CN103968828A - Mobile measurement method in closed environment - Google Patents
Mobile measurement method in closed environment Download PDFInfo
- Publication number
- CN103968828A CN103968828A CN201410146054.9A CN201410146054A CN103968828A CN 103968828 A CN103968828 A CN 103968828A CN 201410146054 A CN201410146054 A CN 201410146054A CN 103968828 A CN103968828 A CN 103968828A
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- Prior art keywords
- reference mark
- internal ground
- ground reference
- coordinate
- enclosed environment
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
-
- 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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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a mobile measurement method in the closed environment, which comprises the following steps: selecting a first internal ground control point in the closed environment, and obtaining the geodetic coordinates of the first internal ground control point; obtaining the geodetic measurement coordinates of a 360-degree prism arranged on mobile measurement equipment on the first internal ground control point through a total station according to the geodetic coordinates; obtaining the real-time attitude angle of the mobile measurement equipment through an inertia measurement unit arranged on the mobile measurement equipment; displaying laser points obtained by a laser scanner and image data obtained by a panorama camera in a unified geodetic coordinate system according to the geodetic measurement coordinates and the real-time attitude angle. By adopting the above scheme, the geodetic coordinates are obtained accurately through the total station in a closed space under the condition of failure of the GPS, and the real-time attitude angle of the mobile measuring equipment can be obtained through the inertia measurement unit, so that mobile measurement can be performed smoothly in the environment without GPS signals.
Description
Technical field
The present invention relates to technical field of mapping, relate in particular to a kind of enclosed environment traverse measurement method.
Background technology
In vehicle-mounted mobile measuring system, the top of vehicle arranges laser scanner and panorama camera, obtains laser point cloud and picture data.In the time measuring, need to determine in real time laser scanner and coordinate and the attitude angle thereof of panorama camera in earth coordinates, thereby the laser point cloud and the picture data that obtain can be shown in unified earth coordinates.
At present, in the vehicle-mounted mobile measuring system generally using, the definite of coordinate is to pass through GPS(GlobalPositioningSystem, GPS) satnav realizes, attitude angle is by inertial navigation IMU(InertialMeasurementUnit, Inertial Measurement Unit) carry out real time record.But, in the time that gps satellite signal is faint or lack, also be in the situation of losing lock, although IMU can help to determine the coordinate of measuring system in the short time, can there is larger error along with the prolongation of losing lock duration in the definite coordinate of IMU, the error of this coordinate is intolerable in traverse measurement, in the case of the terrestrial coordinate that can not obtain laser scanner and panorama camera accurately, cannot carry out traverse measurement.
Summary of the invention
Provide hereinafter about brief overview of the present invention, to the basic comprehension about some aspect of the present invention is provided.Should be appreciated that this general introduction is not about exhaustive general introduction of the present invention.It is not that intention is determined key of the present invention or pith, and nor is it intended to limit the scope of the present invention.Its object is only that the form of simplifying provides some concept, using this as the preorder in greater detail of discussing after a while.
The invention provides a kind of enclosed environment traverse measurement method, in order to carry out traverse measurement the enclosure space GPS losing lock in the situation that.
The invention provides a kind of enclosed environment traverse measurement method, comprise the following steps:
In enclosed environment, choose the first internal ground reference mark, and obtain the terrestrial coordinate at described the first internal ground reference mark;
On described the first internal ground reference mark by total powerstation according to described terrestrial coordinate, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment;
By being arranged on the Inertial Measurement Unit on described mobile measuring equipment, obtain the real-time attitude angle of mobile measuring equipment;
According to described geodetic surveying coordinate and real-time attitude angle, the picture data that the laser point cloud that laser scanner is obtained and panorama camera obtain shows in unified earth coordinates.
Such scheme provided by the invention, in the space of sealing, in the situation in GPS losing lock, obtain accurately terrestrial coordinate by total powerstation, obtain the real-time attitude angle of mobile measuring equipment by Inertial Measurement Unit, traverse measurement also can be carried out smoothly under the environment without gps signal.
Embodiment
The embodiment of the present invention provides a kind of enclosed environment traverse measurement method, comprises the following steps:
In enclosed environment, choose the first internal ground reference mark, and obtain the terrestrial coordinate at described the first internal ground reference mark;
On described the first internal ground reference mark by total powerstation according to described terrestrial coordinate, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment;
By being arranged on the Inertial Measurement Unit on described mobile measuring equipment, obtain the real-time attitude angle of mobile measuring equipment;
According to described geodetic surveying coordinate and real-time attitude angle, the picture data that the laser point cloud that laser scanner is obtained and panorama camera obtain shows in unified earth coordinates.
It is extremely faint or without the environment of gps signal that enclosed environment as referred to herein is interpreted as gps signal, such as but not limited in indoor, tunnel etc.
Mobile measuring equipment can be, but not limited to be arranged on laser scanner and/or the panorama camera on vehicle.
Such scheme provided by the invention, in the space of sealing, in the situation in GPS losing lock, obtain accurately terrestrial coordinate by total powerstation, obtain the real-time attitude angle of mobile measuring equipment by Inertial Measurement Unit, traverse measurement also can be carried out smoothly under the environment without gps signal.
Further, in enclosed environment, choose the first internal ground reference mark, and obtain the terrestrial coordinate at described the first internal ground reference mark, be specially:
Choose outside ground control point outward at enclosed environment, and obtain the terrestrial coordinate of described outside ground control point, described the first internal ground reference mark can intervisibility to described outside ground control point;
At described the first internal ground reference mark, prism is set, irradiates described prism in described outside ground control point by described total powerstation and obtain the geodetic surveying coordinate of described prism according to the terrestrial coordinate of described total powerstation.
Such as but not limited to the terrestrial coordinate that obtains outside ground control point by GPS.This GPS can be the GPS equipment on above-mentioned vehicle.Certainly, also can obtain by other known measurement means the terrestrial coordinate of outside ground control point.
In measuring process, total powerstation is measured by tracerse survey method.
Further, on described the first internal ground reference mark by total powerstation according to the terrestrial coordinate at described the first internal ground reference mark, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment, be specially:
Relative coordinate initial point taking described the first internal ground reference mark as described total powerstation, obtain 360 ° of prisms on mobile measuring equipment relative coordinate to described total powerstation by total powerstation, by the geodetic surveying coordinate of 360 ° of prisms on the terrestrial coordinate summation acquisition mobile measuring equipment at described relative coordinate and described the first internal ground reference mark.This is namely as a reference point with the first internal ground reference mark, determine the geodetic surveying coordinate of 360 ° of prisms on mobile measuring equipment, the geodetic surveying coordinate of 360 ° of prisms on mobile measuring equipment that is to say the terrestrial coordinate of laser scanner and panorama camera under current location, certainly, the relativity shift between the geodetic surveying coordinate of 360 ° of prisms and the geodetic surveying coordinate of the center of total powerstation or panorama camera also should be considered.
Further, due in enclosed environment, can exist between 2 can not intervisibility place, in order to obtain the terrestrial coordinate of arbitrary target location, in the situation that occurring having an X-rayed, also comprise, in enclosed environment, choose the second internal ground reference mark, described the second internal ground reference mark can intervisibility to described the first internal ground reference mark;
Pass through described total powerstation at described the first internal ground reference mark according to the terrestrial coordinate at the first internal ground reference mark, obtain the terrestrial coordinate at described the second internal ground reference mark;
Pass through described total powerstation at described the second internal ground reference mark according to the terrestrial coordinate at described the second internal ground reference mark, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment under current location, described current location and described the first internal ground reference mark non-communicating view.If there is multiple non-intervisibilities position in enclosed environment, repeatedly choose the second internal ground reference mark at suitable diverse location, and repeat above-mentioned steps, by this kind of scheme, can obtain any accurate terrestrial coordinate and attitude angle that can intervisibility position in enclosed environment, traverse measurement can be carried out smoothly.
In actual use, before mobile test vehicle enters enclosed environment, first the inertial navigation on vehicle is carried out to initialization, after initialization finishes, enter in enclosed environment and measure again.
Finally it should be noted that: above embodiment only, in order to technical scheme of the present invention to be described, is not intended to limit; Although the present invention is had been described in detail with reference to previous embodiment, those of ordinary skill in the art is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, or part technical characterictic is wherein equal to replacement; And these amendments or replacement do not make the essence of appropriate technical solution depart from the spirit and scope of various embodiments of the present invention technical scheme.
Claims (5)
1. an enclosed environment traverse measurement method, is characterized in that, comprises the following steps:
In enclosed environment, choose the first internal ground reference mark, and obtain the terrestrial coordinate at described the first internal ground reference mark;
On described the first internal ground reference mark by total powerstation according to the terrestrial coordinate at described the first internal ground reference mark, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment;
By being arranged on the Inertial Measurement Unit on described mobile measuring equipment, obtain the real-time attitude angle of mobile measuring equipment;
According to described geodetic surveying coordinate and real-time attitude angle, the picture data that the laser point cloud that laser scanner is obtained and panorama camera obtain shows in unified earth coordinates.
2. enclosed environment traverse measurement method according to claim 1, is characterized in that, describedly in enclosed environment, chooses the first internal ground reference mark, and obtains the terrestrial coordinate at described the first internal ground reference mark, is specially:
Choose outside ground control point outward at enclosed environment, and obtain the terrestrial coordinate of described outside ground control point, described the first internal ground reference mark can intervisibility to described outside ground control point;
At described the first internal ground reference mark, prism is set, irradiates described prism in described outside ground control point by described total powerstation and obtain the geodetic surveying coordinate of described prism according to the terrestrial coordinate of described total powerstation.
3. enclosed environment traverse measurement method according to claim 2, is characterized in that, obtains the terrestrial coordinate of outside ground control point by GPS.
4. according to the enclosed environment traverse measurement method described in claim 1 or 2 or 3, it is characterized in that, on described the first internal ground reference mark by total powerstation according to the terrestrial coordinate at described the first internal ground reference mark, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment, be specially:
Relative coordinate initial point taking described the first internal ground reference mark as described total powerstation, obtain 360 ° of prisms on mobile measuring equipment relative coordinate to described total powerstation by total powerstation, by the geodetic surveying coordinate of 360 ° of prisms on the terrestrial coordinate summation acquisition mobile measuring equipment at described relative coordinate and described the first internal ground reference mark.
5. according to the enclosed environment traverse measurement method described in claim 1 or 2 or 3, it is characterized in that, also comprise:
In enclosed environment, choose the second internal ground reference mark, described the second internal ground reference mark can intervisibility to described the first internal ground reference mark;
Pass through described total powerstation at described the first internal ground reference mark according to the terrestrial coordinate at the first internal ground reference mark, obtain the terrestrial coordinate at described the second internal ground reference mark;
Pass through described total powerstation at described the second internal ground reference mark according to the terrestrial coordinate at described the second internal ground reference mark, obtain the geodetic surveying coordinate that is arranged on 360 ° of prisms on mobile measuring equipment under current location, described current location and described the first internal ground reference mark non-communicating view.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410146054.9A CN103968828A (en) | 2014-04-11 | 2014-04-11 | Mobile measurement method in closed environment |
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| CN201410146054.9A CN103968828A (en) | 2014-04-11 | 2014-04-11 | Mobile measurement method in closed environment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807286A (en) * | 2016-03-08 | 2016-07-27 | 苏州工业园区测绘地理信息有限公司 | Use method of high-precision self-calibration laser tracking measurement system used in tunnel |
| CN106525035A (en) * | 2016-11-15 | 2017-03-22 | 中国有色金属长沙勘察设计研究院有限公司 | Positioning method based on automatic measuring robot and inertial navigation system |
| CN110726726A (en) * | 2019-10-30 | 2020-01-24 | 中南大学 | Quantitative detection method and system for tunnel forming quality and defects thereof |
| CN112747746A (en) * | 2020-12-25 | 2021-05-04 | 珠海市一微半导体有限公司 | Point cloud data acquisition method based on single-point TOF, chip and mobile robot |
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| CA2413283A1 (en) * | 2001-12-03 | 2003-06-03 | Applanix Corporation | Walking stick navigator for position determination |
| CN101484777A (en) * | 2005-12-15 | 2009-07-15 | 天宝导航有限公司 | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
| CN101913368A (en) * | 2010-08-11 | 2010-12-15 | 唐粮 | System and method for fast precise measurement and total factor data acquisition of high speed railway |
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2014
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Patent Citations (3)
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| CA2413283A1 (en) * | 2001-12-03 | 2003-06-03 | Applanix Corporation | Walking stick navigator for position determination |
| CN101484777A (en) * | 2005-12-15 | 2009-07-15 | 天宝导航有限公司 | Managed traverse system and method to acquire accurate survey data in absence of precise GPS data |
| CN101913368A (en) * | 2010-08-11 | 2010-12-15 | 唐粮 | System and method for fast precise measurement and total factor data acquisition of high speed railway |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105807286A (en) * | 2016-03-08 | 2016-07-27 | 苏州工业园区测绘地理信息有限公司 | Use method of high-precision self-calibration laser tracking measurement system used in tunnel |
| CN106525035A (en) * | 2016-11-15 | 2017-03-22 | 中国有色金属长沙勘察设计研究院有限公司 | Positioning method based on automatic measuring robot and inertial navigation system |
| CN106525035B (en) * | 2016-11-15 | 2019-06-14 | 中国有色金属长沙勘察设计研究院有限公司 | A kind of localization method based on automatic measurement machine people and inertial navigation system |
| CN110726726A (en) * | 2019-10-30 | 2020-01-24 | 中南大学 | Quantitative detection method and system for tunnel forming quality and defects thereof |
| CN112747746A (en) * | 2020-12-25 | 2021-05-04 | 珠海市一微半导体有限公司 | Point cloud data acquisition method based on single-point TOF, chip and mobile robot |
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Application publication date: 20140806 |