CN104913766A - Laser scanning measurement method and device - Google Patents
Laser scanning measurement method and device Download PDFInfo
- Publication number
- CN104913766A CN104913766A CN201510355386.2A CN201510355386A CN104913766A CN 104913766 A CN104913766 A CN 104913766A CN 201510355386 A CN201510355386 A CN 201510355386A CN 104913766 A CN104913766 A CN 104913766A
- Authority
- CN
- China
- Prior art keywords
- laser
- unit
- global navigation
- data
- navigation satellite
- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- 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
Abstract
The invention discloses laser scanning measurement method and device. The laser scanning measurement method comprises the following steps: A, initializing a laser scanner, an inertial measurement device, a differential global navigation satellite system and a high-resolution digital camera through a central control unit; B, continuously observing satellite signals by virtue of a global navigation satellite system; C, determining a principal optic axis attitude parameter of the laser scanning measurement device by virtue of the inertial measurement device in real time; D, emitting and receiving a laser pulse signal by virtue of the laser scanner; E, shooting images by virtue of the high-resolution digital camera; F, dynamically displaying system state data and real-time collection data of the laser scanning measurement device by virtue of a computer; and G, post-processing software by employing related data. The device is composed of the laser scanner, the inertial measurement device, the differential global navigation satellite system, the high-resolution digital camera, the central control unit and a power supply unit; three-dimensional laser scanning and digital image collection and data treatment can be rapidly and efficiently carried out; and the result accuracy is high.
Description
Technical field
The invention belongs to laser scanning measurement technical field, more specifically relate to a kind of method of laser scanning measurement, also relate to a kind of device of laser scanning measurement simultaneously, it is applicable to airborne, that vehicle-mounted mobile carrying platform is general microminiature laser scanning measurement.
Background technology
Laser scanning measurement system is the multiple technologies multifunction sensor systems such as the scanning of a kind of set laser, GLONASS (Global Navigation Satellite System) and inertial navigation system.Laser scanning measurement technology only needs to lay a small amount of ground base station and ground control point, quick, the high precision collecting of three-dimension terrian information can be realized, Result Precision meets the high-precision requirement of highway location survey and construction drawing design, replace artificial section survey, significantly shorten engineering survey and establish the cycle, reducing field work amount, is a kind of advanced technology means economically viable, easy to implement.
There is various vehicle-mounted, accuracy requirement that airborne laser traverse measurement means all can meet Construction of Highway Traffic at present, but from practical situations, there is the features such as equipment volume is comparatively large, heavier-weight, fetch long price more in existing airborne, Vehicle-borne Laser Scanning measurement mechanism, and carrying platform is relatively single, can not realize airborne, vehicle-mounted mobile carrying platform is general, applicability is relatively poor.
Therefore, existing laser scanner and method need further to improve and develop.
Summary of the invention
In view of the deficiency of above-mentioned existing laser scanner and method, the object of the invention is a kind of method that there are provided laser scanning measurement, easy to implement the method, easy and simple to handle, can carry out 3 D laser scanning and digital image collection and data processing quickly and efficiently, Result Precision is high.
Another object of the present invention is the device that there are provided a kind of laser scanning measurement, structure is simple, easy to use, light portable, the microminiature universal integrated laser scanner on helicopter, unmanned plane or automobile moving platform can be mounted in, while guaranteeing measuring accuracy, improve the applicability of laser scanner, convenience.
In order to realize above-mentioned object, the present invention by the following technical solutions:
A method for laser scanning measurement, it comprises the following steps:
A, utilize external computer to complete the various optimum configurations of laser scanning measurement, by centralized control unit, system initialization is carried out to laser scanner, inertial measuring unit, differential global navigation satellite system and high-resolution digital camera;
B, differential global navigation satellite system and the received global navigation satellite system signal receiver that is erected at ground base station is adopted synchronously and continuously to observe GLONASS (Global Navigation Satellite System) satellite-signal, the real time measure laser radar signal transmitted-reference space of points position, and the real time record GLONASS (Global Navigation Satellite System) satellite synchronous pps pulse per second signal that initial time sends in p.s.;
The primary optical axis attitude parameter of C, employing inertial measuring unit the real time measure laser scanner, i.e. the angle of pitch, the angle of roll and course angle; And integrated navigation data are formed together with the locator data of differential global navigation satellite system, realize the accurate location to laser scanning data and high resolving power digital image data;
D, employing laser scanner are launched and receive laser pulse signal, carry out laser ranging and record reflects laser strength information;
E, high-resolution digital camera is adopted to carry out set a distance captured in real-time to the atural object on ground, landforms;
F, the system state data utilizing external computer Dynamic Announce laser scanner and real-time data collection, carry out the real-time monitoring of laser scanning measurement;
G, utilize related data the poster processing soft, complete GLONASS (Global Navigation Satellite System) measurement data that laser scanner gathers, inertial navigation measurement data, laser scanning data, the process of high resolving power digital image data and digital product and generate.
A kind of laser scanner, this device comprises laser scanner, inertial measuring unit, differential global navigation satellite system, high-resolution digital camera, centralized control unit and power supply unit.It is characterized in that: be connected with centralized control unit by compression connector for launching and receiving the laser scanner that laser pulse signal carries out laser ranging, pps pulse per second signal is provided to comprise antenna and signal receiver for the differential global navigation satellite system of time synchronized between the observed reading of different pieces of information source for the real time measure laser radar signal transmitted-reference space of points position, antenna by reverse polarity connector respectively with signal receiver, laser scanner, inertial measuring unit is connected with high-resolution digital camera, inertial measuring unit for the real time measure laser scanner primary optical axis attitude parameter is connected with centralized control unit by USB (universal serial bus), high-resolution digital camera for obtaining ground digital image is connected with centralized control unit by USB (universal serial bus), be connected with centralized control unit by Weidmulie connector Wei with the power supply unit of storage for Power convert, power supply unit is respectively laser scanner by the safe connector in Shen simultaneously, inertial measuring unit, differential global navigation satellite system and high-resolution digital camera provide power supply supply, centralized control unit for providing laser scanner, inertial measuring unit, differential global navigation satellite system and high-resolution digital camera communication interface and data link to control is connected with external computer by lan interfaces.
Described laser scanner is pulse laser scanner, comprise generating laser, receiver, time interval measurement device, gearing and computing machine, for measuring laser radar signal transmitted-reference point to ground laser footpoint spacing and reflects laser strength information.Described laser scanner is connected for Signal transmissions and data interaction by compression connector with centralized control unit, is connected for receiving pps pulse per second signal for time synchronized during rear data processing by reverse polarity connector with the antenna of differential global navigation satellite system;
Described inertial measuring unit is strapdown inertial navigation device, comprise accelerometer, gyroscope, navigational computer, storage unit, for the primary optical axis attitude parameter of the real time measure laser scanner, the i.e. angle of pitch, the angle of roll and course angle, and the quick position realized laser scanning data and high resolving power digital image that combines with differential global navigation satellite system data.Described inertial measuring unit is connected for receiving pps pulse per second signal for time synchronized during rear data processing with the antenna of differential global navigation satellite system by reverse polarity connector, is connected for the real-time Transmission of differential global navigation satellite system measurement data by USB (universal serial bus) with signal receiver;
Described differential global navigation satellite system comprises antenna and signal receiver, antenna is connected with high-resolution digital camera with signal receiver, laser scanner, inertial measuring unit respectively by reverse polarity connector, for determining the locus of laser radar signal transmitted-reference point, simultaneously by pps pulse per second signal record moment laser scanner and the time mark of high-resolution digital camera unbalanced pulse;
Described high-resolution digital camera is charge coupled cell camera, for taking ground digital image information.Described high-resolution digital camera is connected for Signal transmissions and data interaction by USB (universal serial bus) with centralized control unit;
Described centralized control unit comprises I/O control module and central processing unit, for controlling the coordinated operation of laser scanner, inertial measuring unit, differential global navigation satellite system, high-resolution digital camera, there is provided communication interface between sensor and external and data link to control, the various system state data of real-time Transmission laser scanner and real-time data collection with realize external computer Dynamic Announce with monitor in real time;
Described power supply unit comprises power input unit, power conversion unit, power storage unit and power output unit, store for Power convert and power supply, be responsible for external input power being converted to the various power supplys needed for laser scanner and powering respectively.
The present invention compared with prior art, has the following advantages and effect:
1, multiple carrying platform is general, can be mounted in multiple aerial, the ground moving platform such as unmanned plane, helicopter, automobile, for laser scanning measurement operation.
2, lightweight, whole system weight is about 15kg, can be used for the aerial carrying platforms such as SUAV (small unmanned aerial vehicle) and carries out extreme low-altitude laser scanning measurement operation.
3, cost is low, and the industrial devices that instrument of the present invention comprises laser scanner, inertial measuring unit, differential global navigation satellite system, high-resolution digital camera are technology maturation, is convenient to the marketization and commercialization.
Adopt the method for a kind of laser scanning measurement provided by the invention, by a kind of laser scanner provided by the invention is mounted on helicopter, choose a certain new highway engineering and carry out airborne lidar measurement,, complete project airborne laser three-dimension terrian data acquisition and data processing on a large scale accurately, complete digital terrain model, digital orthoimage and digital line fast and efficiently and draw the digital product productions such as topomap, and carried out fieldwork inspection, refer to table 1:
The airborne three dimension laser scanning surreying data cases of certain new highway engineering of table 1
Verified by Practical Project, the laser point cloud data that the present invention obtains is intensive, digital image resolution is high, Result Precision is high, significantly improve the acquisition efficiency of three-dimension terrian information in highway survey and design, save field operation surveying work amount, its achievement reaches the accuracy requirement of Expressway Extension Project location survey and construction drawing design.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of laser scanner.
Fig. 2 is the structural representation of the power supply unit of a kind of Power convert and storage.
Fig. 3 is a kind of block scheme of laser scanner.
Wherein: 1-laser scanner (RIEGL VUX-1), 2-inertial measuring unit, 21-accelerometer (common quartz flexible accelerometer), 22-gyroscope (common three axis optical fibre gyro instrument), 23-navigational computer (TI OMAPL138B), 24-storage unit (normal flash), 3-differential global navigation satellite system, 31-antenna (common), 32-signal receiver (NovAtel OEM615), 4-high-resolution digital camera (CANON 5DMARKIII), 5-centralized control unit, 51-I/O control module (common), 52-central processing unit (Intel Core2 Duo), 6-power supply unit, 61-power input unit (common), 62-power conversion unit (common), 63-power storage list (conventional lithium-ion battery), 64-power output unit (common), 7-shell, 8-external computer (common).
Embodiment
The invention provides a kind of laser scanning measurement method and device, for making object of the present invention, technical scheme and effect clearly, clearly, below according to instantiation of the present invention, and by reference to the accompanying drawings the present invention being described in further detail:
Embodiment 1:
A method for laser scanning measurement, the steps include:
A, employing external computer 8 complete the various optimum configurations of laser scanner, carry out system initialization by centralized control unit 5 pairs of laser scanners 1, inertial measuring unit 2, differential global navigation satellite system 3 and high-resolution digital camera 4;
B, the signal receiver adopting differential global navigation satellite system 3 and be erected at ground base station synchronously and continuously observe GLONASS (Global Navigation Satellite System) satellite-signal, the locus of the real time measure laser radar signal transmitted-reference point; The real time record GLONASS (Global Navigation Satellite System) satellite synchronous pps pulse per second signal that initial time sends in p.s., as the time mark of laser scanner 1, inertial measuring unit 2, differential global navigation satellite system 3 and high-resolution digital camera 4 time synchronized;
The primary optical axis attitude parameter of C, employing inertial measuring unit 2 the real time measure laser scanner, i.e. the angle of pitch, the angle of roll and course angle; Form integrated navigation data together with the locator data of differential global navigation satellite system 3, realize the accurate location to laser scanning data and high resolving power digital image data.Adopt the attitude measurement data of storage unit 24 real time record inertial measuring unit 2 in inertial measuring unit 2 and the locator data of differential global navigation satellite system 3;
D, employing laser scanner 1 are launched and receive laser pulse signal, and carry out laser ranging and record reflects laser strength information, the Large Copacity solid state hard disc utilizing laser scanner 1 built-in and external computer 8 pairs of laser scanner data carry out double copies storage;
E, adopt the atural object on high-resolution digital camera 4 pairs of ground, landforms carry out set a distance captured in real-time, the compact flash card utilizing high-resolution digital camera 4 built-in or safe digital card and external computer carry out double copies storage to high resolution image data;
F, the system state data utilizing external computer 8 Dynamic Announce laser scanner and real-time data collection, carry out the real-time monitoring of laser scanning measurement;
G, utilize related data the poster processing soft, complete the data processings such as the associating aftertreatment of the position data of differential global navigation satellite system 3 and the attitude data of inertial measuring unit 2, the process of laser spots geodetic orientation, laser point cloud coordinate conversion, laser data filtering process, digital orthophoto map making, generate various digital product.
Embodiment 2:
Known with reference to the accompanying drawings, a kind of laser scanner, comprise: for launching and receiving the laser scanner 1 that laser pulse signal carries out laser ranging, for the inertial measuring unit 2 of the primary optical axis attitude parameter of the real time measure laser scanner, for determining laser radar signal transmitted-reference space of points position and providing pps pulse per second signal for the differential global navigation satellite system 3 of time synchronized between the observed reading of different pieces of information source, for obtaining the high-resolution digital camera 4 of ground digital image, for coordinating each operating sensor, the centralized control unit 5 providing each sensor communication interfaces and data link to control and the power supply unit 6 for Power convert and storage.
It is characterized in that: laser scanner 1 is connected with centralized control unit 5 by compression connector; Differential global navigation satellite system 3 comprises antenna 31 and signal receiver 32, antenna 31 is connected for the locus of the real time measure laser radar signal transmitted-reference point by reverse polarity connector with signal receiver 32, and differential global navigation satellite system 3 is connected for receiving pps pulse per second signal by reverse polarity connector with laser scanner 1, inertial measuring unit 2 and high-resolution digital camera 4; Inertial measuring unit 2 is connected with centralized control unit 5 by USB (universal serial bus); High-resolution digital camera 4 is connected with centralized control unit 5 by USB (universal serial bus); Power supply unit 6 is connected with centralized control unit 5 by Weidmulie connector Wei, is respectively laser scanner 1, inertial measuring unit 2, differential global navigation satellite system 3 and high-resolution digital camera 4 provides the supply of direct current 24V, 28V, 3.3V, 5V power supply by the safe connector in Shen; Centralized control unit 5 is connected with external computer 8 by lan interfaces;
Described laser scanner 1 is pulse laser scanner, the echo reflected after adopting laser scanner 1 emission measurement laser pulse and received pulse to run into ground, atural object, Accurate Measurement laser radar signal transmitted-reference point to ground laser footpoint spacing and reflects laser strength information, and generates laser point cloud data.
Described laser scanner 1 to be connected with the antenna 31 of differential global navigation satellite system 3 time synchronized received when pps pulse per second signal is used for rear data processing by reverse polarity connector, be connected for Signal transmissions and data interaction by compression connector with centralized control unit 5, adopt the Large Copacity solid state hard disc that laser scanner 1 is built-in, and the external computer 8 be connected with centralized control unit 5 real time record laser scanning data simultaneously;
Described inertial measuring unit 2 is strapdown inertial navigation device, comprises accelerometer 21, gyroscope 22, navigational computer 23, storage unit 24.Its annexation is: accelerometer 21 is connected with gyroscope 22, navigational computer 23 is connected with accelerometer 21, gyroscope 22, storage unit 24, centralized control unit 5 respectively, and storage unit 24 is connected with the signal receiver 32 in differential global navigation satellite system 3 by USB (universal serial bus).Adopt inertial measuring unit 2, the primary optical axis attitude parameter of the real time measure laser scanner, the i.e. angle of pitch, the angle of roll and course angle; And integrated navigation data are formed together with the locator data of differential global navigation satellite system 3, realize the accurate location to laser scanning data and image data.Described inertial measuring unit 2 is connected for receiving pps pulse per second signal for time synchronized during rear data processing by reverse polarity connector with the antenna 31 of differential global navigation satellite system 3, to be connected for the real-time Transmission of differential global navigation satellite system 3 measurement data and storage by USB (universal serial bus) with the signal receiver 32 of differential global navigation satellite system 3.Adopt the attitude measurement data of storage unit 24 real time record inertial measuring unit 2 in inertial measuring unit 2 and the locator data of differential global navigation satellite system 3;
Described differential global navigation satellite system 3 comprises antenna 31 and signal receiver 32, antenna 31 is connected with high-resolution digital camera 4 with signal receiver 32, laser scanner 1, inertial measuring unit 2 respectively by reverse polarity connector, for determining the locus of laser radar signal transmitted-reference point and record moment laser scanner 1 and the time mark of high-resolution digital camera 4 unbalanced pulse, to be connected for the real-time Transmission of GLONASS (Global Navigation Satellite System) locator data and storage with inertial measuring unit 2 by USB (universal serial bus);
Described high-resolution digital camera 4 is charge coupled cell camera, high-resolution digital camera 4 is adopted to obtain atural object, the landforms image on ground, for generating high-resolution digital orthophotoquad, and by with laser scanning point cloud registration, for the filtering process of laser point cloud data.Described high-resolution digital camera 4 is connected for Signal transmissions and data interaction by USB (universal serial bus) with centralized control unit 5, is connected for receiving pps pulse per second signal for time synchronized during rear data processing with the antenna 31 of differential global navigation satellite system 3 by reverse polarity connector.Adopt the built-in compact flash card of high-resolution digital camera 4 or safe digital card and external computer 8 real time record high resolution image data;
Described centralized control unit 5 comprises I/O control module 51 and central processing unit 52.The I/O control module 51 of described centralized control unit 5 provides communication interface between sensor and external and data link to control, I/O control module 51 is connected with central processing unit 52, central processing unit 52 is connected with external computer 8 by lan interfaces, for controlling the coordinated operation of laser scanner 1, inertial measuring unit 2, differential global navigation satellite system 3 and high-resolution digital camera 4, the time synchronized between the observed reading of responsible different pieces of information source and the accurate correction of data transmission delay; The system state data of real-time Transmission laser scanner 1, inertial measuring unit 2, differential global navigation satellite system 3 and high-resolution digital camera 4 and real-time data collection, realize external computer 8 Dynamic Announce with monitor in real time;
Described power supply unit 6 comprises power input unit 61, power conversion unit 62, power storage unit 63 and power output unit 64, and power conversion unit (62) is connected with power storage unit (63) with power input unit (61), power output unit (64) respectively.Power input unit 61 is for the input of external power source, voltage stabilizing, power conversion unit 62 is for being converted to direct current 24V by external input power and being stored in power storage unit 63, and then by each road power supply of the different voltages such as the power supply two times transfer in power storage unit 63 direct current 24V, 28V, 3.3V, 5V needed for laser scanner, power output unit 64 exports for the power supply after two times transfer.
Claims (6)
1. a method for laser scanning measurement, the steps include:
A, by centralized control unit (5), system initialization is carried out to laser scanner (1), inertial measuring unit (2), differential global navigation satellite system (3) and high-resolution digital camera (4), complete the various optimum configurations of laser scanner;
B, adopt differential global navigation satellite system (3) and be erected at received global navigation satellite system signal the receiver synchronously and continuously observation satellite signal of ground base station, the locus of the real time measure laser radar signal transmitted-reference point; The record GLONASS (Global Navigation Satellite System) satellite synchronous pps pulse per second signal that initial time sends in p.s., as the time mark of laser scanner (1), inertial measuring unit (2), differential global navigation satellite system (3) and high-resolution digital camera (4) time synchronized;
The primary optical axis attitude parameter of C, employing inertial measuring unit (2) the real time measure laser scanner, the angle of pitch, the angle of roll and course angle; Integrated navigation data are formed together with the locator data of differential global navigation satellite system (3), realize the accurate location to laser scanning data and image data, adopt the attitude measurement data of storage unit (24) real time record inertial measuring unit (2) in inertial measuring unit (2) and the locator data of differential global navigation satellite system (3);
D, employing laser scanner (1) are launched and receive laser pulse signal, carry out laser ranging and record reflects laser strength information, utilize the built-in Large Copacity solid state hard disc of laser scanner (1) and external computer (8) to carry out double copies storage to laser scanner data;
E, adopt high-resolution digital camera (4) to carry out set a distance captured in real-time to the atural object on ground, landforms, utilize the built-in compact flash card of high-resolution digital camera (4) or safe digital card and external computer to carry out double copies storage to high resolution image data;
F, the system state data utilizing external computer (8) Dynamic Announce laser scanner and real-time data collection, carry out the real-time monitoring of laser scanning measurement;
G, utilize related data the poster processing soft, complete the associating aftertreatment of the position data of differential global navigation satellite system (3) and the attitude data of inertial measuring unit (2), the process of laser spots geodetic orientation, laser point cloud coordinate conversion, laser data filtering process, digital orthophoto map making, generate various digital product.
2. the device of a kind of laser scanning measurement according to claim 1, it is by laser scanner (1), inertial measuring unit (2), differential global navigation satellite system (3), high-resolution digital camera (4), centralized control unit (5) and power supply unit (6) composition, it is characterized in that: laser scanner (1) is connected with centralized control unit (5) by compression connector, differential global navigation satellite system (3) comprises antenna (31) and signal receiver (32), antenna (31) is connected with signal receiver (32) by reverse polarity connector, differential global navigation satellite system (3) is by reverse polarity connector and laser scanner (1), inertial measuring unit (2), be connected with high-resolution digital camera (4), inertial measuring unit (2) is connected with centralized control unit (5) by USB (universal serial bus), high-resolution digital camera (4) is connected with centralized control unit (5) by USB (universal serial bus), power supply unit (6) is connected with centralized control unit (5) by Weidmulie connector Wei, centralized control unit (5) is connected with external computer (8) by lan interfaces.
3. the device of a kind of laser scanning measurement according to claim 2, it is characterized in that: described laser scanner (1) is connected with the antenna (31) of differential global navigation satellite system (3) by reverse polarity connector, is connected with centralized control unit (5) by compression connector.
4. the device of a kind of laser scanning measurement according to claim 2, it is characterized in that: described inertial measuring unit (2) comprises accelerometer (21), gyroscope (22), navigational computer (23), storage unit (24), accelerometer (21) is connected with gyroscope (22), navigational computer (23) respectively with accelerometer (21), gyroscope (22), storage unit (24), centralized control unit (5) is connected, storage unit (24) is connected with the signal receiver (32) in differential global navigation satellite system (3) by USB (universal serial bus).
5. the device of a kind of laser scanning measurement according to claim 2, it is characterized in that: described centralized control unit (5) comprises I/O control module (51) and central processing unit (52), I/O control module (51) is connected with central processing unit (52), and central processing unit (52) is connected with external computer (8) by lan interfaces.
6. the device of a kind of laser scanning measurement according to claim 2, it is characterized in that: described power supply unit (6) comprises power input unit (61), power conversion unit (62), power storage unit (63) and power output unit (64), power conversion unit (62) is connected with power storage unit (63) with power input unit (61), power output unit (64) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355386.2A CN104913766A (en) | 2015-06-24 | 2015-06-24 | Laser scanning measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355386.2A CN104913766A (en) | 2015-06-24 | 2015-06-24 | Laser scanning measurement method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104913766A true CN104913766A (en) | 2015-09-16 |
Family
ID=54083034
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510355386.2A Pending CN104913766A (en) | 2015-06-24 | 2015-06-24 | Laser scanning measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104913766A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197379A (en) * | 2016-08-30 | 2016-12-07 | 四川格锐乾图科技有限公司 | A kind of novel mapping system of eminence object |
| CN106370435A (en) * | 2016-08-18 | 2017-02-01 | 北京汽车股份有限公司 | Road spectrum acquisition system, vehicle and road spectrum acquisition method |
| CN107748370A (en) * | 2017-10-25 | 2018-03-02 | 深圳天眼激光科技有限公司 | Carried micro laser radar three-dimensional mapping device |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN107944018A (en) * | 2017-12-11 | 2018-04-20 | 江苏省测绘工程院 | A kind of automatic quality detecting method of map vector positional precision based on laser point cloud data |
| CN108180821A (en) * | 2017-11-21 | 2018-06-19 | 深圳天眼激光科技有限公司 | A kind of machine-carried type laser radar 3-D measuring apparatus |
| CN108260401A (en) * | 2017-01-04 | 2018-07-10 | 西北农林科技大学 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
| CN109317668A (en) * | 2017-07-31 | 2019-02-12 | 株式会社松浦机械制作所 | 3-dimensional object formation |
| CN110187377A (en) * | 2017-03-20 | 2019-08-30 | 深圳市西博泰科电子有限公司 | To the method and apparatus of mobile device navigation positioning |
| CN111191697A (en) * | 2019-12-21 | 2020-05-22 | 武汉光庭信息技术股份有限公司 | ADAS road test verification optimization method and device based on sensor fusion |
| CN111474532A (en) * | 2020-04-10 | 2020-07-31 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| WO2020199116A1 (en) * | 2019-03-29 | 2020-10-08 | Beijing Voyager Technology Co., Ltd. | Systems and methods for time synchronization |
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
| CN113128516A (en) * | 2020-01-14 | 2021-07-16 | 北京京东乾石科技有限公司 | Edge extraction method and device |
-
2015
- 2015-06-24 CN CN201510355386.2A patent/CN104913766A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106370435A (en) * | 2016-08-18 | 2017-02-01 | 北京汽车股份有限公司 | Road spectrum acquisition system, vehicle and road spectrum acquisition method |
| CN106197379A (en) * | 2016-08-30 | 2016-12-07 | 四川格锐乾图科技有限公司 | A kind of novel mapping system of eminence object |
| CN108260401A (en) * | 2017-01-04 | 2018-07-10 | 西北农林科技大学 | One kind is based on the unmanned combine harvester Laser navigation systems of ROS |
| CN110187377A (en) * | 2017-03-20 | 2019-08-30 | 深圳市西博泰科电子有限公司 | To the method and apparatus of mobile device navigation positioning |
| CN109317668A (en) * | 2017-07-31 | 2019-02-12 | 株式会社松浦机械制作所 | 3-dimensional object formation |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家林业局昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
| CN107748370A (en) * | 2017-10-25 | 2018-03-02 | 深圳天眼激光科技有限公司 | Carried micro laser radar three-dimensional mapping device |
| CN108180821A (en) * | 2017-11-21 | 2018-06-19 | 深圳天眼激光科技有限公司 | A kind of machine-carried type laser radar 3-D measuring apparatus |
| CN107944018A (en) * | 2017-12-11 | 2018-04-20 | 江苏省测绘工程院 | A kind of automatic quality detecting method of map vector positional precision based on laser point cloud data |
| WO2020199116A1 (en) * | 2019-03-29 | 2020-10-08 | Beijing Voyager Technology Co., Ltd. | Systems and methods for time synchronization |
| CN111191697A (en) * | 2019-12-21 | 2020-05-22 | 武汉光庭信息技术股份有限公司 | ADAS road test verification optimization method and device based on sensor fusion |
| CN111191697B (en) * | 2019-12-21 | 2023-04-28 | 武汉光庭信息技术股份有限公司 | ADAS road test verification optimization method and device based on sensor fusion |
| CN113128516A (en) * | 2020-01-14 | 2021-07-16 | 北京京东乾石科技有限公司 | Edge extraction method and device |
| CN113128516B (en) * | 2020-01-14 | 2024-04-05 | 北京京东乾石科技有限公司 | Edge extraction method and device |
| CN111474532A (en) * | 2020-04-10 | 2020-07-31 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| CN111474532B (en) * | 2020-04-10 | 2022-05-03 | 北京建筑大学 | Time synchronization method and device for vehicle-mounted mobile laser radar measurement system |
| CN112093065A (en) * | 2020-09-30 | 2020-12-18 | 浙江安防职业技术学院 | Surveying and mapping scanning equipment based on unmanned aerial vehicle technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104913766A (en) | Laser scanning measurement method and device | |
| CN101241011B (en) | High precision positioning and posture-fixing device on laser radar platform and method | |
| CN202782968U (en) | Vehicle-mounted measure integrated system based on laser scanning and panorama images | |
| CN109597095A (en) | Backpack type 3 D laser scanning and three-dimensional imaging combined system and data capture method | |
| US10338228B2 (en) | Portable GNSS survey system | |
| CN103822631B (en) | Localization method and the device of a kind of satellite towards rotor and the combination of optical flow field vision | |
| CN104268935A (en) | Feature-based airborne laser point cloud and image data fusion system and method | |
| CN107807365A (en) | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude | |
| CN102072725A (en) | Spatial three-dimension (3D) measurement method based on laser point cloud and digital measurable images | |
| CN103106339A (en) | Synchronous aerial image assisting airborne laser point cloud error correction method | |
| CN202928571U (en) | Photographic measurement system for long-distance micro-deformation monitoring | |
| JP2019053003A (en) | Data processor, method for processing data, and data processing program | |
| CN110095659B (en) | Dynamic testing method for pointing accuracy of communication antenna of deep space exploration patrol device | |
| CN212008943U (en) | High-flux three-dimensional scanning spectral imaging measuring device | |
| CN113820735A (en) | Method for determining position information, position measuring device, terminal, and storage medium | |
| Yastikli et al. | The processing of image data collected by light UAV systems for GIS data capture and updating | |
| CN103376455A (en) | Sensor posture coordinate recording device applicable to low-altitude unpiloted remote sensing platform | |
| CN114812512A (en) | Automatic imaging system of unmanned aerial photography based on AI exempts from image control point | |
| Przybilla et al. | Investigations on the geometric quality of cameras for UAV applications using the high precision UAV test field zollern colliery | |
| Lo et al. | The direct georeferencing application and performance analysis of UAV helicopter in GCP-free area | |
| CN204718597U (en) | A kind of laser scanner | |
| JP2019168406A (en) | Target device and surveying system | |
| KR20160099336A (en) | Mobile mapping system | |
| CN114966793B (en) | Three-dimensional measurement system, method and GNSS system | |
| CN114088019B (en) | Portable device and method for measuring two-dimensional deflection angle of axis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150916 |
|
| WD01 | Invention patent application deemed withdrawn after publication |