CN101539417A - On-board 3D terrain automatic measuring system and method - Google Patents
On-board 3D terrain automatic measuring system and method Download PDFInfo
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- CN101539417A CN101539417A CN200910082555A CN200910082555A CN101539417A CN 101539417 A CN101539417 A CN 101539417A CN 200910082555 A CN200910082555 A CN 200910082555A CN 200910082555 A CN200910082555 A CN 200910082555A CN 101539417 A CN101539417 A CN 101539417A
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Abstract
The invention provides an on-board 3D terrain automatic measuring system and a method. The system comprises a laser transmitting device, a measuring rod, a GPS receiving device, a laser measuring receiving device and a controller; wherein, the laser measuring receiving device is arranged on the measuring rod and used for receiving a laser signal which is transmitted by the laser transmitting device. The measuring rod is arranged on a traveling vehicle; the laser measuring receiving device comprises a plurality of lengthways distributed silicon photocells and a plurality of measuring circuits, wherein, the measuring circuits are respectively connected with the silicon photocells; and the controller is respectively connected with the GPS receiving device and the laser measuring receiving device. The on-board 3D terrain automatic measuring system and the method thereof can automatically measure the 3D terrain in real time, generate the date of the 3D terrain, improve measuring efficiency and reduce measuring cost.
Description
Technical field
The present invention relates to measuring technique, relate in particular to a kind of on-board 3 D terrain automatic measuring system and method.
Background technology
The smooth precision of improving ground, farmland can effectively improve the performance index of surface irrigation system, obtains significant water-saving and yield-increasing effect.Utilizing the laser controlled leveling technology to realize that the high precision on ground, farmland is smooth, and then improve the farmland topographic condition, is the important measures that improve the ground irrigation system.In the smooth operation on ground, farmland, need the dimensional topography before and after the prepartion of land is measured, so that draft rational flat-earther's engineering design scheme and leveling effect is carried out quantitative evaluation.
Existing 3 D topographic surveying equipment mainly contains: total powerstation, transit, GPS (GlobalPosition System; Hereinafter to be referred as: GPS) receiver etc.Yet existing equipment ubiquity is measured problems such as cost height, efficient are low, and these problems have become the bottleneck that the modern prepartion of land new and high technology of restriction is used.
Chinese patent application number discloses a kind of 3 D topographic surveying device based on GPS and laser technology for the patent document of 200820079033.X, comprise: sounding rod, be installed in being used on the sounding rod and measure the GPS receiver and the gps antenna of the planimetric coordinates of tested point, wherein also comprise the laser pickoff and the generating laser of the relative altitude data that are used to measure tested point, and be used to gather, the data acquisition unit of deal with data.The use of this device is: when measuring the three-dimensional coordinate that tested point A orders, sounding rod is placed on the A point, adjustment is fixed on the generating laser that elevation known point B is ordered, after making its laser plane that scans out a horizontal reference, gauger's hand-operated lifting sounding rod, make the mid-point of laser pickoff just on the laser plane of benchmark, this moment, the height number according to sounding rod can obtain the relative altitude that A is ordered, then the height number of the sounding rod read is keyed in the data acquisition unit, and combined with gps data and to obtain the dimensional topography data.
Yet, above-mentioned prior art is when measuring dimensional topography, at each tested point, all will manually sounding rod be placed on tested point, and the height of manual adjustments sounding rod to be reaching the laser plane of benchmark, and elevation information need be input to manually in the data acquisition unit also, waste time and energy like this, especially when implementing the smooth operation in extensive ground, can expend a large amount of time and manpower, efficiency of measurement is low, cost is high.
Summary of the invention
The purpose of this invention is to provide a kind of on-board 3 D terrain automatic measuring system and method,, improve efficiency of measurement and reduce the measurement cost to realize measuring automatically dimensional topography.
In order to realize an above-mentioned purpose, the invention provides a kind of on-board 3 D terrain automatic measuring system, this system comprises: laser beam emitting device, sounding rod, GPS receiving trap, be arranged at the laser measurement receiving trap and the controller that are used to receive laser beam emitting device emission laser signal on the described sounding rod; Wherein,
Described sounding rod is arranged on the traveling vehicle; Described laser measurement receiving trap comprises: the silicon photocell of a plurality of vertical distributions, a plurality of metering circuits that link to each other with each silicon photocell respectively; Described controller is connected with described laser measurement receiving trap with described GPS receiving trap respectively.
But on-board 3 D terrain automatic measuring system of the present invention is arranged on the traveling vehicle by part, landform is carried out continuous coverage, height tolerance signal and gps coordinate information according to the silicon photocell that receives laser signal, generate the dimensional topography data in real time automatically, improve efficiency of measurement, reduced the measurement cost.
In order to realize another above-mentioned purpose, the present invention also provides a kind of on-board 3 D terrain automatic measuring method, and this method comprises:
Receive the laser beam emitting device emitted laser signal of preset height;
Pairing circuit signal of described laser signal and the reference field corresponding parameters of presetting are compared, obtain to receive the silicon photocell of described laser signal and the height tolerance signal of described reference field;
The gps coordinate information of the tested point that receives according to described height tolerance signal and GPS receiving trap generates, shows or store the three-dimensional coordinate information of tested point.
On-board 3 D terrain automatic measuring method of the present invention, but the automatic measurement system that is arranged on the traveling vehicle by part carries out continuous coverage to landform, height tolerance signal and gps coordinate information according to the silicon photocell that receives laser signal, generate the dimensional topography data in real time automatically, improve efficiency of measurement, reduced the measurement cost.
Description of drawings
Fig. 1 is the structural representation of on-board 3 D terrain automatic measuring system first embodiment of the present invention;
Fig. 2 is the structural representation of elevating lever among on-board 3 D terrain automatic measuring system second embodiment of the present invention;
Fig. 3 is the vertical view of Fig. 2;
Fig. 4 is electrical block diagram among on-board 3 D terrain automatic measuring system second embodiment of the present invention;
Fig. 5 is the distribution schematic diagram of the silicon photocell among on-board 3 D terrain automatic measuring system second embodiment of the present invention;
Fig. 6 is the on-board 3 D terrain automatic measuring system second examples measure process synoptic diagram of the present invention;
Fig. 7 is the flow chart of steps of on-board 3 D terrain automatic measuring method first embodiment of the present invention;
Fig. 8 is the flow chart of steps of on-board 3 D terrain automatic measuring method second embodiment of the present invention.
Embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Fig. 1 is the structural representation of on-board 3 D terrain automatic measuring system first embodiment of the present invention.As shown in Figure 1, this on-board 3 D terrain automatic measuring system embodiment comprises: laser beam emitting device 10, sounding rod 20, GPS receiving trap 30, laser measurement receiving trap 40 and controller 50.
Laser beam emitting device 10 is arranged at the appropriate location on ground to be measured by bracing frame, regulates bracing frame, and the lasing area that makes laser beam emitting device 10 rotation emitted laser signals form is higher than the top of vehicle, promptly makes lasing area do not blocked by vehicle or other object.
Sounding rod 20 is arranged on the vehicle that can advance.
Laser measurement receiving trap 40 is arranged on the sounding rod 20, comprising: the silicon photocell of optical filter, a plurality of vertical distributions and a plurality of metering circuit.Laser beam emitting device 10 emitted laser signals are at first received by silicon photocell after optical filter filters out a large amount of sunshines; A plurality of silicon photocells are vertically to distribute, the corresponding metering circuit that connects of the silicon photocell of equal height is identical, and the corresponding metering circuit difference that connects of the silicon photocell of differing heights, after each silicon photocell is converted to electric signal with the laser signal that receives, produce different circuit signals via metering circuit, wherein metering circuit can be signal amplification circuit, comparator circuit and pulsewidth shaping circuit.Wherein, default reference field is the plane at the silicon photocell place of appointment in the laser measurement receiving trap, and the setting of concrete reference field sees the description in the using method of native system second embodiment for details.
But on-board 3 D terrain automatic measuring system first embodiment of the present invention is by partly being arranged on measuring system on the traveling vehicle, landform is carried out continuous coverage, height tolerance signal and gps coordinate information according to the silicon photocell that receives laser signal, generate the dimensional topography data in real time automatically, improve efficiency of measurement, reduced the measurement cost.
Fig. 2 is the structural representation of elevating lever among on-board 3 D terrain automatic measuring system second embodiment of the present invention, and Fig. 3 is the vertical view of Fig. 2, and Fig. 4 is electrical block diagram among on-board 3 D terrain automatic measuring system second embodiment of the present invention.Present embodiment improves sounding rod on the basis of said system first embodiment, has also increased the control of controller to sounding rod simultaneously.
Sounding rod 20 among on-board 3 D terrain automatic measuring system second embodiment comprises: elevating lever, motor and height measuring device.Wherein, elevating lever can be the existing mechanical lifting structure, also can be common can not placing on the elevating mechanism by elevating lever.Motor links to each other with controller, drives the lifting of elevating lever according to the instruction of controller.Height measuring device links to each other with controller, is used to obtain the amplitude information of lifter rod lifting and sends to controller; Concrete, height measuring device can be a scrambler, according to motor output shaft being rotated the amplitude of counting to controller output lifter rod lifting, in the process of specific implementation, the umber of pulse that can be scrambler rotate motor output shaft sends to controller, and controller calculates the amplitude of lifter rod lifting according to this umber of pulse and elevating lever internal gear structure (be motor whenever turn around the adjustable height of elevating lever) etc.; Height measuring device also can be a variable resistor, and the resistance variations that causes according to the lifting of elevating lever obtains the amplitude of lifter rod lifting; Certainly, height measuring device also can utilize other prior art to obtain heave amplitude.As shown in Figures 2 and 3, sounding rod 20 in the present embodiment specifically can comprise elevating lever 21, spigot nut 22, screw mandrel 23, rolling bearing 24, turbine 25, worm screw 26, shaft coupling 27, motor 28, scrambler 29, elevating lever 21 is positioned on the spigot nut 22, spigot nut 22 is positioned at screw mandrel 23, turbine 25 is connected with screw mandrel 23 by rolling bearing 24, the worm screw 26 formation reducing gear that matches with turbine 25, the end of worm screw 26 is connected with motor 28 by a shaft coupling 27, and the other end of worm screw 26 is connected with scrambler 29 by another shaft coupling 27.Wherein, elevating lever 21 can comprise outer bar and be positioned at slidably bar of outer bar that preferred interior bar is a hollow stem, to reduce the total quality of sounding rod, reduces the requirement to the motor-driven ability simultaneously, has reduced the complicacy of technology.
Laser measurement receiving trap 40 is arranged on the sounding rod 20, can the lifting along with the lifting of elevating lever 21.Laser measurement receiving trap 40 in the present embodiment is on the basis of said system first embodiment, actual conditions based on measuring process and ground surface or terrain, a plurality of silicon photocells are preferably 36 silicon photocells, and Fig. 5 is the distribution schematic diagram of the silicon photocell among on-board 3 D terrain automatic measuring system second embodiment of the present invention.
As shown in Figure 5,36 silicon photocells 41 are distributed as 9 layer of 4 row on the metal support 43 of circuit board 42 both sides, 9 silicon photocells 41 in every row are located on the plane (i.e. metal support), metal support 43 comprises first support 431, second support 432, the 3rd support 433 and the 4th support 434,9 layers of silicon photocell 41 distribute on each support, wherein the height of 4 silicon photocells 41 in the identical layer is identical in four supports, and the angle theta between any two adjacent supports is 90 °, i.e. first support 431 and second support 432, second support 432 and the 3rd support 433, angle theta between the 3rd support 433 and the 4th support 434 and the 4th support 434 and first support 431 is 90 °, and the plane at 2 arbitrarily adjacent silicon photocell 41 places is vertical mutually in also being equivalent to every layer.Wherein the size of each silicon photocell can be 5 * 20mm, the spacing of the silicon photocell of every adjacent two layers is 2mm, every layer of corresponding metering circuit of silicon photocell, after silicon photocell is converted to electric signal with the laser signal that receives, produce different circuit signals via metering circuit, controller is compared the circuit signal that metering circuit produces with the reference field corresponding parameters then, obtain the height tolerance signal of this silicon photocell and reference field, it is the height tolerance of laser signal and reference field, controller can obtain the height of this layer silicon photocell according to this height tolerance signal then.
The diameter of laser signal is less than the length (20mm) of a silicon photocell among the measuring system embodiment of the present invention, greater than the spacing between the adjacent layer silicon photocell (2mm), 9 layers of silicon photocell can corresponding 17 different circuit signals thus, be specially: when laser signal is penetrated fully on some silicon photocells, 9 layers of corresponding 9 different circuit signal of silicon photocell; When laser signal is penetrated on the gap of adjacent two layers silicon photocell, because the diameter of laser signal is greater than the width in gap, so adjacent two-layer silicon photocell all can receive laser signal, corresponding thus two metering circuits all produce circuit signal, 8 gaps that this moment, 9 layers of silicon photocell formed can corresponding 8 different circuit signals, are total up to 17 tunnel different circuit signals.Wherein, 17 tunnel different circuit signals can also obtain by following concrete mode: adopt digital circuit, the signal of the silicon photocell of 9 height can be with 0 (no signal, promptly do not receive laser signal) or 1 (signal is arranged, promptly receive laser signal) expression, if the silicon photocell of 9 height does not all receive laser signal, the circuit signal of then exporting to controller is 000000000 (from left to right to represent the 1st successively, the 2nd until the silicon photocell of the 9th differing heights), if laser beam is got on the 1st silicon photocell, then output signal is 100000000, if laser beam gets to the 2nd, the intermediate gap of 3 silicon photocells, promptly the 2nd, 3 silicon photocells have all received laser signal, then Shu Chu circuit signal is 011000000, and the like, can send 17 kinds of different circuit signals to controller, controller can obtain corresponding height tolerance signal according to these different circuit signals.Certainly, a plurality of silicon photocells also can be provided with according to other size and quantity, and for example: 72 silicon photocells are arranged to 18 layer of 4 row, and each silicon photocell is of a size of 5 * 10mm, so just can produce 35 kinds of different circuit signals.
Vertical total length of the silicon photocell of measuring system embodiment of the present invention is 19.6cm, cooperate the lifting of elevating lever again, the scope that can make the native system second embodiment in the vertical direction receive laser signal better meets the requirement of the farmland measurement of higher degree than first embodiment.The distribution of silicon photocell can arrive 360 ° to the receiving angle of laser signal in the present embodiment.Certainly in concrete enforcement, be not limited to 36 silicon photocells, can have a plurality of silicon photocells to be the distribution of multilayer multiple row, to satisfy the requirement of the farmland measurement of higher degree, angle between each support also is not limited to 90 °, and the silicon photocell in every row can also be positioned on the plane that is parallel to each other.
As shown in Figure 4, controller 50 is connected with height measuring device with GPS receiving trap 30, laser measurement receiving trap 40, motor 28 respectively.Controller 50 specifically can comprise: micro treatment module 51, memory module 52, display module 53 and load module 54.Micro treatment module 51 is connected with memory module 52, display module 53 and load module 54 respectively, and micro treatment module can adopt the ARM7 chip LPC2119 of PHILIPS company.Memory module can be USB flash disk, adopts CH375HM, and its acp chip is CH375, and the microcontroller module is stored dimensional topography information by the data of this acp chip read-write USB flash disk; Display module can be selected the LCM128645ZK Liquid Crystal Module for use, includes the ST7920 driving governor, adopts the serial mode hardware design, shows ground relative altitude, longitude and latitude, three-dimensional land map and gps coordinate information etc. in real time; Load module can be a Keysheet module, be used for input control information, promptly import duty control information, comprising on-board 3 D terrain automatic measuring system embodiment of the present invention: open or close, time-out, zero clearing, in real time show dimensional topography information, generate three-dimensional land map and storage dimensional topography information etc.
On-board 3 D terrain automatic measuring system provided by the invention is particularly useful for the measurement to the farmland landform, be example with the dimensional topography of measuring a farmland below, specifically describe the using method of on-board 3 D terrain automatic measuring system second embodiment of the present invention, wherein use the carrier of farm tractor as measuring system, Fig. 6 is the on-board 3 D terrain automatic measuring system second examples measure process synoptic diagram of the present invention.
Laser beam emitting device 10 is placed the appropriate location A point (this point can be farmland to be measured or level land, any place, next door, farmland to be measured) in farmland to be measured, adjust the laser beam emitting device height, the lasing area that its rotation emitted laser signal 11 is formed is higher than the tractor top.
GPS receiving trap, laser measurement receiving trap, controller and sounding rod are assembled on the tractor.Before measuring, tractor is positioned at the B point in farmland to be measured, at B point place, the height of adjusting elevating lever and/or laser measurement receiving trap are installed in the position on the sounding rod, make first silicon photocell 411 that highly is positioned at the centre position in a plurality of silicon photocells receive laser signal 11, and to specify the plane at these first silicon photocell, 411 places be reference field, and the ground relative altitude of utilizing measuring system of the present invention to measure is the relative altitude of ordering with respect to B.Certainly, reference field is not limited to be positioned at the silicon photocell in centre position, so long as preassigned getting final product.
Drive tractor and carry out field survey, along with the variation of ground elevation, the position that the laser measurement receiving trap receives the silicon photocell of laser signal also changes thereupon.When tractor drives to B
1Point is when (being higher than the B point), second silicon photocell 412 receives laser signal, because the electric signal difference of the silicon photocell correspondence of each height, controller can obtain the height tolerance signal of second silicon photocell 412 and first silicon photocell 411, and this height tolerance signal handled, judge that this height tolerance signal is not more than predetermined threshold value (be the top or the height of silicon photocell distance first silicon photocell of below), then the height tolerance value h of this height tolerance signal indication
1Be B
1The relative altitude that point is ordered with respect to B; Tractor continues to travel, when height tolerance signal during greater than predetermined threshold value, controller carries out lifting control to sounding rod, and to guarantee that silicon photocell can receive laser signal all the time, controller is by the lifting of rotating the control survey bar forward or backwards of control motor; When tractor drives to B
2Point is when (being higher than the B point), and the 3rd silicon photocell 413 receives laser signal, and the height tolerance value of the height tolerance signal indication of the 3rd silicon photocell 413 and first silicon photocell 411 is h
2, sounding rod is by original length L
0Be reduced to L
2, controller rotates motor output shaft by scrambler and counts that the height of reduction is L when obtaining sounding rod relatively with the B point
1, B then
2The relative altitude that point is ordered with respect to B is h
2+ L
1
Controller is with the relative altitude of measurement point and the three-dimensional coordinate information that obtains measurement point after gps coordinate information combines, further, controller merges the three-dimensional coordinate information of being had a few on ground to be measured with the back and generates dimensional topography information such as three-dimensional land map, ground relative altitude and longitude and latitude tolerance, shows and is stored in the memory module by display module.
But on-board 3 D terrain automatic measuring system second embodiment of the present invention carries out continuous coverage by the sounding rod that is arranged on the traveling vehicle to landform, and controller is according to the lifting of the height tolerance signal automatic control survey bar of the silicon photocell that receives laser signal, can measure dimensional topography in real time automatically, generate the dimensional topography data, improve efficiency of measurement, reduced the measurement cost.
Fig. 7 is the flow chart of steps of on-board 3 D terrain automatic measuring method first embodiment of the present invention, and this method can comprise:
The laser beam emitting device emitted laser signal of step 701, reception preset height, the height of adjusting sounding rod and/or laser measurement receiving trap are determined reference field in the position of sounding rod;
The silicon photocell of step 702, laser measurement receiving trap receives the laser beam emitting device emitted laser signal of preset height;
The gps coordinate information of the tested point that step 704, controller receive according to height tolerance signal and GPS receiving trap generates, shows or store the three-dimensional coordinate information of tested point;
Further, can also comprise: step 705, controller generate, show or store ground relative altitude, longitude and latitude and/or the three-dimensional land map on ground to be measured according to the three-dimensional coordinate information of a plurality of tested points.
But on-board 3 D terrain automatic measuring method first embodiment of the present invention is by partly being arranged on measuring system on the traveling vehicle, landform is carried out continuous coverage, height tolerance signal and gps coordinate information according to the silicon photocell that receives laser signal, generate the dimensional topography data in real time automatically, improve efficiency of measurement, reduced the measurement cost.
Fig. 8 is the flow chart of steps of on-board 3 D terrain automatic measuring method second embodiment of the present invention, and this method can comprise:
The laser beam emitting device emitted laser signal of step 801, reception preset height, the height of adjusting sounding rod and/or laser measurement receiving trap are determined reference field in the position of sounding rod;
The silicon photocell of step 802, laser measurement receiving trap receives the laser beam emitting device emitted laser signal of preset height;
The gps coordinate information of step 805, the tested point that receives according to the heave amplitude and the GPS receiving trap of height tolerance signal, sounding rod generates, shows or store the three-dimensional coordinate information of tested point;
Further, can also comprise: step 806, controller generate, show or store ground relative altitude, longitude and latitude and/or the three-dimensional land map on ground to be measured according to the three-dimensional coordinate information of a plurality of tested points.
On-board 3 D terrain automatic measuring method second embodiment of the present invention, but landform is carried out continuous coverage by the sounding rod that is arranged on the traveling vehicle, and controller is according to the lifting of the height tolerance signal automatic control survey bar of the silicon photocell that receives laser signal, can measure dimensional topography in real time automatically, generate the dimensional topography data, improve efficiency of measurement, reduced the measurement cost.
It should be noted that at last: above embodiment is only in order to technical scheme of the present invention to be described but not limit it, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that: it still can make amendment or be equal to replacement technical scheme of the present invention, and these modifications or be equal to replacement and also can not make amended technical scheme break away from the spirit and scope of technical solution of the present invention.
Claims (10)
1, a kind of on-board 3 D terrain automatic measuring system comprises: laser beam emitting device, sounding rod, GPS receiving trap, be arranged at the laser measurement receiving trap and the controller that are used to receive laser beam emitting device emission laser signal on the described sounding rod; It is characterized in that:
Described sounding rod is arranged on the traveling vehicle; Described laser measurement receiving trap comprises: the silicon photocell of a plurality of vertical distributions, a plurality of metering circuits that link to each other with each silicon photocell respectively; Described controller is connected with described laser measurement receiving trap with described GPS receiving trap respectively.
2, on-board 3 D terrain automatic measuring system according to claim 1, it is characterized in that, described controller comprises: micro treatment module, be used to store the memory module of described dimensional topography information, the load module that is used to show the display module of described dimensional topography information and is used for input control information, described memory module, display module and load module are connected with described micro treatment module respectively.
3, on-board 3 D terrain automatic measuring system according to claim 2 is characterized in that, described sounding rod comprises: elevating lever, drive the motor of described lifter rod lifting, and obtain the height measuring device of described lifter rod lifting amplitude information; Described controller also is connected with described height measuring device with described motor.
4, on-board 3 D terrain automatic measuring system according to claim 3 is characterized in that: described elevating lever comprises: outer bar and be positioned at slidably bar of described outer bar.
5, on-board 3 D terrain automatic measuring system according to claim 2 is characterized in that: described controller also comprises indicating module; Described indicating module is connected with described micro treatment module, is used to indicate the position relation of described laser measurement receiving trap and described reference field.
6, according to the arbitrary described on-board 3 D terrain automatic measuring system of claim 1-5, it is characterized in that, the silicon photocell of described a plurality of vertical distributions specifically is distributed as: 36 silicon photocells are distributed as 9 layer of 4 row, the height of 4 silicon photocells is identical in every layer, and the plane at 2 arbitrarily adjacent silicon photocell places is vertical mutually in every layer, in every row 9 silicon photocells be located at a plane or the plane that is parallel to each other on.
7, a kind of on-board 3 D terrain automatic measuring method is characterized in that, comprising:
Receive the laser beam emitting device emitted laser signal of preset height;
Pairing circuit signal of described laser signal and the reference field corresponding parameters of presetting are compared, obtain to receive the silicon photocell of described laser signal and the height tolerance signal of described reference field;
The gps coordinate information of the tested point that receives according to described height tolerance signal and GPS receiving trap generates, shows or store the three-dimensional coordinate information of tested point.
8, on-board 3 D terrain automatic measuring method according to claim 7, it is characterized in that, also comprise: the laser beam emitting device emitted laser signal that receives preset height, the height of adjusting sounding rod and/or laser measurement receiving trap obtain described default reference field in the position of sounding rod.
9, on-board 3 D terrain automatic measuring method according to claim 8, it is characterized in that: the gps coordinate information of the described tested point that receives according to described height tolerance signal and GPS receiving trap generates, shows or the three-dimensional coordinate information that stores tested point comprises:
When the height tolerance absolute value of described height tolerance signal correspondence during more than or equal to predetermined threshold value, the lifting of control survey bar is also obtained the heave amplitude of described sounding rod;
The gps coordinate information of the tested point that receives according to the heave amplitude and the GPS receiving trap of described height tolerance signal, described sounding rod generates, shows or store the three-dimensional coordinate information of tested point.
10, according to the arbitrary described on-board 3 D terrain automatic measuring method of claim 7-9, it is characterized in that, also comprise: the three-dimensional coordinate information according to a plurality of described tested points generates, shows or store ground relative altitude, longitude and latitude and/or the three-dimensional land map on ground to be measured.
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| CN102032902A (en) * | 2010-09-30 | 2011-04-27 | 大连理工大学 | Three-dimensional observation method of eroded landform |
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