CN103995264A - Vehicle-mounted mobile laser radar mapping system - Google Patents
Vehicle-mounted mobile laser radar mapping system Download PDFInfo
- Publication number
- CN103995264A CN103995264A CN201410153995.5A CN201410153995A CN103995264A CN 103995264 A CN103995264 A CN 103995264A CN 201410153995 A CN201410153995 A CN 201410153995A CN 103995264 A CN103995264 A CN 103995264A
- Authority
- CN
- China
- Prior art keywords
- laser radar
- echo
- time
- antenna
- gps
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
Abstract
The invention provides a vehicle-mounted mobile laser radar mapping system. The vehicle-mounted mobile laser radar mapping system comprises a control system, and a terminal antenna and other development device. The control system comprises a GPS antenna, an inertia measuring unit, a central processor and data storage medium, a control panel and an external development interface. The antenna terminal and other development device also comprises a laser scanner in multiple forms, a panorama camera assembly and a detection device in other forms. According to the invention, by using the vehicle-mounted mobile laser radar mapping system, goods data can be automatically classified, a breakthrough is made in the aspect of hardware integration coupling and information processing optimization, and highly-efficient integration and intelligent overall control of each composition sensor and the control system are realized.
Description
Technical field
The present invention relates to mobile mapping field, relate in particular to a kind of mobile laser radar mapping system, can realize the geographic information data around obtaining on mobile platform, and export its three-dimensional space data and visualized graphs.
Background technology
Along with development and popularization that Geographic Information System and digital city are built, the robotization of surveying and mapping technology and informationalized development seem particularly important, and especially the laser radar technique speed of development is very fast.Laser radar is to use laser instrument as transmitting illuminant, adopts the active remote sensing equipment that detecting technique is means.Laser radar mapping is that the advanced person that laser technology is combined with modern detecting technique surveys and draws mode.
Laser radar technique relies on its high brightness, high directivity, and several features such as high monochromaticity and high coherence, have obtained successful application in mobile mapping field.But the laser radar system of main flow still has many incomplete places now.
1. bulky being not easy to carried and shifted, and fast moving mapping function is had to certain restriction.
2. manufacture R&D costs too expensive.
3. mapping speed is slow, is difficult to complete at short notice the disposable mapping of long distance, large span and complex space.
Summary of the invention
Excessive in order to overcome existing mobile mapping system bulk, preponderance, high cost, the existing problems of above-mentioned prior art such as system compatibility is bad, the present invention aims to provide a kind of light small and exquisite laser radar system, aspect hardware integration coupling and information processing optimization, realizing and breaking through, realizing each composition sensor and the high effective integration of control system and intelligent entirety control.
The present invention proposes a kind of vehicle-mounted mobile laser radar mapping system, described system comprises control system (2) and terminal antenna and other expansion equipment (3), and wherein control system 2 comprises gps antenna (4), Inertial Measurement Unit (5), central processing unit and data storage medium (6) and control panel (7) and the extraneous interface (8) of expanding; Wherein terminal antenna and other expansion equipment (3) have laser scanner (9), panorama camera assembly (10) and the other forms of detecting devices (11) of various ways, particularly, laser scanner (9), gps antenna (4) and the mode that Inertial Measurement Unit (5) is coupled by hardware are connected, wherein, laser scanner (9), gps antenna (4) are connected by the central controller of control system (2), and laser scanner (9), gps antenna (4) connect by data line.
Preferably, the laser scanner of wherein said various ways (9) comprising: laser radar sensor, produces reflection echo for the signal detected target reflection that Airborne Lidar hair is penetrated and receive and process.
Preferably, wherein said gps antenna (4) comprising: GNSS antenna, the universal location providing for real-time collecting gps satellite and temporal information, obtain the enforcing location information that records surveying instrument.
Preferably, wherein said Inertial Measurement Unit (5) is for the dynamic attitude of real time record surveying instrument, involving vibrations, angle, translational speed, moving direction.
Preferably, described system is carried out following data synchronization process, and step 1 was carried out synchronously the time; Step 2, carries out echo and mating of transmitting; Step 3, carries out the accurate correction of positional information.
The position of preferably, calculating echo and impact point according to echo and the matching result transmitting in described step 2.
Preferably, in described step 3, specifically comprise the following steps: 101 gps time points in the time that laser radar sensor transmits extract the attitude data of Inertial Measurement Unit (5) at that time;
102 extract the attitude data of the Inertial Measurement Unit (5) of corresponding echo gps time point; 103. carry out the position correction of transmitted wave time point, and the sensor attitude information of gps time point when foundation transmits is calculated at the issuable site error E of target position D
1;
104 carry out the position correction of echo time point, and according to the echo time, the sensor attitude information of point is calculated at the issuable site error E of target position D
2;
105 calculate final positional information D
0=D+E
1+ E
2.
The present invention is by the integration that reconfigures to assembly, focus on especially the vital role of industrial design in product is manufactured, do one's utmost the manufacturing process of refinement product, make the volume and weight of this product obtain high compression, thereby greatly reduce manufacturing cost, and apply central controller and carry out controlling all hardware equipment having been carried out to effective coordination disposition and management in real time, make whole system be able to co-ordination, and there is the compatibility to multiple sensors, greatly improve the adaptive faculty of laser radar for different application field, make laser radar range system there is the ability that gathers high-definition data under high-speed moving state.
Brief description of the drawings
The present invention is further illustrated in conjunction with the embodiments with reference to the accompanying drawings.
Fig. 1 shows the vehicle-mounted mobile laser radar mapping system structural representation according to the embodiment of the present invention.
Embodiment
Below provide the detailed description to one or more embodiment of the present invention together with illustrating the accompanying drawing of the principle of the invention.Describe the present invention in conjunction with such embodiment, but the invention is not restricted to any embodiment.Set forth in the following description many details to provide thorough understanding of the present invention.These details are provided for exemplary purposes, and also can realize the present invention according to claims without some or all details in these details.
Fig. 1 shows the structural drawing of vehicle-mounted mobile laser radar mapping system of the present invention.With reference to figure 1, specific embodiment of the invention scheme is as follows: a kind of vehicle-mounted mobile laser radar mapping system 1 comprises control system 2 and terminal antenna and other expansion equipment 3, and wherein control system 2 comprises gps antenna 4, Inertial Measurement Unit IMU(Inertial Measure Unit) 5, central processing unit and data storage medium 6 and control panel 7 and the extraneous interface 8 of expanding; Wherein terminal antenna and other expansion equipment 3 also comprise laser scanner 9, panorama camera assembly 10 and the other forms of detecting devices 11 of various ways.
Wherein said gps antenna 4 mainly comprises for example GNSS antenna, be not limited to the conventional gps antenna form in this area, the laser scanner 9 of described various ways is laser radar sensor or other laser scanning sensing equipments well known in the art, produces reflection echo receive and process for the signal detected target reflection that Airborne Lidar hair is penetrated.
Wherein said central processing unit and data storage medium 6 are mainly computer control chip and for example SD card of data storage medium, are not limited to the formations such as other conventional storage mediums of this area.
The extraneous interface of expanding mainly comprises USB interface and the conventional Peripheral Interface of network interface and other this area.
Particularly, the mode that laser radar sensor, GNSS antenna and Inertial Measurement Unit 5 are coupled by hardware couples together, wherein, laser radar sensor is connected by the central controller of control system 2 with GNSS antenna, and GNSS antenna is connected by data line with Inertial Measurement Unit 5.Wherein, central controller is carried out sensor device real-time control software, sensor device data acquisition software and post processing of image software.
The present invention is optimized respectively laser radar core component, screen current volume minimum, the functional module that function is the most complete, by adapter organically in conjunction with as a whole, and by careful industrial design by assembly concentrate be arranged in very limited control system shell.
On the basis of this hardware integration, the present invention is further improved data acquisition and the method for data synchronization of laser radar mapping, and wherein data acquisition specifically comprises following steps:
1. the Airborne Lidar head of laser radar sensor transmits, and the reflection of signal detected target produces reflection echo, and the echo of reflection is received and record storage by the receiving trap on laser radar sensor.
The 2.GNSS antenna universal location that real-time collecting gps satellite provides in gatherer process and temporal information, obtain the enforcing location information that records surveying instrument.
3. the dynamic attitude of Inertial Measurement Unit 5 real time record surveying instruments, involving vibrations, angle, translational speed, moving direction etc.In whole process, by central controller network data interface transmission laser radar data and GNSS antenna data, derive by the USB interface of Inertial Measurement Unit 5 signal and the GNSS antenna data that Inertial Measurement Unit is collected.
Wherein data synchronously specifically comprise the following steps:
1. pair time carries out synchronously.Calculate laser radar sensor the GPS standard time transmitting and the mistiming T that receives laser reflection ripple.
2, carry out echo and mating of transmitting.Laser radar sensor sends one and transmits, and through the reflection of detecting object, sensor receives n echoed signal, and by the built-in shape information (unduplicated long bundle rank transformation) transmitting, each echo mates by long Shu Lieyu transmitted wave.
Calculate the general location of echo and impact point according to matching result.That is:
Wherein, T is the mistiming of launch time and time of reception, the velocity of propagation that V is ripple under medium at that time, and D is laser sensor probe and the approximate distance of detecting object.
3, carry out the accurate correction of positional information.
1). the gps time point in the time that laser radar sensor transmits extracts the attitude data of Inertial Measurement Unit 5 at that time.
2). extract the attitude data of the Inertial Measurement Unit 5 of corresponding echo gps time point simultaneously, carry out the position correction of transmitted wave time point by the attitude data of these two time points.The attitude data of above-mentioned Inertial Measurement Unit 6 refers to the sensor attitude of Laser emission and time of reception.
3). carry out the position correction of transmitted wave time point.The sensor attitude information of gps time point when foundation transmits is calculated at the issuable site error E of target position D
1.
4). carry out the position correction of echo time point.According to the echo time, the sensor attitude information of point is calculated at the issuable site error E of target position D
2.
5). calculate final positional information D
0=D+E
1+ E
2.
Above-described data acquisition, control and synchronously can realize by integrated calculating in central controller, break away from laser radar in currently available technology and realize by hardware integration merely the present situation of traverse measurement platform.Rely on the integrated and Based Intelligent Control of the height of laser radar mapping system provided by the invention, make this system there is the features such as the little and mobility of volume is strong, allow mobile mapping work become more fast with flexibly, and make the lift-launch of unmanned machine platform become possibility.
Disclosed content is only preferably embodiment of the present invention above; but protection scope of the present invention is not limited to this; any be familiar with those skilled in the art the present invention disclose technical scope in; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (7)
1. a vehicle-mounted mobile laser radar mapping system, it is characterized in that, described system comprises control system (2) and terminal antenna and other expansion equipment (3), and wherein control system 2 comprises gps antenna (4), Inertial Measurement Unit (5), central processing unit and data storage medium (6) and control panel (7) and the extraneous interface (8) of expanding; Wherein terminal antenna and other expansion equipment (3) have laser scanner (9), panorama camera assembly (10) and the other forms of detecting devices (11) of various ways, particularly, laser scanner (9), gps antenna (4) and the mode that Inertial Measurement Unit (6) is coupled by hardware are connected, wherein, laser scanner (9), gps antenna (4) are connected by the central controller of control system (2), and laser scanner (9), gps antenna (4) connect by data line.
2. system according to claim 1, the laser scanner (9) of wherein said various ways comprises: laser radar sensor, produces reflection echo for the signal detected target reflection that Airborne Lidar hair is penetrated and receive and process.
3. system according to claim 1, wherein said gps antenna (4) comprising: GNSS antenna, the universal location providing for real-time collecting gps satellite and temporal information, obtain the enforcing location information that records surveying instrument.
4. system according to claim 1, wherein said Inertial Measurement Unit (5) is for the dynamic attitude of real time record surveying instrument, involving vibrations, angle, translational speed, moving direction.
5. according to the system one of claim 1-4 Suo Shu, wherein carry out following data synchronization process, step 1, carried out synchronously the time; Step 2, carries out echo and mating of transmitting; Step 3, carries out the accurate correction of positional information.
6. system according to claim 5, the position of calculating echo and impact point according to echo and the matching result transmitting in described step 2.
7. system according to claim 5, specifically comprises the following steps in described step 3: 101 gps time points in the time that laser radar sensor transmits extract the attitude data of Inertial Measurement Unit (5) at that time;
102 extract the attitude data of the Inertial Measurement Unit (5) of corresponding echo gps time point; 103. carry out the position correction of transmitted wave time point, and the sensor attitude information of gps time point when foundation transmits is calculated at the issuable site error E of target position D
1;
104 carry out the position correction of echo time point, and according to the echo time, the sensor attitude information of point is calculated at the issuable site error E of target position D
2;
105 calculate final positional information D
0=D+E
1+ E
2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410153995.5A CN103995264A (en) | 2014-04-17 | 2014-04-17 | Vehicle-mounted mobile laser radar mapping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410153995.5A CN103995264A (en) | 2014-04-17 | 2014-04-17 | Vehicle-mounted mobile laser radar mapping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103995264A true CN103995264A (en) | 2014-08-20 |
Family
ID=51309479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410153995.5A Pending CN103995264A (en) | 2014-04-17 | 2014-04-17 | Vehicle-mounted mobile laser radar mapping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103995264A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051837A (en) * | 2017-11-30 | 2018-05-18 | 武汉大学 | Multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method |
| CN109102537A (en) * | 2018-06-25 | 2018-12-28 | 中德人工智能研究院有限公司 | A kind of three-dimensional modeling method and system of laser radar and the combination of ball curtain camera |
| WO2019242566A1 (en) * | 2018-06-21 | 2019-12-26 | 北京四维图新科技股份有限公司 | Device of intelligent sensing system |
| CN110703232A (en) * | 2019-11-07 | 2020-01-17 | 大连理工大学 | Three-dimensional environment sensing system of large-scale excavating equipment in complex environment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101174262A (en) * | 2006-11-02 | 2008-05-07 | 广东新蓝德信息产业有限公司 | GIS automatic image-forming system and method thereof |
| US20080262721A1 (en) * | 2007-04-17 | 2008-10-23 | Hitachi, Ltd. | Map generation system and map generation method by using GPS tracks |
| CN101858744A (en) * | 2010-06-03 | 2010-10-13 | 唐粮 | Panoramic digital imaging system |
| CN101976467A (en) * | 2010-09-13 | 2011-02-16 | 天津市星际空间地理信息工程有限公司 | High-precision three-dimensional urban scene construction method integrating airborne LIDAR (Laser Intensity Direction And Ranging) technology and vehicle-mounted mobile laser scanning technology |
-
2014
- 2014-04-17 CN CN201410153995.5A patent/CN103995264A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101174262A (en) * | 2006-11-02 | 2008-05-07 | 广东新蓝德信息产业有限公司 | GIS automatic image-forming system and method thereof |
| US20080262721A1 (en) * | 2007-04-17 | 2008-10-23 | Hitachi, Ltd. | Map generation system and map generation method by using GPS tracks |
| CN101858744A (en) * | 2010-06-03 | 2010-10-13 | 唐粮 | Panoramic digital imaging system |
| CN101976467A (en) * | 2010-09-13 | 2011-02-16 | 天津市星际空间地理信息工程有限公司 | High-precision three-dimensional urban scene construction method integrating airborne LIDAR (Laser Intensity Direction And Ranging) technology and vehicle-mounted mobile laser scanning technology |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051837A (en) * | 2017-11-30 | 2018-05-18 | 武汉大学 | Multiple-sensor integration indoor and outdoor mobile mapping device and automatic three-dimensional modeling method |
| WO2019242566A1 (en) * | 2018-06-21 | 2019-12-26 | 北京四维图新科技股份有限公司 | Device of intelligent sensing system |
| EP3809808A4 (en) * | 2018-06-21 | 2021-08-18 | Navinfo Co., Ltd. | Device of intelligent sensing system |
| CN109102537A (en) * | 2018-06-25 | 2018-12-28 | 中德人工智能研究院有限公司 | A kind of three-dimensional modeling method and system of laser radar and the combination of ball curtain camera |
| CN110703232A (en) * | 2019-11-07 | 2020-01-17 | 大连理工大学 | Three-dimensional environment sensing system of large-scale excavating equipment in complex environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106993181B (en) | More VR/AR equipment collaboration systems and Synergistic method | |
| WO2019179417A1 (en) | Data fusion method and related device | |
| CN103901895B (en) | Target positioning method based on unscented FastSLAM algorithm and matching optimization and robot | |
| KR20180063263A (en) | Three-dimensional space detection system, positioning method and system | |
| CN109313810A (en) | System and method for being surveyed and drawn to environment | |
| CN108352056A (en) | System and method for correcting wrong depth information | |
| CN104112363A (en) | Multi-sensing-data space-time synchronization method and road multi-sensing-data vehicle-mounted acquisition system | |
| CN102891453A (en) | Unmanned aerial vehicle patrolling line corridor method and device based on millimeter-wave radar | |
| JP2014169922A5 (en) | ||
| CN103995264A (en) | Vehicle-mounted mobile laser radar mapping system | |
| WO2019019819A1 (en) | Mobile electronic device and method for processing tasks in task region | |
| US10949579B2 (en) | Method and apparatus for enhanced position and orientation determination | |
| CN103412318A (en) | Portable infrared target locator and locating control method | |
| CN104464173A (en) | Power transmission line external damage protection system based on space image three-dimensional measurement | |
| CN205230349U (en) | Traffic speed of a motor vehicle detects and snapshot system based on TOF camera | |
| US10416305B2 (en) | Positioning device and positioning method | |
| CN103426166A (en) | Robot hand-eye co-location method based on laser and single eye | |
| CN206235731U (en) | A kind of GPR equipment | |
| CN210038170U (en) | Tightly-coupled automatic driving sensing system | |
| CN204910774U (en) | A remote control unit and aircraft system for aircraft | |
| CN111768489A (en) | Indoor navigation map construction method and system | |
| CN109799493A (en) | Radar and Multisensor video fusion system and method | |
| CN204347250U (en) | A kind of vehicle-mounted mobile laser radar plotting board | |
| Kerstens et al. | 3D point cloud data acquisition using a synchronized in-air imaging sonar sensor network | |
| CN208060619U (en) | Spatial frequency spectrum acquisition system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140820 |