-6 such as road, house, bridge, water system, and can transfer line of electric force, vegetation pattern etc. and paint, for some place names, river name, boundary, can be aided with a small amount of ground accent and paint.
In Auto CAD, import level line and annotation layer data, and increase the landform and the atural object data Layer of different characteristics such as water system, road, house, place name, vegetation, boundary, and carry out suitable compilation, the three-dimensional DLG3-7 that can finish based on airborne LIDAR data makes, and precision can reach engineer's scale requirement in 1: 500.
The automatic generation 4 of the 4th step, elevation interpolation and section line
1. elevation interpolation
The dem data storehouse that obtains based on airborne LIDAR data, according to ask a little x, y coordinate and database index file, find the DEM file at this place earlier and wait to ask the grid unit at a place, go out this point height (z value) with the bilinear interpolation method interpolation then.
2. the vertical section line generates
X, y coordinate according to line position king-pile obtain its z value through the elevation interpolation in database, obtain three-dimensional coordinate; After obtaining the three-dimensional coordinate of all king-piles,, can obtain a complete vertical section line by the pile No. series arrangement.
3. the generation of cross-sectional line
(1),, utilize itself and adjacent next coordinate of mid-peg to calculate the position angle (position angle of last king-pile and penult king-pile identical) of this transversal section king-pile point earlier from winning peg for the cross-sectional line of certain king-pile;
(2) utilize the position angle and the coordinate of mid-peg of this point, according to the point slope form formula:
y＝kx+b
In the formula:
K---slope;
B---intercept;
X, y---planimetric coordinates.
Obtain the straight-line equation of cross-sectional line, and each certain-length about pressing, calculate the intersecting point coordinate of transversal section straight-line segment and DEM level and vertical graticule mesh, promptly generate the above-ground route at cross-sectional line place;
(3) set certain threshold value (as 5cm),, the previous consecutive point on the homonymy cross-sectional line (if the front does not have, then choosing the stake point to be comparison point) are carried out the discrepancy in elevation relatively from the nearest cross-section millet cake of distance king-pile.If this discrepancy in elevation of 2 is then deleted this point less than threshold value, and next one point is made as current point.Repeat relatively working of this step, make on the section the high difference of consecutive point greater than threshold value.
(4) final cross-sectional line designs receptible general format output by highway.Its form is:
King-pile pile No. 1 king-pile elevation 1
Left side { d, H}
Right side { d, H}
......
King-pile pile No. n king-pile elevation n
Left side { d, H}
Right side { d, H}
In the following formula, d is that section is put king-pile distance or to the distance of preceding point; H is the elevation of section point, or relatively the king-pile point discrepancy in elevation or preceding relatively any discrepancy in elevation.
The 5th step, highway CAD collaborative design 5
As shown in Figure 4, idiographic flow is as follows:
1. based on high density DEM3-1, high resolving power DOM3-2 and three-dimensional DLG3-7 product, can finish highway geometry planar design 5-1 (wiring and design) according to route graphic design methods such as method of intersection, line element method (existing corresponding design system).
2. generate the vertical section line automatically according to high density DEM3-1, adopt dynamic shuffle to draw vertical section methods for designing (existing corresponding design system) such as slope, the mutual design of vertical curve to finish vertical section design 5-2.
3. the cross-sectional line that generates automatically according to high density DEM3-1 is finished cross-sectional design 5-3 by design of cross section such as transversal section template, roadbed gutter Drainage Design (existing corresponding design system).
4. design a model and DEM stack 5-4, after planar design 5-1, vertical section design 5-2, cross-sectional design 5-3 finish, generate the subgrade Design model, and superpose or fusion, form the seamless spliced of roadbed and ground model, i.e. a block mold with ground DEM.
5. engineering quantity calculates 5-5, based on roadbed and relief block, by to the calling of airborne LIDAR data, by designing a model and ground model and mutual relationship thereof, calculates engineering quantities such as embankment between the area, section of roadbed section, volume of excavation.
6. change scheme 5-6, to route plan, in conjunction with high density DEM3-1, high resolving power DOM3-2, carry out visual Three-Dimensional Dynamic analysis of route and assessment by principles such as topography and geomorphology route selection, natural landscape route selection, safe route selection, geology route selections, and engineering quantity compared, need to judge whether the change design.As change, return the 1st flow process of this step, carry out the design of route again.
7. design chart output 5-7 carries out the output of design drawing, table to the design end result.
Claims (1)
1. road survey method based on three-dimensional airborne LIDAR, it comprises the following steps:
A, the design of airborne LIDAR aerial mission and LIDAR data acquisition (1):
A, coordinate basis design, planimetric coordinates is Xi'an Geodetic Coordinate System 1980 or Beijing Geodetic Coordinate System 1954, adopts Gauss projection, and central meridian is for surveying the warp of district center, and GPS measures and adopts the WGS-84 coordinate basis, and height datum adopts national height datum;
B, design data are determined mesh spacing, high resolving power DOM (3-2) pixel resolution that high density DEM (3-1) gathers;
Design is laid in c, GPS base station, and when surveying distributing GPS base station, district, the straight line horizontal range of surveying adjacent GPS base station in the district is 50km, and the covering radius of each GPS base station is 30km;
D, according to the laser beam performance and high density DEM (3-1) acquisition interval of LIDAR equipment, and the CCD imaging makes the pixel resolution of high resolving power DOM (3-2), determines flying height;
E, the laser scanning drift angle of pressing LIDAR equipment, design flight cover width and heading, comprehensive route plan is determined the air strips number of covering and the length of air strips, the LIDAR data should cover route plan outside 500m at least;
When f, CCD camera imaging, for mapping needs, photo longitudinal overlap degree is not less than 60%, and the sidelapping degree is not less than 30%;
G, in the 50km scope that the GPS base station covers, the WGS-84 coordinate system is arranged simultaneously and surveys the reference mark of district's benchmark along at least 5 of engineering route plan translocations, be used for the conversion of planimetric coordinates and elevation;
H, utilize airborne LIDAR system data process software to finish filtration, classification and the origin coordinate system transform of laser measurement data, generate ground point raw data and digital terrain model, orthography;
B, DEM modeling and dynamic management (2) according to gained DEM, are calculated and are surveyed the minimum outer frame that surrounds in district, with the lower left corner is initial point, from West to East, from south orientation north, according to 1km * 1km to the terrain data piecemeal, simultaneously adjacent DEM piece in north and south, east-west direction has the overlapping width of 50m mutually; Every DEM sets up the DEM document data bank with the storage of national standard Interchange Format;
C, three-dimensional DLG generate (3), from high density DEM (3-1), can generate level line (3-3) and required elevation number point (3-4) automatically, and contour interval proportionately figure needs to set;
Utilize the photogrammetric workstation of VintuoZo or JX-4, automatically extract terrain feature line, topographical crest, valley route, steep candy shape feature (3-5) from high resolving power DOM (3-2), reach road, house, bridge, water system terrestrial object information (3-6), line of electric force, vegetation pattern transferred paint, for place name, river name, boundary, ground is transferred and is painted;
The generation (4) of D, elevation interpolation and section line:
A, elevation interpolation, the dem data storehouse that obtains based on airborne LIDAR data, according to ask a little x, y coordinate and database index file, find the DEM file at this place earlier and wait to ask the grid unit at a place, go out this point height with the bilinear interpolation method interpolation then;
B, vertical section line generate, and x, y coordinate according to line position king-pile obtain its z value through the elevation interpolation in database, become three-dimensional coordinate; After obtaining the three-dimensional coordinate of all king-piles,, obtain a complete vertical section line by the pile No. series arrangement;
The generation of c, cross-sectional line, at first for the cross-sectional line of king-pile, from winning peg, the position angle that utilizes itself and adjacent next coordinate of mid-peg to calculate this transversal section king-pile point earlier; Next is to utilize position angle and coordinate of mid-peg, obtains cross-sectional line place straight-line equation according to the point slope form formula, and each certain-length about pressing, and calculates the intersecting point coordinate of transversal section straight-line segment and DEM level and vertical graticule mesh, promptly generates the above-ground route at cross-sectional line place; The 3rd is setting threshold, from the nearest cross-section millet cake of distance king-pile, the previous consecutive point on the homonymy cross-sectional line is carried out the discrepancy in elevation relatively, 2 the discrepancy in elevation is then deleted this point less than threshold value, and next one point is made as current point, and repeat this step, make on the section the high difference of consecutive point greater than threshold value; The 4th is the general format output that final cross-sectional line is accepted by the highway design;
E, highway CAD collaborative design (5):
A, based on high density DEM (3-1), high resolving power DOM (3-2) and three-dimensional DLG (3), according to method of intersection, line element method, finish highway geometry planar design (5-1);
B, generate the vertical section line automatically, adopt dynamic shuffle to draw slope, vertical curve to design the vertical section method for designing alternately and finish vertical section design (5-2) according to high density DEM (3-1);
C, according to the cross-sectional line that high density DEM (3-1) automatically generates, finish cross-sectional design (5-3) by transversal section template, roadbed gutter Drainage Design;
D, design a model and DEM stack (5-4), after planar design (5-1), vertical section design (5-2), cross-sectional design (5-3) are finished, generate the subgrade Design model, and superpose or fusion with ground DEM, form the seamless spliced of roadbed and ground model, i.e. a block mold;
E, engineering quantity calculate (5-5), based on roadbed, relief block, by to the calling of airborne LIDAR data, finish engineering quantity required in the highway route design and calculate;
F, change scheme (5-6), to route plan, in conjunction with DEM, DOM, carry out visual Three-Dimensional Dynamic analysis and assessment by topography and geomorphology route selection, natural landscape route selection, safe route selection, geology route selection, and engineering quantity compared, judging needs change design, change, return the 1st flow process of this step, carry out the design of route again;
G, design chart output (5-7) are carried out the output of design drawing, table to the design end result.
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