CN101777189B - Method for measuring image and inspecting quantity under light detection and ranging (LiDAR) three-dimensional environment - Google Patents

Abstract

The invention relates to the technical field of mapping, in particular to a method for measuring image and inspecting quantity under the light detection and ranging (LiDAR) three-dimensional environment, comprising the following steps of: respectively manufacturing a digital surface model (DSM), a digital evaluation model (DEM) and a digital ortho image (DOM) according to multiple sensor data obtained by the LiDAR system, respectively layering and partitioning the DSM, the DEM and the DOM in advance, laminating the DSM, the DEM and the DOM to construct a three-dimensional environment, three-dimensionally measuring mark and intersecting, acquiring and cataloging digital line graphic (DLG) elements, and inspecting quality of the DLG. The invention breaks through the limitation that photogrammetric survey needs complex flow chart of data processing and professional photogrammetric survey equipment and software to construct stereopair by two photos, solves the problem that the LiDAR system directly generates the DLG products, shortens the period of DLG production by the LiDAR system, largely improves the practicability and the use value of the LiDAR system, and provides the base for the large-scale application of the LiDAR system in mapping, electricity, city planning, geology and design of road and railway.

Description

Mapping and detection method for quality under the LiDAR three-dimensional environment

Technical field

The present invention relates to technical field of mapping, relate in particular to mapping and detection method for quality under a kind of LiDAR three-dimensional environment.

Background technology

Late 1980s; Three-dimensional laser scanning technique (the LiDAR that multisensor is integrated; Light Detection And Ranging) aspect the obtaining in real time of three-dimensional geospatial information, produced important breakthrough; For obtaining the high resolving power geospatial information a kind of brand-new technology means are provided, people have been obtained from the conventional artificial one point data become continuous automaticdata and obtain, made the robotization of data processing, intellectuality become possibility.The LiDAR system generates digital terrain model (DSM fast through high-precision POS data, cloud data and image data; Digital Surface Model) and digital elevation model (DEM; Digital Evaluation Model); Automatically generate digital orthoimage (DOM on this basis; Digital Ortho Image) product has been broken the flow process that traditional photogrammetric measurement is produced the 4D product, and the spatial information that can be widely used in fields such as electric power, city planning, engineering construction, commercial production, military surveillance, mapping, highway and Railway Design obtains fast.

The advantage of LiDAR system is the directly quick production of DEM, DSM and DOM and need not any field operation control survey and aerial survey aerotriangulation processing; But for a very important product---digital linearize figure (DLG in the mapping 4D product; Digital Line Graphic) still can't directly obtain, usual way still need carry out the survey system that DLG is carried out in stereopsis according to the method for traditional aerial survey structure stereoscopic model.The method of aerial survey stereopsis has very long history; Since first stereocomparator of producing based on the stereopsis principle in 1901 occurs; Is to utilize human stereopsis visual theory to adopt the method for simulation, parsing and numeral to recover photogrammetric space multistory model respectively from analog stereoplotter, analytical stereoplotter invariably to current digital photogrammetric work station; Taken the photograph the atural object and the landforms in area through the stereoscopic model true reappearance; On three-dimensional stereo model, carry out measurement in space; Key elements such as the atural object among the digital line figure, landforms are gathered, therefore, make up the basic point of departure that stereoscopic model becomes Photogrammetric Processing based on two photos about traditional.But; Make up stereoscopic model and need complicated interior orientation, relative orientation, absolute orientation; The photogrammetric knowledge that must possess specialty; On the photogrammetric equipment and instrument of specialty, cooperate the photogrammetric software of specialty to accomplish, process is complicated and be unfavorable for non-photogrammetric professional's use having influence on the popularization of photogrammetric technology.Therefore; Utilize the production figures linearize figure of LiDAR system (DLG) product to increase the data cost of processing according to the method that traditional methods of photogrammetry makes up stereoscopic model; Can't embody the advantage of LiDAR system; For adopting this multisensor of LiDAR expensive mapping system integrated, that need not to control to lose more than gain, affect promoting the use of of LiDAR system.

Traditional aerial survey is produced DEM and need be based upon stereopsis and gather and edit on the isocontour basis; Waste time and energy; And the maximum characteristics of LiDAR system just have been to use 3 D laser scanning directly to obtain DEM, DSM and then have generated DOM fast; Therefore, be exactly DEM, DSM and DOM for the most direct product of LiDAR system.Since got access to DEM, DSM and the DOM product of being taken the photograph the zone; Then can directly utilize the principle structure three-dimensional environment of three-dimensional visualization to recover and reproduce dimensional topography and the landforms of being taken the photograph the zone; And then can directly gather and edit under three-dimensional environment but not in the space three-dimensional model that photogrammetric stereogram makes up landform and landforms; Can reduce the professional equipment of structure stereoscopic model and the input of professional software on the one hand, on the other hand, need not the stereopsis glasses support of specialty; The personnel of non-photogrammetric specialty can directly extract its information of interest through mouse; Utilize the personnel of aerial survey stereoscopic model not need the photogrammetric knowledge background of specialty for Electric Design personnel, urbanist, sand smeller, military and intelligence agent and other are non-professional, carry out Photogrammetric Processing work very easily, reduce the threshold of photogrammetric work; Shorten the cycle that the LiDAR system produces DLG, improve LiDAR system availability and use value greatly.

Summary of the invention

The purpose of this invention is to provide mapping and detection method for quality under a kind of LiDAR three-dimensional environment; To carry out fast browsing, roaming and the three-dimensional standard of surveying; In three-dimensional environment, carry out three-dimensional measuring and tracking, carry out information acquisitions such as digital linearize figure atural object, landform and landforms.

For achieving the above object, the present invention adopts following technical scheme:

(1) multi-sensor data that obtains according to the LiDAR system is made digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM respectively;

(2) respectively digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are carried out the hierarchical block pre-service; In the said step (2) digital terrain model DSM, digital elevation model DEM are carried out pretreated step and further comprise following substep:

1. DSM, DEM being read from file, is the longitude and latitude geographic coordinate with altitude figures by the Gauss projection coordinate conversion;

2. through traversal, calculate the geographic range of DSM, DEM to DSM, DEM altitude figures;

3. 0 grade of sizing grid of DSM, DEM hierarchical block, number of levels and the outgoing route that need export are set;

4. the rank of confirming according to the DSM, DEM cutting parameter of input, the geographic range of altitude figures are calculated the ranks number and the scope at each section place, and are calculated each section file name and the store path after the cutting in view of the above;

5. according to the row of each section file, the altitude figures in the row interpolation calculation section file, interpolation calculation adopts anti-distance weighting elevation interpolation model, as shown in the formula:

$H(x_0,y_0)=\frac{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/d_i^{2}H(x_i,y_i)}{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/d_i^2}$

$d_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2}$

In the formula, x ₀, y ₀And H (x ₀, y ₀) expression interpolation point coordinate and interpolation elevation, x _i, y _iAnd H (x _i, y _i) expression participates in the spot elevation coordinate and the elevation of interpolation calculation, generally gets four spot elevations on every side, d _iDistance between the spot elevation of expression interpolation point and participation interpolation calculation;

6. 5. calculate the height value of each section according to step one by one, export with the Bil file;

In the said step (2) digital orthoimage DOM is carried out pretreated step and further comprises following substep:

1. convert DOM into the longitude and latitude geographic coordinate by the Gauss projection coordinate system;

2. obtain the geographic range of DOM image;

3. be provided with the DOM hierarchical block 0 grade of sizing grid, need height, the width of number of levels, outgoing route and the image output of output;

4. calculate under each output rank and export sizing grid;

5. calculate DOM hierarchical block output ranks in the world according to sizing grid under DOM image capturing range and each rank and count scope;

6. be expert at, each section grid of traversal in the row scope, according to each section grid scope from original DOM image from the output slice image, and save as PNG or JPG form;

(3) pretreated digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are superposeed, make up three-dimensional environment;

(4) with mark geographic element is cut standard;

(5) digital linearize figure DLG key element is gathered and edited; In three-dimensional environment, utilize three-dimensional mark that the geographic element of needs collection is cut standard one by one; After obtaining geographic element coordinate to be collected; Add this geographic element according to the DLG constituent encoder in data centralization, and draw the demonstration geographic element with its corresponding symbol;

(6) the digital linearize figure DLG after gathering and editing is carried out quality check.

Said step (1) further comprises following substep:

1. obtain LiDAR system flow station gps data, unite with the base station gps data and carry out the dynamic carrier phase difference and resolve, obtain the dynamic locator data of carrier;

2. GPS difference positioning result and IMU data input card Thalmann filter are carried out integrated processing, obtain the high-precision Kinematic Positioning of LiDAR system and decide the appearance data;

3. utilize LiDAR system calibration parameter that carrier is decided the appearance data and calculate three-dimensional laser scanner center and digital camera center, obtain the elements of exterior orientation of laser scanner and digital camera;

4. the cloud data that the LiDAR system is obtained is united according to the 3 D laser scanning measuring principle and is resolved, and obtains the volume coordinate of each some cloud, as shown in the formula:

In the formula, X ₀, Y ₀, Z ₀The position of expression laser scanning dot center, ω, κ are the attitude parameter of platform normal, calculate that by GPS and the integrated result of IMU β representes the angle of each scan laser point and platform normal, and three-dimensional laser scanner is exported when each point of output simultaneously, and R is each laser scanning point range finding result;

5. a cloud is carried out Filtering Processing and classification, obtain digital terrain model DSM and digital elevation model DEM;

6. utilize the elements of exterior orientation of the dem data, high resolution image data and the digital camera that generate to carry out orthorectify, obtain digital orthoimage DOM according to photogrammetric principle.

Said step (6) further comprises following substep:

The examine numeral linearize figure that 1. will gather and edit plays up with line symbol according to the key element regulation, and background is a white;

2. calculate the geographic range of examine DLG, parameters such as output level, outgoing route are set;

The digital linearize figure that 3. will play up according to the identical mode of DOM output divides block-grading to be output as picture file according to 512 * 512 sizes;

4. stack shows the rasterizing numeral linearize figure that section is exported in three-dimensional environment;

5. the situation that meets of check dight linearize figure and landform, atural object determines whether that needs make amendment to digital line figure key element.

The present invention has the following advantages and good effect:

1) breaks through the photogrammetric flow chart of data processing and the photogrammetric equipment of specialty and the limitation of software that passes through two photos structure stereograms need be loaded down with trivial details, solved the problem of digital linearize figure (DLG) product of LiDAR system Direct Production;

2) shorten the cycle that the LiDAR system produces DLG, improve LiDAR system availability and use value greatly, lay the foundation for the LiDAR systematic large-scale is applied to mapping, electric power, city planning, geology and road and rail design.

Description of drawings

Fig. 1 is the process flow diagram of mapping and detection method for quality under the LiDAR three-dimensional environment of the present invention.

Fig. 2 is that DSM, DEM, DOM make process flow diagram in the LiDAR of the present invention system.

Fig. 3 is the pyramid classification block diagram of landform of the present invention and image.

Fig. 4 is a landform microsection manufacture process flow diagram of the present invention.

Fig. 5 is that DOM tile of the present invention is made process flow diagram.

Fig. 6 is the three-dimensional mark synoptic diagram of centrum of the present invention.

Fig. 7 is the DLG inspection method process flow diagram that the present invention is based on three-dimensional environment.

Embodiment

Combine accompanying drawing that the present invention is described further with specific embodiment below:

Mapping and detection method for quality under the LiDAR three-dimensional environment provided by the invention, the technical scheme below concrete the employing, figure is as shown in Figure 1 for its overall flow, and this technical scheme specifically may further comprise the steps:

Step S1: the multi-sensor data according to the LiDAR system obtains is made digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM respectively;

This step further comprises following substep, and it realizes that specifically details is as shown in Figure 2:

1. obtain LiDAR system flow station gps data, unite with the base station gps data and carry out the dynamic carrier phase difference and resolve, obtain the dynamic locator data of carrier;

2. GPS difference positioning result and IMU data input card Thalmann filter are carried out integrated processing, obtain the high-precision Kinematic Positioning of LiDAR system and decide the appearance data;

3. utilize LiDAR system calibration parameter that carrier is decided the appearance data and calculate three-dimensional laser scanner center and digital camera center, obtain the elements of exterior orientation of laser scanner and digital camera;

4. the cloud data that the LiDAR system is obtained is united according to the 3 D laser scanning measuring principle and is resolved, and obtains the volume coordinate of each some cloud, suc as formula (1),

In the formula, X ₀, Y ₀, Z ₀The position of expression laser scanning dot center,

ω, κ are the attitude parameter of platform normal, calculate by GPS and the integrated result of IMU; β representes the angle of each scan laser point and platform normal, and three-dimensional laser scanner is exported when each point of output simultaneously, and R is each laser scanning point range finding result.

5. a cloud is carried out Filtering Processing and classification, obtain digital terrain model DSM and digital elevation model DEM;

6. utilize the elements of exterior orientation of the dem data, high resolution image data and the digital camera that generate to carry out orthorectify, obtain digital orthoimage DOM according to photogrammetric principle.

Step S2: respectively digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are carried out the hierarchical block pre-service;

For large-scale LiDAR mapping and application, no matter be DSM, DEM or DOM, resolution is high, and data volume is big, in order to realize 3 D stereo scene effective display and the operation to big data quantity, need carry out the hierarchical block pre-service to DSM, DEM and DOM.

Graticule mesh hierarchical block pyramid models such as quaternary tree are adopted in the hierarchical block pre-service of DSM, DEM and DOM, and are as shown in Figure 3.

Use the earth global map of WGS84 projection to be example with a width of cloth,, this width of cloth image is divided into 50 sections at 0 figure layer; Each piece image span is 36 ° * 36 °, and figure layer 1 improves 4 times resolution on the basis of figure layer 0 image, that is to say for same image; It is divided into 18 ° * 18 ° fragment; Therefore produce the tile of 200 block messages, at figure layer 2, resolution is brought up to and is contained 800 9 ° * 9 ° tile; Figure layer 3 just 4.5 ° * 4.5 ° and contain 3200 blocks of tiles, by that analogy.

Fig. 4 shows the hierarchical block pre-service to DSM, dem data, and it comprises following substep:

1. DSM, DEM read from file, are the longitude and latitude geographic coordinate with altitude figures by the Gauss projection coordinate conversion;

2. through traversal, calculate the geographic range of DSM, DEM to DSM, DEM altitude figures;

3. 0 grade of sizing grid of DSM, DEM hierarchical block, number of levels and the outgoing route that need export are set;

4. the rank of confirming according to the DSM, DEM cutting parameter of input, the geographic range of altitude figures are calculated the ranks number and the scope at each section place, and are calculated each section file name and the store path after the cutting in view of the above;

5. according to the row of each section file, the altitude figures in the row interpolation calculation section file, interpolation calculation adopts anti-distance weighting (IDW) elevation interpolation model, suc as formula (2),

$H(x_0,y_0)=\frac{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/d_i^{2}H(x_i,y_i)}{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/d_i^2}---\left(2\right)$

$d_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2}$

In the formula, x ₀, y ₀And H (x ₀, y ₀) expression interpolation point coordinate and interpolation elevation, x _i, y _iAnd H (x _i, y _i) expression participates in the spot elevation coordinate and the elevation of interpolation calculation, generally gets four spot elevations on every side, d _iDistance between the spot elevation of expression interpolation point and participation interpolation calculation.

6. 5. calculate the height value of each section according to step one by one, export with the Bil file.

Fig. 5 shows the hierarchical block pre-service to the DOM data, and it comprises following substep:

1. DOM is converted under the longitude and latitude geographic coordinate by the Gauss projection coordinate system;

2. obtain the geographic range of DOM image;

3. be provided with the DOM hierarchical block 0 grade of sizing grid, need height, the width of number of levels, outgoing route and the image output of output;

4. calculate under each output rank and export sizing grid;

5. calculate DOM hierarchical block output ranks in the world according to sizing grid under DOM image capturing range and each rank and count scope.

The difference of 0 layer of sizing grid is set, and it is different can causing the same DOM image ranks scope of counting in the world.Count scope in order to calculate its ranks in the world, calculate earlier according to each sizing grid under formula (3) the output rank.

$S_i=\frac{S_0}{2^i}---\left(3\right)$

In the formula, S ₀Be 0 layer of sizing grid, S _iBe i layer sizing grid.

Calculate image ranks in the world according to image capturing range and the size of exporting each grid under the rank then and count scope.Calculate line range, row range computation suc as formula (4), (5).

$L_{\max }=\frac{|-90-Y\min |}{S_i},$ $L_{\min }=\frac{|-90-Y\max |}{S_i}---\left(4\right)$

$C_{\max }=\frac{|-90-X\min |}{S_i},$ $C_{\min }=\frac{|-90-X\max |}{S_i}---\left(5\right)$

In the formula, L _Max, L _MinThe scope of representing row respectively, Y _Max, Y _MinThe geographic range of expression latitude; C _Max, C _MinThe scope of representing row respectively, X _Max, X _MinThe geographic range of expression longitude.

6. be expert at, each section grid of traversal in the row scope, according to each section grid scope from original DOM image from the output slice image, and save as PNG or JPG form.

Step S3: digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are superposeed, make up three-dimensional environment;

Data organization according to the Nasa World Wind that increases income requires configuration ground shape file and pyramid image file parameters; And with DSM, DEM and DOM hierarchical block section file according to World Wind landform and image file structure organization storage, start that the 3 D stereo software for display can call the ground shape file automatically and image file makes up three-dimensional environment automatically.

Step S4: three-dimensional mark is cut standard;

The standard of cutting three-dimensional mark has adopted a digital three-dimensional taper stereoscopic model to imitate traditional field operation and has measured the digital mark in mark and the digital photogrammetric work station, reaches the purpose of cutting accurate atural object with mark through the operation (translation up and down, height adjustment etc.) to three-dimensional model under three-dimensional environment.Concrete substep is following:

1. in 3D Max, make a three-dimensional taper stereoscopic model according to Fig. 6, in the 3 D stereo software for display, load this model, be three-dimensional environment and add a mark based on three-dimensional model.

2. through driving position and the elevation of mouse and KeyEvent this solid mark of adjustment in three-dimensional environment, observe the change color state of mark bottom, can judge:

A) if the mark bottom is green high-visible, show that mark is suspended on the atural object, do not cut accurate atural object, need to reduce mark to cut accurate atural object;

B) if a mark bottom visible blue, show the mark atural object the inside of submerging, do not cut accurate atural object, need raise mark to cut accurate atural object;

C), show that mark cuts accurate atural object if the green invisible but red color visible in mark bottom.

The length of red area depends on plotting accuracy, can make the size that different marks is cut accurate zone according to plotting accuracy.

3. after cutting accurate atural object through observation mark state interpretation mark, adopt mouse to double-click or the right button affirmation, obtain the position and the elevation at mark red area place this moment.

Step S5: digital linearize figure DLG key element is gathered and edited;

It mainly is in the three-dimensional environment that step 3 makes up, to utilize the three-dimensional mark of step 4 design that the geographic element of needs collection is cut standard that numeral linearize figure DLG key element is gathered and edited; After obtaining key element geographic coordinate to be collected; Adding in data centralization according to the DLG constituent encoder should geography, and draws the demonstration key element with its corresponding symbol.

Key elements such as the atural object of in three-dimensional environment, stipulating, landform, atural object with three-dimensional mark collection DLG; Cut accurate key element height value for each and get mark and cut the height value in the middle of the accurate zone, and with the synchronous two-dimensional map control of three-dimensional environment in draw key element.Can set a fixing elevation tracking mark according to the level line height value and accomplish isocontour gathering and editing.

Step S6: digital linearize figure DLG quality check;

Numeral linearize figure DLG quality check is carried out rasterizing to the vector format DLG that has has gathered and edited according to the requirement of transparent print layer under the three-dimensional environment and is played up output; Partitioned mode is according in the step 2 the DOM piecemeal being exported identical mode; Thereby can be under three-dimensional environment directly show, and then check the DLG quality of gathering and editing with DOM, DEM and DSM stack.

Fig. 7 shows in the digital linearize figure DLG inspection method of three-dimensional environment to having gathered and edited, and specifically comprises following substep:

1. the examine numeral linearize figure that has has gathered and edited plays up with line symbol according to the key element regulation, and background is a white;

2. calculate the geographic range of examine DLG, parameters such as output level, outgoing route are set;

The digital linearize figure that 3. will play up according to the identical mode of DOM output divides block-grading to be output as picture file (PNG or JPG form) according to 512 * 512 sizes;

4. stack shows the rasterizing numeral linearize figure that section is exported in three-dimensional environment;

5. the situation that meets of check dight linearize figure and landform, atural object determines whether that needs make amendment to digital line figure key element.

Ultimate principle of the present invention is that the three-dimensional environment of DSM, DEM and DOM rapidly constructing three-dimensional that utilizes LiDAR to obtain recovers and reproduce true three-dimension landform and the landforms of being taken the photograph the zone when photographing; And then can directly gather and edit under three-dimensional environment but not in the space three-dimensional model that photogrammetric stereogram makes up landform and landforms; Wherein quicken the efficient that three-dimensional environment shows and operates, and replace three-dimensional mark to implement digital linearize figure key element and gather and edit and quality check in three-dimensional environment incision standard target with the taper stereoscopic model of three kinds of status indicators through the pyramid model tissue of DSM, DEM and DOM being taked hierarchical block.

Claims (3)

1. mapping and detection method for quality under the LiDAR three-dimensional environment is characterized in that, may further comprise the steps:

(1) multi-sensor data that obtains according to the LiDAR system is made digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM respectively;

(2) respectively digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are carried out the hierarchical block pre-service; In the said step (2) digital terrain model DSM, digital elevation model DEM are carried out pretreated step and further comprise following substep:

1. DSM, DEM being read from file, is the longitude and latitude geographic coordinate with altitude figures by the Gauss projection coordinate conversion;

2. through traversal, calculate the geographic range of DSM, DEM to DSM, DEM altitude figures;

3. 0 grade of sizing grid of DSM, DEM hierarchical block, number of levels and the outgoing route that need export are set;

4. the rank of confirming according to the DSM, DEM cutting parameter of input, the geographic range of altitude figures are calculated the ranks number and the scope at each section place, and are calculated each section file name and the store path after the cutting in view of the above;

5. according to the row of each section file, the altitude figures in the row interpolation calculation section file, interpolation calculation adopts anti-distance weighting elevation interpolation model, as shown in the formula:

$H(x_0,y_0)=\frac{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/{d_i}^{2}H(x_i,y_i)}{\underset{i-1}{\overset{N}{\mathrm{\Σ}}}1/{d_i}^2}$

$d_i=\sqrt{{(x_i-x_0)}^2+{(y_i-y_0)}^2}$

In the formula, x ₀, y ₀And H (x ₀, y ₀) expression interpolation point coordinate and interpolation elevation, x _i, y _iAnd H (x _i, y _i) expression participates in the spot elevation coordinate and the elevation of interpolation calculation, gets four spot elevations on every side, d _iDistance between the spot elevation of expression interpolation point and participation interpolation calculation;

6. 5. calculate the height value of each section according to step one by one, export with the Bil file;

In the said step (2) digital orthoimage DOM is carried out pretreated step and further comprises following substep:

1. convert DOM into the longitude and latitude geographic coordinate by the Gauss projection coordinate system;

2. obtain the geographic range of DOM image;

3. be provided with the DOM hierarchical block 0 grade of sizing grid, need height, the width of number of levels, outgoing route and the image output of output;

4. calculate under each output rank and export sizing grid;

5. calculate DOM hierarchical block output ranks in the world according to sizing grid under DOM image capturing range and each rank and count scope;

6. be expert at, each section grid of traversal in the row scope, from original DOM image output slice image, and save as PNG or JPG form according to each section grid scope;

(3) pretreated digital terrain model DSM, digital elevation model DEM, digital orthoimage DOM are superposeed, make up three-dimensional environment;

(4) with mark geographic element is cut standard;

(5) digital linearize figure DLG key element is gathered and edited; In three-dimensional environment, utilize three-dimensional mark that the geographic element of needs collection is cut standard one by one; After obtaining geographic element coordinate to be collected; Add this geographic element according to the DLG constituent encoder in data centralization, and draw the demonstration geographic element with its corresponding symbol;

(6) the digital linearize figure DLG after gathering and editing is carried out quality check.

2. mapping and detection method for quality under the LiDAR three-dimensional environment according to claim 1 is characterized in that, said step (1) further comprises following substep:

1. obtain LiDAR system flow station gps data, unite with the base station gps data and carry out the dynamic carrier phase difference and resolve, obtain the dynamic locator data of carrier;

2. GPS difference positioning result and IMU data input card Thalmann filter are carried out integrated processing, obtain the high-precision Kinematic Positioning of LiDAR system and decide the appearance data;

3. utilize LiDAR system calibration parameter that carrier is decided the appearance data and calculate three-dimensional laser scanner center and digital camera center, obtain the elements of exterior orientation of laser scanner and digital camera;

4. the cloud data that the LiDAR system is obtained is united according to the 3 D laser scanning measuring principle and is resolved, and obtains the volume coordinate of each some cloud, as shown in the formula:

In the formula, X ₀, Y ₀, Z ₀The position of expression laser scanning dot center,

ω, κ are the attitude parameter of platform normal, calculate that by GPS and the integrated result of IMU β representes the angle of each scan laser point and platform normal, and three-dimensional laser scanner is exported when each point of output simultaneously, and R is each laser scanning point range finding result;

5. a cloud is carried out Filtering Processing and classification, obtain digital terrain model DSM and digital elevation model DEM;

6. utilize the elements of exterior orientation of the dem data, high resolution image data and the digital camera that generate to carry out orthorectify, obtain digital orthoimage DOM according to photogrammetric principle.

3. mapping and detection method for quality under the LiDAR three-dimensional environment according to claim 1 is characterized in that, said step (6) further comprises following substep:

The examine numeral linearize figure that 1. will gather and edit plays up with line symbol according to the key element regulation, and background is a white;

2. calculate the geographic range of examine DLG, output level, outgoing route parameter are set;

The digital linearize figure that 3. will play up according to the identical mode of DOM output divides block-grading to be output as picture file according to 512 * 512 sizes;

4. stack shows the rasterizing numeral linearize figure that section is exported in three-dimensional environment;

5. the situation that meets of check dight linearize figure and landform, atural object determines whether that needs make amendment to digital line figure key element.

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