CN103837130A - Data processing method and device used for airborne laser scanning system - Google Patents
Data processing method and device used for airborne laser scanning system Download PDFInfo
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- CN103837130A CN103837130A CN201210478558.1A CN201210478558A CN103837130A CN 103837130 A CN103837130 A CN 103837130A CN 201210478558 A CN201210478558 A CN 201210478558A CN 103837130 A CN103837130 A CN 103837130A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a data processing method used for an airborne laser scanning system, the method comprises the steps of: A, GPS (Global Positioning System) data acquisition and validity check of GPS data according to a first condition; B, IMU (inertial measurement unit) data acquisition of and validity check of IMU data according to a second condition; C, use of an integration software for integration of the GPS data, the IMU data and laser scanning data by a batch program and a script program to obtain final point cloud; and D, assessment and analysis of the final point cloud according to a first marker and a second marker. The invention also relates to a data processing device used for the airborne laser scanning system, the data processing method and device used for the airborne laser scanning system are capable of performing automatic processing and validity monitoring on airborne laser scanning system data, and a lot of time and manpower are saved.
Description
Technical field
The present invention relates to data processing field, more particularly, relate to a kind of data processing method and device that the data of airborne laser scanning system is carried out to processing automatically.
Background technology
Airborne laser scanning system (ALS, Airborne LASER Scanning system) comprises the unit of a series of precisions, thereby obtains the structure analysis of corresponding geographical reference point clouds for geographical appearance by the data of unit are integrated.General airborne laser scanning system comprise be arranged on carry-on scanning laser detection and range cells (Scanning Light Detection And Ranging(LiDAR)), GLONASS (Global Navigation Satellite System) (GNSS, Global Navigation Satellite System) receiving element and Inertial Measurement Unit (IMU, inertial measurement unit).Conventionally airborne laser scanning system also comprises the GNSS receiving element of the ground reference for carrying out relative positioning.Each unit, in their coordinate systems separately, generates corresponding data with different sampling rates, the geographic reference point cloud that the integrated rear generation of these data is above-mentioned.
Along with the fast development of technology, the hardware performance in ALS is greatly improved, and for example, the laser pulse of scanning laser detection and range cells is stronger, the data sampling rate of GNSS and IMU is higher and the waveform digitization of laser return pulse.And Data Integration between unit need to be realized by multiple software, concrete integration process as depicted in figs. 1 and 2, Fig. 1 is the process flow diagram of the data processing of existing airborne laser scanning system, and Fig. 2 is the particular flow sheet of the data processing of existing airborne laser scanning system.Specifically comprise:
In whole data handling procedure, due to the otherness between each process software, need manually software output data to be assessed to monitoring, cause need to expending a large amount of time and manpower from the raw data of each unit to forming final geographic reference point cloud.
Therefore, be necessary to provide a kind of data processing method for airborne laser scanning system and device, to solve the existing problem of prior art.
Summary of the invention
The technical problem to be solved in the present invention is, need to export data to software for the data processing of airborne laser scanning system of the prior art monitors, cause expending a large amount of time and manpower, provide a kind of data to airborne laser scanning system automatically to process, time saving and energy saving data processing method and device.
The technical solution adopted for the present invention to solve the technical problems is: the present invention relates to a kind of data processing method for airborne laser scanning system, it comprises step:
A, obtain the gps data of described airborne laser scanning system, and according to first condition, described gps data is carried out to validation checking, the described gps data that does not meet described first condition is carried out to the first mark;
B, obtain the IMU data of described airborne laser scanning system, and according to second condition, described IMU data are carried out to validation checking, the described IMU data that do not meet described second condition are carried out to the second mark;
C, by batch program and shell script, use integration software to integrate described gps data, described IMU data and laser scanning data, obtain sink node cloud; And
D, according to described the first mark and described the second mark, described sink node cloud is assessed and analyzed.
In the data processing method for airborne laser scanning system of the present invention, at integration software described in step C, described gps data is integrated and obtained DGPS data, the described data processing method for airborne laser scanning system also comprises the quality of described DGPS data is added up, and according to statistics, described sink node cloud is assessed and is analyzed.
In the data processing method for airborne laser scanning system of the present invention, set described first condition according to the number of satellite of the time interval of adjacent described gps data and the described gps data of generation.
In the data processing method for airborne laser scanning system of the present invention, according to the time interval of adjacent described IMU data, and in described IMU data, linear acceleration and the angular velocity of aircraft is set described second condition.
In the data processing method for airborne laser scanning system of the present invention, describedly set described second condition according to the linear acceleration of aircraft in described IMU data and angular velocity and be specially: change and wide-angle variations rate is set described second condition according to the maximum angular of aircraft, wherein the computing formula of wide-angle variations rate is:
LACR=n*100/Count；
Wherein n is the quantity that meets the epoch of the described IMU data of Article 3 part, and Count is sum epoch of described IMU data;
Described Article 3 part is:
Mean-1.645*Std<ChangeAngle<Mean+1.645*Std；
Wherein ChangeAngle is the attitude change angle of aircraft in each epoch, the mean value that Mean is all ChangeAngle, the standard deviation that Std is all ChangeAngle.
In the data processing method for airborne laser scanning system of the present invention, before described steps A, also comprise step:
Input the parameter of described integration software by user interface to generate described batch program and shell script.
In the data processing method for airborne laser scanning system of the present invention, after described step D, also comprise: if the assessment result in step D is for need to reintegrate data, revise after the parameter of described integration software by described user interface input, part or all of described batch program and shell script are reruned, use described integration software to integrate and obtain amended sink node cloud described gps data, described IMU data and laser scanning data.
In the data processing method for airborne laser scanning system of the present invention, as the invalid parameters of integration software as described in judging, point out user to re-enter.
In the data processing method for airborne laser scanning system of the present invention, the described data processing method for airborne laser scanning system also comprises step:
According to the data volume of the parameter of described integration software and input, the disk space of needs is estimated, as the disk space of estimation exceeds effective disk space, user is reported to the police.
The invention still further relates to a kind of data processing equipment for airborne laser scanning system, it comprises:
The first validation checking unit, for obtaining the gps data of described airborne laser scanning system, and carries out validation checking according to first condition to described gps data, and the described gps data that does not meet described first condition is carried out to the first mark;
The second validation checking unit, for obtaining the IMU data of described airborne laser scanning system, and carries out validation checking according to second condition to described IMU data, and the described IMU data that do not meet described second condition are carried out to the second mark;
Data Integration unit, for by batch program and shell script, uses integration software to integrate described gps data, IMU data and laser scanning data, obtains sink node cloud; And
Output unit, for assessing described sink node cloud output and analyze.
Implement the data processing method for airborne laser scanning system of the present invention and device, there is following beneficial effect: can carry out automatically processing and validity monitoring to the data of airborne laser scanning system, save a large amount of time and manpower, avoided original data processing method for airborne laser scanning system and device to form final geographical reference point clouds and need to expend a large amount of time and the technical matters of manpower.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the process flow diagram of the data processing of existing airborne laser scanning system;
Fig. 2 is the particular flow sheet of the data processing of existing airborne laser scanning system;
Fig. 3 is the process flow diagram of the data processing method for airborne laser scanning system of the present invention;
Fig. 4 is the particular flow sheet of the data processing method for airborne laser scanning system of the present invention;
Fig. 5 is the histogram that the Qx of each data acquisition bar of the data processing method data acquisition air strips Quality Map for airborne laser scanning system of the present invention leads.
embodiment
In order to make object of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
Please refer to Fig. 3 and Fig. 4, Fig. 3 is the process flow diagram of the data processing method for airborne laser scanning system of the present invention, and Fig. 4 is the particular flow sheet of the data processing method for airborne laser scanning system of the present invention.This data processing method that is used for airborne laser scanning system starts from:
According to Fig. 4, above step is specifically described below:
In step 301, user inputs the parameter of integration software by user interface, wherein integration software comprises that GPS process software (as GrafNav etc.), IMU data processing software (as IPAS Pro etc.) and some cloud generate software (as ALS Post Processor etc.), after user clicks and starts, method of the present invention can judge that whether the parameter of integration software of input is effective, can point out user to re-enter the parameter of integration software as invalid.Obtain subsequently the configuration of computer hardware, estimate computing time, so that user's reasonable arrangement running time.Free disk space can not used at run duration in order to ensure computing machine, the present invention also can be according to the data volume of the parameter of integration software and input, estimate existing free disk space and the free disk space needing, as the free disk space of needs exceeds existing free disk space, user is reported to the police.
Create and generate batch program and shell script according to the parameter of above-mentioned integration software subsequently.The data processing step such as the executing data extraction successively of this batch program and shell script, gps data conversion, DGPS processing, GPS and IMU Data Integration, SBET conversion and the generation of some cloud.Carry out subsequently batch program and shell script, confirm output and the QA(Quality Assurance generating, quality guarantee simultaneously) data.
The batch program here and shell script can be used to automatically control and end data treatment step, and wherein batch program needs VBS shell script for guiding relevant executable file and calling.VBS shell script is used for the state of control system, such as mobile cursor, input parameter and selection algorithm etc.
In step 302, obtain the gps data of airborne laser scanning system, and according to first condition, gps data is carried out to validation checking, the gps data that does not meet first condition is carried out to the first mark.First condition is set according to the number of satellite of the time interval of adjacent gps data and generation gps data.
Because airborne laser scanning system has some highstrung parts, and this system is worked (as an aircraft with certain altitude, fast moving under a relative rugged environment, and there is sometimes unsettled situation), the number of satellite that therefore needs continuity (being the time interval of adjacent gps data) by gps data and produce gps data is judged the stability of system.
Detect index (continuity of gps data) for first, in the time making trajectory diagram, must carry out interpolation filling to the gps data with the time interval, as the time interval between gps data crosses the integration of calculating, gps data and the IMU data of conference on DGPS data and the significantly impact of generation generation of some cloud, therefore as excessive in the time interval between gps data, the some cloud that appropriate section generates should carry out the first mark and note with prompting user.The time interval of gps data checks and can after gps data has extracted, carry out at once, and the time interval checks and the acquisition rate of gps data is compatible, for example, if the frequency acquisition of gps data is 1Hz, the gps data that writing time, interval was greater than 1 second.
Detect the index number of satellite of gps data (produce) for second, generally speaking, need the data of at least four satellites could obtain the clocking error of comparatively accurate GPS location (longitude, latitude and highly) and common disposal route.Receive more than the data of four satellites and can obtain redundant data, the estimation that more redundant datas can make parameter value more accurately and reliably.More satellites for locating mean the quality of data of better GPS, and therefore the method for the quality of the par detection gps data of the satellite of employing generation gps data is simple and effective.As very few in the par of satellite that produces gps data, the some cloud that appropriate section generates should carry out the first mark and note with prompting user.
In step 303, obtain the IMU data of described airborne laser scanning system, and according to second condition, described IMU data are carried out to validation checking, the described IMU data that do not meet described second condition are carried out to the second mark.Second condition is according to the time interval of adjacent IMU data, and in IMU data, linear acceleration and the angular velocity of aircraft is set.
The decision method in the continuity of the IMU data here or the time interval of adjacent IMU data is identical with the successional decision method of gps data, specifically referring to the successional decision method of above-mentioned gps data.As excessive in the time interval between IMU data, the some cloud that appropriate section generates should carry out the second mark and note with prompting user.
Detection to gps data and IMU data validity can be as shown in table 1, the wherein not free interval of gps data, IMU data only have a very little time interval, and average nearly 9 of the number of satellite that produces gps data, therefore the quality of this gps data and IMU data (being validity) is higher.
Table 1
First epoch of opening from IMU, linear acceleration and the angular velocity of IMU data file storage IMU, the integration of acceleration and angular velocity provide with first epoch in position and the attitude of aircraft.Because the change of these positions and attitude is to be mutually related, the accuracy of the data that therefore IMU produces can not well be determined.Under normal conditions, aircraft is all to change its flight path in a kind of relatively level and smooth mode, and the large variation of any acceleration or unsettled variation all will cause noise data or disadvantageous operating conditions.Therefore should carry out the second mark for the some cloud of issuable poor quality notes with prompting user.
Be specially according to the linear acceleration of aircraft in IMU data and angular velocity setting second condition: change (MAC according to the maximum angular of aircraft, maximum angular change) and wide-angle variations rate (LACR, large angular change rate) setting second condition, the validity that uses the IMU data of this two data statistics aircraft roll (roll), underriding (pitch) and the three kinds of flight attitudes in course (heading), wherein the computing formula of wide-angle variations rate is:
LACR=n*100/Count；
Wherein n is the quantity that meets the epoch of the IMU data of Article 3 part, and Count is sum epoch of IMU data;
Mean-1.645*Std<ChangeAngle<Mean+1.645*Std；
Wherein ChangeAngle is that the attitude of aircraft relatively last epoch in each epoch changes angle, the mean value that Mean is all ChangeAngle, the standard deviation that Std is all ChangeAngle.
Table 2 is the example of maximum angular variation, average angle variation, standard deviation and the wide-angle variations rate of various flight attitudes.
Table 2
In step 304, by batch program and shell script, use integration software to integrate gps data, IMU data and laser scanning data, obtain sink node cloud.Comprising the gps data that uses GPS process software (as GrafNav etc.) conversion GNSS receiving element, be converted to the reference base station data of GPB form and the aircraft data of GPB form, use GPS process software (as GrafNav etc.) to process the data of the GPB form after conversion and obtain DGPS data, and use IMU data processing software (as IPAS Pro etc.) to process the data of IMU, and data and DGPS data to IMU are integrated.In the time that integration software obtains DGPS data to the gps data of GPB form is integrated, notebook data disposal route is also added up the quality of DGPS data, and according to statistics, sink node cloud is assessed and analyzed.
The data of for example, GPB form after using GrafNav to conversion are processed and are obtained DGPS data, and GrafNav can provide a qualitative index Qx for the quality of each GPS DGPS epoch data is described.The quality of the DGPS data after calculating can be classified by the precision of table 3, and wherein the x in Qx is larger, illustrates that the precision of DGPS data representation is lower, is also that the quality of DGPS data is lower.
Table 3
An independent flight may comprise multiple data acquisition air strips that connect in turn, in the handoff procedure of data acquisition air strips, laser scanning system is closed, therefore the DGPS data in handoff procedure are unessential, here add up the DGPS data in each data acquisition bar with same quality index Qx, number percent in each data acquisition bar in all DGPS data, obtains corresponding Qx and leads.As shown in Fig. 5 and table 4, Fig. 5 is the histogram that the Qx of the each data acquisition bar of the data processing method for airborne laser scanning system of the present invention leads, and table 4 is the tables of data leading with the corresponding Qx of Fig. 5.The Qx that there is shown 18 data pick-up slips leads, wherein most data acquisition bar all has the DPGS data of high-quality, only has the inferior quality of the DGPS data of the 8th data pick-up slip, and it is only 63.7% that its Q1 leads, next is the 12nd data pick-up slip, and it is 90.1% that its Q1 leads.User can analyze the generation reason of above-mentioned poor DPGS data, obtains final satisfied data processed result to make up.
Table 4
In step 305, according to described the first mark and described the second mark, described sink node cloud is assessed and analyzed, as user to the assessment result of sink node cloud for need to reintegrate data, user can input the parameter of revising described integration software by user interface, remove after corresponding mark, part or all of described batch program and shell script are reruned, use described integration software to integrate and obtain amended some cloud described gps data, described IMU data and laser scanning data.User can modify to obtain satisfied sink node cloud to a cloud by the way always.Can be as required when user is reruned from the centre step of batch program and shell script, and do not needed to rerun, can further save like this data processing time.
The invention still further relates to a kind of data processing equipment for airborne laser scanning system, comprising the first validation checking unit, the second validation checking unit, Data Integration unit and output unit.Wherein the first validation checking unit is used for obtaining the gps data of described airborne laser scanning system, and according to first condition, described gps data is carried out to validation checking, and the described gps data that does not meet described first condition is carried out to the first mark; The second validation checking unit is used for obtaining the IMU data of described airborne laser scanning system, and according to second condition, described IMU data is carried out to validation checking, and the described IMU data that do not meet described second condition are carried out to the second mark; Data Integration unit, for by batch program and shell script, uses integration software to integrate described gps data, IMU data and laser scanning data, obtains sink node cloud; Output unit is for assessing described sink node cloud output and analyze.
In sum, the data processing method for airborne laser scanning system of the present invention and device carry out data processing by user interface, batch program and shell script automatically, have saved processing time and manpower consumption.In data handling procedure, adopt multiple indexs to carry out quality or validity monitoring to the data that produce in processing procedure, and problematic some cloud carried out to mark in time, can make correct analysis judgement to make finally to detect user.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure transformation that utilizes instructions of the present invention and accompanying drawing content to do, or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. for a data processing method for airborne laser scanning system, it is characterized in that, comprise step:
A, obtain the gps data of described airborne laser scanning system, and according to first condition, described gps data is carried out to validation checking, the described gps data that does not meet described first condition is carried out to the first mark;
B, obtain the IMU data of described airborne laser scanning system, and according to second condition, described IMU data are carried out to validation checking, the described IMU data that do not meet described second condition are carried out to the second mark;
C, by batch program and shell script, use integration software to integrate described gps data, described IMU data and laser scanning data, obtain sink node cloud; And
D, according to described the first mark and described the second mark, described sink node cloud is assessed and analyzed.
2. the data processing method for airborne laser scanning system according to claim 1, it is characterized in that, at integration software described in step C, described gps data is integrated and obtained DGPS data, the described data processing method for airborne laser scanning system also comprises the quality of described DGPS data is added up, and according to statistics, described sink node cloud is assessed and is analyzed.
3. the data processing method for airborne laser scanning system according to claim 1, is characterized in that, sets described first condition according to the number of satellite of the time interval of adjacent described gps data and the described gps data of generation.
4. the data processing method for airborne laser scanning system according to claim 1, is characterized in that, according to the time interval of adjacent described IMU data, and in described IMU data, linear acceleration and the angular velocity of aircraft is set described second condition.
5. the data processing method for airborne laser scanning system according to claim 4, it is characterized in that, describedly set described second condition according to the linear acceleration of aircraft in described IMU data and angular velocity and be specially: change and wide-angle variations rate is set described second condition according to the maximum angular of aircraft, wherein the computing formula of wide-angle variations rate is:
LACR=n*100/Count；
Wherein n is the quantity that meets the epoch of the described IMU data of Article 3 part, and Count is sum epoch of described IMU data;
Described Article 3 part is:
Mean-1.645*Std<ChangeAngle<Mean+1.645*Std；
Wherein ChangeAngle is the attitude change angle of aircraft in each epoch, the mean value that Mean is all ChangeAngle, the standard deviation that Std is all ChangeAngle.
6. the data processing method for airborne laser scanning system according to claim 1, is characterized in that, also comprises step before described steps A:
Input the parameter of described integration software by user interface to generate described batch program and shell script.
7. the data processing method for airborne laser scanning system according to claim 6, it is characterized in that, after described step D, also comprise: if the assessment result in step D is for need to reintegrate data, revise after the parameter of described integration software by described user interface input, part or all of described batch program and shell script are reruned, use described integration software to integrate and obtain amended sink node cloud described gps data, described IMU data and laser scanning data.
8. the data processing method for airborne laser scanning system according to claim 6, is characterized in that, as the invalid parameters of integration software as described in judging, points out user to re-enter.
9. the data processing method for airborne laser scanning system according to claim 6, is characterized in that, the described data processing method for airborne laser scanning system also comprises step:
According to the data volume of the parameter of described integration software and input, the disk space of needs is estimated, as the disk space of estimation exceeds effective disk space, user is reported to the police.
10. for a data processing equipment for airborne laser scanning system, it is characterized in that, comprising:
The first validation checking unit, for obtaining the gps data of described airborne laser scanning system, and carries out validation checking according to first condition to described gps data, and the described gps data that does not meet described first condition is carried out to the first mark;
The second validation checking unit, for obtaining the IMU data of described airborne laser scanning system, and carries out validation checking according to second condition to described IMU data, and the described IMU data that do not meet described second condition are carried out to the second mark;
Data Integration unit, for by batch program and shell script, uses integration software to integrate described gps data, IMU data and laser scanning data, obtains sink node cloud; And
Output unit, for assessing described sink node cloud output and analyze.
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| CN108225311B (en) * | 2017-12-25 | 2020-09-08 | 中铁第四勘察设计院集团有限公司 | Track data acquisition system method and system for automatic track measuring vehicle |
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