CN103837130B - For data processing method and the device of airborne lidar system - Google Patents
For data processing method and the device of airborne lidar system Download PDFInfo
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- CN103837130B CN103837130B CN201210478558.1A CN201210478558A CN103837130B CN 103837130 B CN103837130 B CN 103837130B CN 201210478558 A CN201210478558 A CN 201210478558A CN 103837130 B CN103837130 B CN 103837130B
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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
Abstract
The present invention relates to a kind of data processing method for airborne lidar system, the method comprising the steps of: A, acquisition gps data, and carry out validation checking according to first condition to gps data; B, acquisition IMU data, and according to second condition, validation checking is carried out to IMU data; C, by batch program and shell script, use integration software gps data, IMU data and laser scanning data are integrated, obtain sink node cloud; And D, according to first mark and second mark sink node cloud is assessed and is analyzed.The invention still further relates to a kind of data processing equipment for airborne lidar system.Data processing method for airborne lidar system of the present invention and device can process the data of airborne lidar system and validity monitoring automatically, save a large amount of time and manpower.
Description
Technical field
The present invention relates to data processing field, more particularly, relate to data processing method and device that a kind of data to airborne lidar system carry out process automatically.
Background technology
Airborne lidar system (ALS, AirborneLASERScanningsystem) comprises the unit of a series of precision, by integrating the data of unit thus obtaining the structure analysis of corresponding geographical reference point clouds for geographical appearance.General airborne lidar system comprise be arranged on carry-on scanning laser detection and range cells (ScanningLightDetectionAndRanging(LiDAR)), GLONASS (Global Navigation Satellite System) (GNSS, GlobalNavigationSatelliteSystem) receiving element and Inertial Measurement Unit (IMU, inertialmeasurementunit).Usual airborne lidar system also comprises the GNSS receiving element of the ground reference for performing relative positioning.Each unit, in their respective coordinate systems, 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, such as, and the waveform digitization of the higher and laser return pulse of the laser pulse of scanning laser detection and range cells data sampling rate that is stronger, GNSS and IMU.And the Data Integration between unit needs 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 lidar system, and Fig. 2 is the particular flow sheet of the data processing of existing airborne lidar system.Specifically comprise:
Step 101, each unit generates raw data, comprising the gps data of GPS reference base station data, aircraft, the IMU data of aircraft and laser scanning data.
Step 102, uses the gps data of GPS process software (as GrafNav etc.) conversion GNSS receiving element, is converted to the reference base station data of GPB form and the aircraft data of GPB form.
Step 103, uses GPS process software (as GrafNav etc.) to carry out process to the gps data after conversion and obtains differential Global Positioning System (DGPS, DifferentialGlobalPositioningSystem) data.
Step 104, use the data of IMU data processing software (as IPASPro etc.) process IMU, and level and smooth the best is integrated into the data of IMU and differential Global Positioning System (DGPS) data estimates note track line (SmoothedBestEstimateTrajectory, SBET);
Step 105, exports the SBET after the integration of step 104 and carries out format conversion;
Step 106, the SBET data after using some cloud to generate software (as ALSPostProcessor etc.) integration transformation and the laser scanning data of scanning laser detection and range cells obtain sink node cloud and track while scan.
In whole data handling procedure, due to the otherness between each process software, needing manually data to be exported to software and carry out assessment monitoring, causing needing time and the manpower of at substantial 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 lidar system and device, to solve the problem existing for prior art.
Summary of the invention
The technical problem to be solved in the present invention is, data processing for airborne lidar system of the prior art needs to export data to software and monitors, cause time and the manpower of at substantial, a kind of data to airborne lidar system are provided 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 lidar system, it comprises step:
A, obtain the gps data of described airborne lidar system, and according to first condition, validation checking is carried out to described gps data, the first mark is carried out to the described gps data not meeting described first condition;
B, obtain the IMU data of described airborne lidar system, and according to second condition, validation checking is carried out to described IMU data, the second mark is carried out to the described IMU data not meeting described second condition;
C, by batch program and shell script, use integration software described gps data, described IMU data and laser scanning data are integrated, obtain sink node cloud; And
D, according to described first mark and described second mark described sink node cloud is assessed and is analyzed.
In the data processing method for airborne lidar system of the present invention, described in step C, integration software carries out integration to described gps data and obtains DGPS data, the described data processing method for airborne lidar system also comprises adds up the quality of described DGPS data, assesses according to statistics and analyzes described sink node cloud.
In the data processing method for airborne lidar system of the present invention, set described first condition according to the time interval of adjacent described gps data and the number of satellite of the described gps data of generation.
In the data processing method for airborne lidar system of the present invention, according to the time interval of adjacent described IMU data, and in described IMU data, the linear acceleration of aircraft and angular velocity set described second condition.
In the data processing method for airborne lidar system of the present invention, the described linear acceleration according to aircraft in described IMU data and angular velocity set described second condition and are specially: set described second condition according to the change of the maximum angular of aircraft and wide-angle variations rate, wherein the computing formula of wide-angle variations rate is:
LACR=n*100/Count；
Wherein n is the quantity of the epoch of the described IMU data meeting 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, and Mean is the mean value of all ChangeAngle, and Std is the standard deviation of all ChangeAngle.
In the data processing method for airborne lidar system of the present invention, before described steps A, also comprise step:
The parameter of described integration software is inputted to generate described batch program and shell script by user interface.
In the data processing method for airborne lidar system of the present invention, also comprise after described step D: as the assessment result in step D for data reintegrated by needs, after parameter by the described integration software of described user interface input amendment, part or all of described batch program and shell script are reruned, uses described integration software to carry out integration to described gps data, described IMU data and laser scanning data and obtain amended sink node cloud.
In the data processing method for airborne lidar system of the present invention, as the invalid parameters of integration software as described in judging, then user is pointed out to re-enter.
In the data processing method for airborne lidar system of the present invention, the described data processing method for airborne lidar system also comprises step:
Estimate the disk space needed according to the parameter of described integration software and the data volume of input, the disk space as estimation exceeds effective disk space, then report to the police to user.
The invention still further relates to a kind of data processing equipment for airborne lidar system, it comprises:
First validation checking unit, for obtaining the gps data of described airborne lidar system, and carrying out validation checking according to first condition to described gps data, carrying out the first mark to the described gps data not meeting described first condition;
Second validation checking unit, for obtaining the IMU data of described airborne lidar system, and carries out validation checking according to second condition to described IMU data, carries out the second mark to the described IMU data not meeting described second condition;
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, carries out assessing and analyzing for being exported by described sink node cloud.
Implement the data processing method for airborne lidar system of the present invention and device, there is following beneficial effect: automatically can process the data of airborne lidar system and validity monitoring, save a large amount of time and manpower, avoid original data processing method for airborne lidar system and device and form final geographical reference point clouds and need the time of at substantial 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 lidar system;
Fig. 2 is the particular flow sheet of the data processing of existing airborne lidar system;
Fig. 3 is the process flow diagram of the data processing method for airborne lidar system of the present invention;
Fig. 4 is the particular flow sheet of the data processing method for airborne lidar system of the present invention;
Fig. 5 is the histogram that the Qx of each data acquisition bar for data acquisition air strips Quality Map in the data processing method of airborne lidar system of the present invention leads.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, 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, be 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 lidar system of the present invention, and Fig. 4 is the particular flow sheet of the data processing method for airborne lidar system of the present invention.This data processing method being used for airborne lidar system starts from:
Step 301, inputs the parameter of integration software to generate batch program and shell script by user interface;
Step 302, obtains the gps data of described airborne lidar system, and carries out validation checking according to first condition to described gps data, carries out the first mark to the described gps data not meeting described first condition;
Step 303, obtains the IMU data of described airborne lidar system, and carries out validation checking according to second condition to described IMU data, carries out the second mark to the described IMU data not meeting described second condition;
Step 304, by batch program and shell script, uses integration software to integrate described gps data, described IMU data and laser scanning data, obtains sink node cloud;
Step 305, assesses according to described first mark and described second mark described sink node cloud and analyzes.
According to Fig. 4, above step is specifically described below:
In step 301, user is by the parameter of user interface input integration software, wherein integration software comprises GPS process software (as GrafNav etc.), IMU data processing software (as IPASPro etc.) and some cloud generation software (as ALSPostProcessor etc.), after user clicks and starts, method of the present invention can judge that whether the parameter of the integration software inputted is effective, as invalid, user can be pointed out to re-enter the parameter of integration software.Obtain the configuration of computer hardware subsequently, estimate computing time, so that user's reasonable arrangement running time.Free disk space can not be used at run duration in order to ensure computing machine, the present invention also can according to the data volume of the parameter of integration software and input, estimate the free disk space of existing free disk space and needs, free disk space as needed exceeds existing free disk space, then report to the police to user.
Create according to the parameter of above-mentioned integration software subsequently and generate batch program and shell script.This batch program and shell script can perform the data processing step such as data extraction, gps data conversion, DGPS process, GPS and IMU Data Integration, SBET conversion and the generation of some cloud successively.Perform batch program and shell script subsequently, confirm the QA(QualityAssurance exporting and generate, quality guarantee simultaneously) data.
Here batch program 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, move cursor, input parameter and selection algorithm etc.
In step 302, obtain the gps data of airborne lidar system, and according to first condition, validation checking is carried out to gps data, the first mark is carried out to the gps data not meeting first condition.First condition sets according to the number of satellite of the time interval of adjacent gps data and generation gps data.
Because airborne lidar system has some highstrung parts, and this system works under the environment of a rather harsh (as an aircraft with certain altitude, fast movement, and there is unstable situation sometimes), therefore need to be judged by the continuity (i.e. the time interval of adjacent gps data) of gps data and the stability of number of satellite to system of generation gps data.
For first Testing index (continuity of gps data), when making trajectory diagram, interpolation filling must be carried out to the gps data with the time interval, as the time interval between gps data crosses conference, significantly impact is produced on the calculating of DGPS data, gps data and the integration of IMU data and the 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 to point out user.The time interval of gps data checks can carry out at once after gps data has extracted, and the time interval checks and the acquisition rate of gps data is compatible, and such as, the frequency acquisition as gps data is 1Hz, then the gps data that writing time, interval was greater than 1 second.
For second Testing index (number of satellite of generation gps data), generally speaking, the data of at least four satellites are needed could to obtain the clocking error of comparatively accurate GPS location (longitude, latitude and height) and usual disposal route.The data received more than four satellites can obtain redundant data, and more redundant datas can make the estimation of parameter value more accurately and reliably.More qualities of data meaning better GPS for the satellite of locating, therefore adopt the par of the satellite producing gps data to detect the method for the quality of gps data simply and effectively.Par as the satellite producing gps data is very few, and the some cloud that appropriate section generates should carry out the first mark and note to point out user.
In step 303, obtain the IMU data of described airborne lidar system, and according to second condition, validation checking is carried out to described IMU data, the second mark is carried out to the described IMU data not meeting described second condition.Second condition is according to the time interval of adjacent IMU data, and in IMU data, the linear acceleration of aircraft and angular velocity set.
The decision method in the continuity of IMU data here or the time interval of adjacent IMU data is identical with the successional decision method of gps data, specifically see 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 to point out user.
Can be as shown in table 1 to the detection of gps data and IMU data validity, wherein gps data has no time interval, IMU data only have a very little time interval, and produce the number of satellite on average nearly 9 of gps data, therefore the quality (i.e. validity) of this gps data and IMU data is higher.
Table 1
From first epoch that IMU opens, IMU data file stores linear acceleration and the angular velocity of IMU, and the integration of acceleration and angular velocity provides and the position of aircraft in first epoch and attitude.Because the change of these positions and attitude is mutually related, the accuracy of the data of therefore IMU generation can not well be determined.Under normal conditions, aircraft is all change its flight path in a kind of mode of relative smooth, and the large change of any acceleration or the change of instability all will cause noise data or disadvantageous operating conditions.Therefore should carry out the second mark for the some cloud of issuable poor quality to note to point out user.
Be specially according to the linear acceleration of aircraft in IMU data and angular velocity setting second condition: the maximum angular according to aircraft changes (MAC, and wide-angle variations rate (LACR maximumangularchange), largeangularchangerate) second condition is set, use this two data statistics aircraft roll (roll), the validity of the IMU data of dive (pitch) and course (heading) three kinds of flight attitudes, wherein the computing formula of wide-angle variations rate is:
LACR=n*100/Count；
Wherein n is the quantity of the epoch of the IMU data meeting Article 3 part, and Count is sum epoch of IMU data;
Article 3 part is:
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, and Mean is the mean value of all ChangeAngle, and Std is the standard deviation of all ChangeAngle.
Table 2 is the example of the maximum angular change of various flight attitude, average angle change, standard deviation and wide-angle variations rate.
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 using 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 the data of GPS process software (as GrafNav etc.) to the GPB form after conversion to carry out process and obtain DGPS data, and use the data of IMU data processing software (as IPASPro etc.) process IMU, and the data of IMU and DGPS data are integrated.Integration software to the gps data of GPB form is carried out integration obtain DGPS data time, notebook data disposal route is also added up the quality of DGPS data, and assesses according to statistics sink node cloud and analyze.
Such as use GrafNav to carry out process to the data of GPB form after conversion and obtain DGPS data, GrafNav can provide a qualitative index Qx for illustration of the quality of DGPS data in each GPS epoch.The quality of the DGPS data after calculating can be classified by the precision of table 3, and the x wherein in Qx is larger, illustrates that the precision of DGPS data representation is lower, and also namely the quality of DGPS data is lower.
Table 3
An independent flight may comprise multiple data acquisition air strips connected 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 the DGPS data in each data acquisition bar with same quality index Qx are added up, number percent in DGPS data all in each data acquisition bar, obtains corresponding Qx and leads.As shown in Fig. 5 and table 4, Fig. 5 is the histogram that the Qx of each data acquisition bar in the data processing method for airborne lidar system of the present invention leads, and table 4 is the tables of data that the Qx corresponding to Fig. 5 leads.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, and only have the inferior quality of the DGPS data of the 8th data pick-up slip, its Q1 leads and is only 63.7%, next is the 12nd data pick-up slip, and it is 90.1% that its Q1 leads.User can analyze the producing cause of above-mentioned poor DPGS data, obtains final satisfied data processed result to carry out making up.
Table 4
In step 305, according to described first mark and described second mark, described sink node cloud is assessed and analyzed, as user to the assessment result of sink node cloud for data reintegrated by needs, user is by the parameter of the described integration software of user interface input amendment, after removing corresponding mark, part or all of described batch program and shell script are reruned, uses described integration software to carry out integration to described gps data, described IMU data and laser scanning data and obtain amended some cloud.User can modify to obtain satisfied sink node cloud to a cloud by the way always.As required from the centre step of batch program and shell script, and can not need to rerun when user is reruned, data processing time can have been saved further like this.
The invention still further relates to a kind of data processing equipment for airborne lidar 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 for obtaining the gps data of described airborne lidar system, and carries out validation checking according to first condition to described gps data, carries out the first mark to the described gps data not meeting described first condition; Second validation checking unit for obtaining the IMU data of described airborne lidar system, and carries out validation checking according to second condition to described IMU data, carries out the second mark to the described IMU data not meeting described second condition; Data Integration unit is used 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 used for described sink node cloud to export to carry out assessing and analyzing.
In sum, the data processing method for airborne lidar system of the present invention and device make data processing automatically carry out by user interface, batch program and shell script, save processing time and manpower consumption.Adopt multiple index to carry out quality or validity monitoring to the data produced in processing procedure in data processing, and problematic some cloud is marked in time, correct analysis judgement can be made to make finally to detect user.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure transformation utilizing 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 (8)
1. for a data processing method for airborne lidar system, it is characterized in that, comprise step:
A, obtain the gps data of described airborne lidar system, and according to first condition, validation checking is carried out to described gps data, the first mark is carried out to the described gps data not meeting described first condition; Described first condition is set according to the time interval of adjacent described gps data and the number of satellite of the described gps data of generation;
B, obtain the IMU data of described airborne lidar system, and according to second condition, validation checking is carried out to described IMU data, the second mark is carried out to the described IMU data not meeting described second condition; According to the time interval of adjacent described IMU data, and in described IMU data, the linear acceleration of aircraft and angular velocity set described second condition;
C, by batch program and shell script, use integration software described gps data, described IMU data and laser scanning data are integrated, obtain sink node cloud; And
D, according to described first mark and described second mark described sink node cloud is assessed and is analyzed.
2. the data processing method for airborne lidar system according to claim 1, it is characterized in that, described in step C, integration software carries out integration to described gps data and obtains DGPS data, the described data processing method for airborne lidar system also comprises adds up the quality of described DGPS data, assesses according to statistics and analyzes described sink node cloud.
3. the data processing method for airborne lidar system according to claim 1, it is characterized in that, the described linear acceleration according to aircraft in described IMU data and angular velocity set described second condition and are specially: set described second condition according to the change of the maximum angular of aircraft and wide-angle variations rate, wherein the computing formula of wide-angle variations rate is:
LACR＝n*100/Count；
Wherein n is the quantity of the epoch of the described IMU data meeting 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, and Mean is the mean value of all ChangeAngle, and Std is the standard deviation of all ChangeAngle.
4. the data processing method for airborne lidar system according to claim 1, is characterized in that, also comprises step before described steps A:
The parameter of described integration software is inputted to generate described batch program and shell script by user interface.
5. the data processing method for airborne lidar system according to claim 4, it is characterized in that, also comprise after described step D: as the assessment result in step D for data reintegrated by needs, after parameter by the described integration software of described user interface input amendment, part or all of described batch program and shell script are reruned, uses described integration software to carry out integration to described gps data, described IMU data and laser scanning data and obtain amended sink node cloud.
6. the data processing method for airborne lidar system according to claim 4, is characterized in that, as the invalid parameters of integration software as described in judging, then points out user to re-enter.
7. the data processing method for airborne lidar system according to claim 4, is characterized in that, the described data processing method for airborne lidar system also comprises step:
Estimate the disk space needed according to the parameter of described integration software and the data volume of input, the disk space as estimation exceeds effective disk space, then report to the police to user.
8. for a data processing equipment for airborne lidar system, it is characterized in that, comprising:
First validation checking unit, for obtaining the gps data of described airborne lidar system, and carrying out validation checking according to first condition to described gps data, carrying out the first mark to the described gps data not meeting described first condition; Described first condition is set according to the time interval of adjacent described gps data and the number of satellite of the described gps data of generation;
Second validation checking unit, for obtaining the IMU data of described airborne lidar system, and carries out validation checking according to second condition to described IMU data, carries out the second mark to the described IMU data not meeting described second condition; According to the time interval of adjacent described IMU data, and in described IMU data, the linear acceleration of aircraft and angular velocity set described second condition;
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 according to described first mark and described second mark described sink node cloud output and analyze.
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| CN109470137B (en) * | 2018-10-19 | 2020-08-18 | 南京林业大学 | Forest information measuring system based on two-dimensional laser scanner and data processing method |
| CN113282104B (en) * | 2021-06-03 | 2022-09-06 | 一飞(海南)科技有限公司 | Method for airplane GPS data abnormity detection and abnormity confirmation aiming at formation performance |
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