CN105783754B - GBInSAR 3-D displacement field extracting method based on 3 D laser scanning - Google Patents
GBInSAR 3-D displacement field extracting method based on 3 D laser scanning Download PDFInfo
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The GBInSAR 3-D displacement field extracting method based on 3 D laser scanning that the invention discloses a kind of, while this method is by carrying out high precision monitor to monitoring region using GBInSAR, fine scanning is carried out to monitoring region using three-dimensional laser scanner, respectively obtain the deformation information of the two, then accuracy registration is carried out, the high-precision sight of projected angle and GBInSAR obtained using 3 D laser scanning is to displacement, effectively the deformation information of the two is fused together, finally obtains high accuracy three-dimensional displacement field.Advantageous effects of the invention: obtaining the 3 D deformation information of deformable body by three-dimensional laser, in conjunction with GBInSAR technology obtain radar line of sight to distance, realize the quick obtaining of high-precision three-dimensional displacement field, have many advantages, such as that speed is fast, precision is high, wide coverage, portable, easy to operate, round-the-clock, there is good theory significance and practical application value to ground deformation monitoring technical field.
Description
Technical Field
The invention relates to a GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning, and belongs to the technical field of ground-based radar interferometry.
Background
Deformation monitoring is the measurement of an object or object being monitored to determine its spatial position and its internal form over time. The traditional monitoring means has the defects of low spatial resolution, poor continuity, large environmental influence and the like, so that the application and development of deformation monitoring are hindered. How to rapidly acquire three-dimensional displacement field information of a deformable body with high precision and high spatial resolution has become a key research point for deformation monitoring.
In recent years, Synthetic Aperture Radar Interferometry (InSAR) technology opens up a new path for deformation monitoring. With the continuous development and improvement of InSAR remote sensing technology, the technology has been successfully applied to the fields of geology, hydrology, mapping, military, environmental monitoring and the like.
Three-dimensional laser scanning technology is an emerging mapping technology, and can rapidly obtain original mapping data and reconstruct a three-dimensional model of a scanned entity with high precision. The technology has high precision, high speed and wide application range, overcomes the defect of single-point measurement of the traditional method, is one of the hot points of research in the field of surveying and mapping at home and abroad at present, and is widely applied to deformation monitoring of buildings.
Ground-Based synthetic aperture radar interferometry (GBInSAR, Ground Based InSAR) as a novel technology for monitoring terrain variation has the advantages that: the method has the advantages of high speed, high precision, wide coverage range, portability, easy operation, all weather and the like. Although GBInSAR is a novel potential space geodetic measurement method, the GBInSAR technology can only obtain the distance of a radar visual line and cannot directly extract a three-dimensional displacement field of a deformable body, so that the application of the GBInSAR is limited. And the three-dimensional laser can acquire the three-dimensional deformation information of the deformation body, but the observation range is limited. If the two technologies are fused, the advantages are made up for the disadvantages, and a high-precision three-dimensional displacement field can be obtained. GBInSAR and three-dimensional laser scanning fusion can realize quick acquisition of a high-precision three-dimensional displacement field, but the current research on the fusion technology is not deep enough. Therefore, the research on GBInSAR and three-dimensional laser scanning fusion technology is developed, a set of feasible technical scheme is provided, and the method has good theoretical significance and practical application value.
Disclosure of Invention
In order to solve the defects of the prior art, the invention aims to provide a method which can fuse three-dimensional laser and GBInSAR deformation information with high precision to obtain a high-precision three-dimensional displacement field.
In order to achieve the above object, the present invention adopts the following technical solutions:
a GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized by comprising the following steps:
1) selecting a monitoring area, and placing a three-dimensional laser scanner and a GBInSAR observation device at appropriate positions in the monitoring area; the position coordinate of the three-dimensional laser scanner is L (x)L,yL,zL) The GBInSAR observation device has a position coordinate of G (x)L,yL,zL)；
2) Several corner reflectors are placed in the monitoring area, and their coordinates are respectively measuredN is the number of corner reflectors and is used as a registration control point of two kinds of later-stage deformation data;
3) monitoring the monitoring area simultaneously by utilizing a three-dimensional laser scanner and a GBInSAR observation device, and acquiring monitoring information of the monitoring area:
registering point cloud data acquired by a three-dimensional laser scanner to obtain deformation (delta x, delta y and delta z) of monitoring points;
carrying out registration, interference, unwrapping and other processing on the GBInSAR image data to obtain the high-precision line of sight displacement los of the radar;
4) extracting coordinates of the corner reflector in the monitoring area under respective coordinate systems from the GBInSAR image data and the point cloud data acquired by the three-dimensional laser scanner, and respectively recording the coordinates asA unified coordinate system, which converts the three-dimensional laser scanning coordinate and GBInSAR coordinate into a reference coordinate system by the following formula,wherein,pixel coordinates representing GBInSARTo the reference coordinateThe transfer function of (a) is selected,representing three-dimensional laser scan dataTo the reference coordinateThe conversion function adopts a polynomial function or other functions;
5) after registration, the three-dimensional laser scanning monitoring data and the GBInSAR monitoring data are registered to a unified reference coordinate system, and a projection angle α, gamma is obtained by utilizing the following formula of coordinate back calculation:
6) calculating a three-dimensional displacement field by using the obtained α, gamma and high-precision line-of-sight displacement los obtained by GBInSAR:
the GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized in that in the step 1), the monitoring area needs to be covered by earth surface vegetation with less coverage, has a certain gradient and has smaller change of the surrounding environment.
The GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized in that the monitoring ranges of the three-dimensional laser scanner and the GBInSAR observation device in the step 1) are approximately the same.
The GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized in that the three-dimensional laser scanner and the GBInSAR observation device in the step 1) are located on the same level surface, and the distance between the three-dimensional laser scanner and the GBInSAR observation device is set according to an empirical value.
The GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized in that corner reflectors in the monitoring area are uniformly distributed in the monitoring area.
The invention achieves the following beneficial effects: the three-dimensional deformation information of the deformation body is obtained through three-dimensional laser scanning, the high-precision displacement of the radar visual line is obtained by combining the GBInSAR technology, the high-precision three-dimensional displacement field is rapidly obtained, and the method has the advantages of being high in speed, high in precision, wide in coverage range, portable, easy to operate, all-weather and the like, and has good theoretical significance and practical application value in the technical field of terrain deformation monitoring.
Drawings
FIG. 1 is a flow chart of the three-dimensional displacement field extraction of the present invention;
fig. 2 is a schematic diagram of three-dimensional displacement field extraction of GBInSAR based on three-dimensional laser scanning.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The invention relates to a GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning, which comprises the following steps:
1) selecting a monitoring area, and placing a three-dimensional laser scanner and a GBInSAR observation device at a proper position in the monitoring area, wherein the position coordinate of the three-dimensional laser scanner is L (x) as shown in figure 1L,yL,zL) The position coordinate of GBInSAR is G (x)L,yL,zL) The monitoring ranges of both are made substantially the same.
The monitoring area needs to cover less vegetation on the ground, has a certain gradient and has less change of the surrounding environment. The monitoring ranges of the three-dimensional laser scanner and the GBInSAR observation device are approximately the same, the devices are located on the same level surface, and the distance between the devices is set according to an empirical value.
2) Several corner reflectors are placed in the monitoring area, and their coordinates are respectively calculatedAnd N is the number of the corner reflectors and is used as a registration control point of two kinds of later deformation data. Preferably, the corner reflectors in the monitoring area are evenly distributed in the monitoring area.
3) The method comprises the steps of simultaneously monitoring a monitoring area by using a three-dimensional laser scanner and a GBInSAR observation device, acquiring monitoring information of the monitoring area, registering point cloud data acquired by the three-dimensional laser scanner to obtain deformation (delta x, delta y and delta z) of monitoring points, and carrying out registration, interference, unwrapping and other treatment on GBInSAR image data to obtain high-precision displacement of a radar sight line.
4) Extracting coordinates of the corner reflector in the monitoring area under respective coordinate systems from the GBInSAR image data and the point cloud data acquired by the three-dimensional laser scanner, and respectively recording the coordinates as
In order to unify the coordinate system, the three-dimensional laser scanning coordinate and the GBInSAR coordinate are respectively converted into a reference coordinate system by the following formula,pixel coordinates representing GBInSARTo the reference coordinateThe transfer function of (a) is selected,representing three-dimensional laser scan dataTo the reference coordinateThe conversion function may be a polynomial function or other functions.
5) After registration, the three-dimensional laser scanning monitoring data and the GBInSAR monitoring data are registered to a unified reference coordinate system, α gamma is obtained by using a coordinate back calculation formula,
6) calculating three-dimensional by using obtained α, gamma and GBInSAR obtained high-precision line-of-sight displacement losDisplacement field:
the method acquires the three-dimensional deformation information of the deformation body through the three-dimensional laser, acquires the distance of the radar sight line by combining the GBInSAR technology, realizes the quick acquisition of the high-precision three-dimensional displacement field, has the advantages of high speed, high precision, wide coverage range, portability, easy operation, all weather and the like, and has good theoretical significance and practical application value in the technical field of terrain variation monitoring.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (3)
1. The GBInSAR three-dimensional displacement field extraction method based on three-dimensional laser scanning is characterized by comprising the following steps of:
1) selecting a monitoring area, and placing a three-dimensional laser scanner and a GBInSAR observation device at appropriate positions in the monitoring area;
the position coordinate of the three-dimensional laser scanner is L (x)L,yL,zL) The GBInSAR observation device has a position coordinate of G (x)L,yL,zL)；
2) Several corner reflectors are placed in the monitoring area, and the reflectors are respectively measuredIts coordinatesN is the number of corner reflectors;
3) monitoring the monitoring area simultaneously by utilizing a three-dimensional laser scanner and a GBInSAR observation device, and acquiring monitoring information of the monitoring area:
registering point cloud data acquired by a three-dimensional laser scanner to obtain deformation (delta x, delta y and delta z) of monitoring points;
carrying out registration, interference and unwrapping on the GBInSAR image data to obtain the high-precision line of sight displacement los of the radar;
4) extracting coordinates of the corner reflector in the monitoring area under respective coordinate systems from the GBInSAR image data and the point cloud data acquired by the three-dimensional laser scanner, and respectively recording the coordinates as
A unified coordinate system, which converts the three-dimensional laser scanning coordinate and GBInSAR coordinate into a reference coordinate system by the following formula,wherein,pixel coordinates representing GBInSARTo the reference coordinateThe transfer function of (a) is selected,representing three-dimensional laser scan dataTo the reference coordinateThe conversion function adopts a polynomial function or other functions;
5) after registration, the three-dimensional laser scanning monitoring data and the GBInSAR monitoring data are registered to a unified reference coordinate system, and a projection angle α, gamma is obtained by utilizing the following formula of coordinate back calculation:
6) calculating a three-dimensional displacement field by using the obtained α, gamma and high-precision line-of-sight displacement los obtained by GBInSAR:
the corner reflectors in the monitoring area are uniformly distributed in the monitoring area;
the three-dimensional laser scanner and the GBInSAR observation device in the step 1) are positioned on the same level surface, and the distance between the three-dimensional laser scanner and the GBInSAR observation device is set according to an empirical value.
2. The GBInSAR three-dimensional displacement field extraction method based on the three-dimensional laser scanning as claimed in claim 1, wherein in the step 1), the monitoring area has to cover less earth surface vegetation, has a certain slope and has less change of surrounding environment.
3. The method for extracting GBInSAR three-dimensional displacement field based on three-dimensional laser scanning as claimed in claim 1, wherein the monitoring ranges of the three-dimensional laser scanner and the GBInSAR observation device in the step 1) are substantially the same.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106526593B (en) * | 2016-12-19 | 2019-01-11 | 国家测绘地理信息局卫星测绘应用中心 | Sub-pixel-level corner reflector automatic positioning method based on the tight imaging model of SAR |
| CN111351424B (en) * | 2020-03-31 | 2021-10-12 | 内蒙古雷远信息科技有限公司 | Deformation measuring method and radar system |
| CN111736152B (en) * | 2020-08-17 | 2020-12-22 | 深圳大学 | Road slope stability monitoring method and vehicle-mounted platform device |
| CN113740844B (en) * | 2021-09-09 | 2024-04-02 | 雷添杰 | Dam three-dimensional deformation monitoring-oriented two-foundation radar combined observation method |
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