CN106411493A - Streetscape acquisition data synchronization method, device and system - Google Patents
Streetscape acquisition data synchronization method, device and system Download PDFInfo
- Publication number
- CN106411493A CN106411493A CN201510447553.6A CN201510447553A CN106411493A CN 106411493 A CN106411493 A CN 106411493A CN 201510447553 A CN201510447553 A CN 201510447553A CN 106411493 A CN106411493 A CN 106411493A
- Authority
- CN
- China
- Prior art keywords
- signal
- streetscape
- control signal
- sync break
- shutter control
- 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.)
- Granted
Links
Landscapes
- Closed-Circuit Television Systems (AREA)
Abstract
The present invention relates to a streetscape acquisition data synchronization method, device and system. In one embodiment, the method comprises the steps of using an electronic terminal to send a signal output instruction to a synchronization module according to a preset frequency; after the synchronization module receives the signal output instruction, simultaneously outputting a shutter control signal and a synchronous interrupt signal, wherein the outputted shutter control signal and synchronous interrupt signal are provided to an image recording device and an inertia measurement device respectively; when the shutter control signal starts, using the image recording device to trigger a shutter to shoot; when the synchronous interrupt signal starts, using the inertia measurement device to interrupt the measurement and obtains the measurement data recorded at the interruption, wherein the shutter control signal and the synchronous interrupt signal start synchronously. The streetscape acquisition data synchronization method, device and system provided by the present invention effectively enables the synchronization precision between the devices to be improved when a streetscape acquisition system acquires data.
Description
Technical field
The present invention relates to field of computer technology, particularly to a kind of streetscape gathered data synchronous method,
Apparatus and system.
Background technology
With the popularization of computer and various electric terminal, carry for adapting to each terminal of various user's requests
More functions are supplied.When user is in a strange environment, electronic chart becomes described user
Requisite demand, provides the user route, facilitates user to search destination.Further, electricity
Sub- map provides streetscape look facility, and user can be helped to search place vividerly.Streetscape is checked
Function is mainly realized by streetscape acquisition system, and streetscape acquisition system mainly includes inertial measuring unit
(Inertial Measurement Unit, IMU), laser scanner and recording image equipment this three
Individual equipment, for recording different information respectively.In prior art, divided by calculating these three equipment
Not and notebook system time difference, in respective data, then deduct time difference, thus realizing
Time synchronized.However, the time synchronized of the method gathered data is not accurate.Therefore, streetscape is adopted
During collection, when making high accuracy when inertial measuring unit, laser scanner, recording image devices collect data
Between synchronous become problem demanding prompt solution.
Content of the invention
In view of this, the present invention provides a kind of streetscape gathered data synchronous method, apparatus and system.Energy
Synchronization accuracy between equipment when enough effectively improving streetscape acquisition system gathered data.
The embodiment of the present invention provides a kind of streetscape gathered data synchronous method, and methods described includes following step
Suddenly：
Electric terminal is to synchronization module according to predeterminated frequency sending signal output order；
After described synchronization module receives the instruction of described signal output, simultaneously output shutter control signal and
Sync break signal, described output shutter control signal and described sync break signal are respectively supplied to remember
Record image documentation equipment and inertial measuring unit；
When described shutter control signal starts, described recording image equipment triggering shutter is taken pictures；
When described sync break signal starts, described inertial measuring unit interrupts measuring and obtaining interruption
When the measurement data that recorded, wherein, described shutter control signal is opened with described sync break signal
Beginning time synchronized.
The embodiment of the present invention provides a kind of streetscape gathered data sychronisation, and described device includes：
Transmitting element, for according to predeterminated frequency to synchronization module sending signal output order, thus touch
Send out synchronization module described exports shutter control signal and sync break signal, to control inertia respectively simultaneously
Measurement apparatus and recording image equipment synchronous acquisition.
The embodiment of the present invention also provides a kind of streetscape gathered data synchronization system, including：
Electric terminal, synchronization module, recording image equipment and inertial measuring unit；
Described electric terminal, for referring to the output of described synchronization module sending signal according to predeterminated frequency
Order；
Described synchronization module, after being used for receiving described signal output instruction, exports shutter control simultaneously
Signal and sync break signal, described output shutter control signal and described sync break signal carry respectively
Supply recording image equipment and inertial measuring unit；
Described recording image equipment, for when described shutter control signal starts, triggering shutter is taken pictures；
Described inertial measuring unit, for when described sync break signal starts, interrupting measuring and obtaining
Take the measurement data being recorded during interruption, wherein, described shutter control signal is believed with described sync break
Number time started synchronous.
According to above-described embodiment, in the shutter control signal and synchronization that are provided by above-mentioned synchronization module
Break signal, realizes Synchronization Control inertial measuring unit and recording image devices collect data, thus effectively
Synchronization accuracy between equipment when ground improves streetscape acquisition system gathered data.
It is that the above and other objects, features and advantages of the present invention can be become apparent, cited below particularly
Preferred embodiment, and coordinate institute's accompanying drawings, it is described in detail below.
Brief description
Fig. 1 is a kind of streetscape gathered data synchronous applications environment schematic.
A kind of streetscape gathered data synchronous method flow chart that Fig. 2 provides for first embodiment.
A kind of streetscape gathered data synchronous method flow chart that Fig. 3 provides for second embodiment.
Fig. 4 is control flow schematic diagram in an example of second embodiment.
A kind of streetscape gathered data sychronisation structured flowchart that Fig. 5 provides for 3rd embodiment.
A kind of streetscape gathered data synchronous system architecture block diagram that Fig. 6 provides for fourth embodiment.
A kind of streetscape gathered data synchronous system architecture block diagram that Fig. 7 provides for the 5th embodiment.
Specific embodiment
For further illustrating that the present invention is to realize technological means and the work(that predetermined goal of the invention is taken
Effect, below in conjunction with accompanying drawing and preferred embodiment, to according to the specific embodiment of the present invention, structure,
Feature and its effect, after describing in detail such as.
Fig. 1 provide a kind of streetscape gathered data synchronous applications environment schematic, including electric terminal 100,
Synchronization module 200, recording image equipment 300, inertial measuring unit 400 and laser scanner 500.
Electric terminal 100 includes one or more processors, memory, storage control, and peripheral hardware connects
Mouth, RF (Radio Frequency, radio frequency) module, mixed-media network modules mixed-media, sensor, photographing module,
Input module and display module.It will appreciated by the skilled person that above-mentioned electric terminal
100 modules including are only an embodiment, and it does not cause to the structure of electric terminal 100 to limit.
For example, electric terminal 100 may also include the assembly more or more less than above-mentioned module, or has
The configuration different from above-mentioned configuration.The instantiation of above-mentioned electric terminal 100 includes but is not limited to
Handheld computer, mobile phone, media player, mobile unit, personal digital assistant and aforementioned
The various combinations of device.
Synchronization module 200, for exporting corresponding control signal, to control inertial measuring unit 400
With recording image equipment 300 synchronous acquisition.
Electric terminal 100 is used for sending output signal instruction to synchronization module 200, thus controlling synchronization
The frequency of module 200 output control signal.Synchronization module 200 sends receiving electric terminal 100
Instruction after, ability output control signal.
Recording image equipment 300 is that one kind is remembered using optical imaging concept formation image and using egative film
Make video recording the equipment of picture.In detail, recording image equipment 300 possesses imaging, exposure and auxiliary three and ties greatly
Construction system.Imaging system includes imaging lens, rangefinder-type focus, finder system, supplementary lens, optical filtering
Mirror, effect mirror etc.；Exposure system include tripper, aperture device, photometric system, flash system,
Self timer etc.；Accessory system includes winding mechanism, counting mechanism, rewinding device etc..
Described imaging lens are the optical systems being imaged, by a series of optical mirror slips and lens barrel institute group
Become, each camera lens has focal length and two characteristics of relative aperture；View finder is used to choose scenery
With the device of composition, the scenery seen by view finder, all can fall in the part of picture inframe, equal energy
Shoot on film；Range finder can measure the distance of scenery, often combines with view finder,
Range finding and lens focusing can be connected by interlinked mechanism, complete to focus while range finding.
Optical perspective or single-lens reflex find a view range finder all must be manually operated, and with the naked eye judges.
In addition with methods such as electro-optical distance measurement, sonar ranging, infrared distance measurings, can exempt manually operated, and
It is avoided that the error visually judging to bring, to realize automatic range.
Described tripper be control light exposure critical piece, modal shutter have front shutter and
Focal plane shutter two class.Front shutter is made up of one group of very thin metal blade, in the work of main spring
With under, the action of connecting rod and dialing ring makes blade be rapidly cycled on and off；Focal plane shutter is by two groups
Partly overlapping heavy curtain (front curtain and rear curtain) is constituted, and is contained in focal plane front adjacent.Two heavy curtains are pressed successively
Order starts, to form a gap.Gap is inswept in front of film, to realize exposing.
Described aperture is also referred to as diaphragm, is the mechanism that confine optical beam is passed through, and is contained in the middle of camera lens or rear.
Aperture can change light path bore, and controls light exposure together with shutter.Common aperture has continuous variable
Formula and two kinds of non-continuously variable formula.
Recording image equipment 300 main element includes：Image-forming component, darkroom, image forming medium and imaging
Control structure.Described image-forming component can be imaged.The lens group being typically made up of optical glass,
It is referred to as camera lens.Aperture, solenoid etc. all serve the effect of " camera lens " on specific equipment.
Described image forming medium then charge capture and recording image, including egative film, CCD, CMOS etc..Described
Darkroom is connected and protects image forming medium not to be subject to for providing one between described camera lens and described image forming medium
Interference.Described imaging control structure can change over as or recording image mode with the final one-tenth of image
As effect, aperture, shutter, focus control etc..
Inertial measuring unit 400 contains the accelerometer of three single shafts and the gyro of three single shafts, institute
State the acceleration signal that accelerometer detection object founds three axles in carrier coordinate system unification and independence, described gyro inspection
Survey the angular velocity signal that carrier is with respect to navigational coordinate system, measure object angular speed in three dimensions
And acceleration, and the attitude of object is calculated with this.Further, can also be equipped with more for each axle
Many sensors.In some instances, inertial measuring unit 400 is arranged in the center of gravity of testee.
Inertial measuring unit 400 is used in mostly to be needed to carry out the equipment of motion control, such as automobile and machine
On people.Be also used in needing carrying out the occasion of accurate displacement reckoning with attitude, such as submarine, aircraft, lead
Inertial navigation set of bullet and spacecraft etc..
Specifically, inertial measuring unit 400 belongs to Strapdown Inertial Units measurement apparatus, accelerates including two
Degree sensor and three velocity sensor (gyro) compositions, accelerometer is used for experiencing determinand body phase
For the component of acceleration of ground vertical line, velocity sensor is used for experiencing the angle information of aircraft, this sub-portion
Part mainly has the E/EPROM memory X25650 of two A/D converter AD7716BS and 64K
Constitute, A/D converter adopts the analog variable of the described sensor of inertial measuring unit 400, conversion
Export aircraft pitch angle, angle of inclination and sideslip for last after CPU calculating after digital information
Angle, E/EPROM memory mainly stores the line of the described sensor of inertial measuring unit 400
The piece number of linearity curve figure and each sensor of IMU and sequence number, in firm start, graphics processing unit is read
The linearity curve parameter in E/EPROM is taken to provide initial information for follow-up angle calculation.
Laser scanner 500 is to measure the work such as the size and shape of workpiece by scanning technique
A kind of instrument, laser scanner 500, using the good rotation motor of a stability and precision, works as light
Beam forms scanning light beam to the polygonal prism rule reflection being driven by motor.Because polygonal prism rule are located at
On the front focal plane of scanning lens, and Rotating with Uniform makes laser beam for speculum, and its incidence angle is relatively
Ground sequential change, thus angle of reflection also makees sequential change, via the effect of scanning lens, is formed
One parallel and continuous scan line from top to bottom.
Because scanning method is with the time as calculating benchmark, therefore it is also called Time Method.Laser scanner 500
It is installed on production online, form side and produce the instrument that frontier inspection is tested.Laser scanner 500 includes laser light
Source and scanner, it is subject to the part such as OPTICAL SENSORS, control unit.Described LASER Light Source is closed, holds
Easily form light beam, generally adopt lower powered visible light lasers, such as He-Ne Lasers, semiconductor laser etc.,
Described scanner is rotating multisurface rib rule or Double sided mirror, after light beam injects described scanner, then quickly
Rotation makes laser light be reflected into a scanning light beam.In described smooth beam scanning whole process, if there being workpiece to keep off
Live light, therefore can predict diameter.It is necessary to first with the gauge of two known dimensions before measurement
Correct, if then all measurement sizes between this two gauge, can after electronic signal process,
Can get size to be measured.Therefore, it is also called laser gauge.
Laser scanner 500, be also usual it is appreciated that laser copy several machines.Laser scanner 500
Being application scanning technology carrys out work measuring the principles such as the size and shape of object under test.It is mainly used in
Reverse-engineering, responsible curved surface copies number, and workpiece three-dimensional measurement, for existing three dimensional practicality (sample or mould
Type), can quickly record the profile collective data of object, and in addition construction, editor, modification generates logical
New Model for Digitized Parametric Surfaces with output format.
Further, laser scanner 500 can be three-dimensional laser scanner, or referred to as outdoor scene replicates
Technology, described three-dimensional laser scanning technique can provide the three dimensional point cloud of scanning body surface, because
This can be used for obtaining the digital terrain model of high-accuracy high-resolution.
With reference to specific embodiment, the present invention is further described through.
First embodiment
The present embodiment provides a kind of streetscape gathered data synchronous method, as shown in Fig. 2 the present embodiment
Method comprises the following steps：
Step S101, electric terminal are to synchronization module according to predeterminated frequency sending signal output order.
In detail, prestore in electric terminal 100 and control the function mould of synchronization module 200 output signal
Block.For example, it may be the application program of the control synchronization module 200 mating with synchronization module 200.
Specifically, electric terminal 100 according to predeterminated frequency to synchronization module sending signal output order, to control
The frequency of system step module 200 output control signal.Described predeterminated frequency can be according to current streetscape environment
Preset.For example, predeterminated frequency described in the larger streetscape of information content is set to upper frequency, otherwise
Then setting is compared with small frequency.Specifically, the corresponding periodic intervals electric terminal 100 of predeterminated frequency to
Synchronization module 200 sends a signal output instruction.
After step S102, described synchronization module receive described signal output instruction, export fast simultaneously
Gate control signal and sync break signal, described output shutter control signal and described sync break signal
It is respectively supplied to recording image equipment and inertial measuring unit.
Wherein, synchronization module 200 output shutter control signal and sync break signal are discontinuity,
Just export fast gate when synchronization module 200 receives the signal output instruction of electric terminal 100 transmission
Signal processed and sync break signal to recording image equipment 300 and inertial measuring unit 400, and
After recording image equipment 300 and inertial measuring unit 400 complete a data acquisition, shutter control is believed
Number and sync break signal ended.After synchronization module 200 receives signal output instruction next time, with
Step module 200 exports described shutter control signal and described sync break signal again simultaneously.
Step S103, when described shutter control signal starts, the triggering of described recording image equipment is fast
Door is taken pictures, and when described sync break signal starts, described inertial measuring unit interrupts measurement simultaneously
Obtain the measurement data that recorded when interrupting, wherein, described shutter control signal and described sync break
The time started of signal is synchronous.
Further, in the present embodiment, shutter control signal and sync break signal are pulse letter
Number, the rising edge starting as described shutter control signal of described shutter control signal, in described synchronization
The rising edge starting as described sync break signal of break signal.Correspondingly, if described shutter control letter
Number the rising edge starting as described shutter control signal, then the end of described shutter control signal is institute
State the trailing edge of shutter signal；If the starting as described sync break signal of described sync break signal
Rising edge, then the end of described sync break signal is the trailing edge of described sync break signal.Enter one
Step ground, two signals that synchronization module 200 exports simultaneously：Described control shutter signal and described synchronization
The rising edge of interrupt signal is high-precise synchronization it is generally the case that described control shutter signal and institute
The time error stating sync break signal rising edge is less than 1us.
In other embodiments, described shutter control signal may begin at described shutter control signal
Upper trailing edge, the trailing edge starting alternatively described sync break signal of described sync break signal,
Now, the end of described shutter control signal is then the upper trailing edge of described shutter control signal, described
The end of sync break signal is then the trailing edge of described sync break signal.
Further, inertial measuring unit 400 test constantly data, when inertial measuring unit 400 connects
When receiving sync break signal, interrupt measurement when sync break signal starts, and record the interruption moment
Measured data.The measurement data of inertial measuring unit 400 record includes real time position, ephemeris time
Between and attitude information.The described ephemeris time refers to the time-varying exact position of motion of celestial body or track
Table, is the function of time.
Described shutter control signal and described sync break signal respectively in described recording image equipment and
Described inertial measuring unit terminates after completing a data record.
Further, synchronization module 200 once exports described shutter control signal and sync break signal
Afterwards a recording image equipment 300 is controlled by described shutter control signal and sync break signal and be used to
Property measurement apparatus 400 are synchronous carries out data acquisition, after the completion of data acquisition described shutter control signal and
Described sync break signal ended.
Further, the method for the present embodiment is used for streetscape acquisition system.Specifically, by the method
The streetscape data obtaining can be used for streetscape display function in electronic chart through process.Specifically, when connecing
The streetscape figure receiving the specified location of user input is checked, then can be displayed in what corresponding street collected
Corresponding data.
According to the method for the present embodiment, by above-mentioned synchronization module 200 control signal, reach synchronization
Control inertial measuring unit 400 and recording image equipment 300 gathered data, thus being effectively realized street
The data high-precise synchronization of the collection between equipment during scape acquisition system gathered data.
Second embodiment
The present embodiment provides a kind of streetscape gathered data synchronous method, the present embodiment and first embodiment,
Similar, its difference is, as shown in figure 3, the method for the present embodiment also includes：
Step S201, electric terminal are to synchronization module according to predeterminated frequency sending signal output order.
In detail, prestore in electric terminal 100 and control the function mould of synchronization module 200 output signal
Block.For example, it may be the application program of the control synchronization module 200 mating with synchronization module 200.
Specifically, electric terminal 100 according to predeterminated frequency to synchronization module sending signal output order to control
The frequency of synchronization module 200 output control signal.Described predeterminated frequency can be according to current streetscape environment
Preset.For example, predeterminated frequency described in the larger streetscape of information content is set to upper frequency, otherwise
Then setting is compared with small frequency.Specifically, the corresponding periodic intervals electric terminal 100 of predeterminated frequency to
Synchronization module 200 sends a signal output instruction.
After step S202, described synchronization module receive described signal output instruction, export fast simultaneously
Gate control signal and sync break signal, described output shutter control signal and described sync break signal
It is respectively supplied to recording image equipment and inertial measuring unit.
Wherein, synchronization module 200 output shutter control signal and sync break signal are discontinuity,
Just export fast gate when synchronization module 200 receives the signal output instruction of electric terminal 100 transmission
Signal processed and sync break signal to recording image equipment 300 and inertial measuring unit 400, and
After recording image equipment 300 and inertial measuring unit 400 complete a data acquisition, shutter control is believed
Number and sync break signal ended.After synchronization module 200 receives signal output instruction next time, with
Step module 200 exports described shutter control signal and described sync break signal again simultaneously.
Step S203, when described shutter control signal starts, the triggering of described recording image equipment is fast
Door is taken pictures, and when described sync break signal starts, described inertial measuring unit interrupts measurement simultaneously
Obtain the measurement data that recorded when interrupting, wherein, described shutter control signal and described sync break
The time started of signal is synchronous.
Further, in the present embodiment, shutter control signal and sync break signal are pulse letter
Number, the rising edge starting as described shutter control signal of described shutter control signal, in described synchronization
The rising edge starting as described sync break signal of break signal.
Inertial measuring unit 400 test constantly data, when inertial measuring unit 400 because sync break is believed
Number interrupt when, record interrupt the moment measurement data.
Step S204, described inertial measuring unit and laser scanner pass through 1PPS+TOD interface phase
Even, inertial measuring unit described in described 1PPS+TOD Interface Controller is synchronous with described laser scanner
Gathered data.
In detail, inertial measuring unit 400 and laser scanner 500 pass through 1PPS+TOD interface
It is connected.Wherein 1PPS (pulses per second), as pulses per second.TOD protocol data
The synchronous ephemeris time value of report transmission, cooperation 1PPS (pulse per second (PPS)) can be with UTC (Coordinated
Universal Time, the Coordinated Universal Time(UTC)) alignment.1PPS pulse triggering per second pulsatile once signal,
Control inertial measuring unit 400 and laser scanner 500 synchronous acquisition.It is appreciated that
1pps pulse per second (PPS) precision is 0.5us.
Further, described shutter control signal and described sync break signal are respectively in described record shadow
As equipment 300 and described inertial measuring unit 400 complete to terminate after a data record.
Fig. 4 show synchronization module 200 in an example and controls output signal schematic diagram.Specifically,
Shutter control signal and sync break signal are simultaneously emitted by by synchronization module 200.It is appreciated that
The control signal simultaneously exporting is to be capable of the signal of high-precise synchronization change.Therefore, synchronization module 200
The shutter control signal simultaneously exporting and the rising edge of sync break signal are high-precise synchronization.As Fig. 4
Shown, at point a, the rising edge of sync break signal is at point b for the rising edge of shutter control signal.
Time difference between diagram midpoint a and point b is less than 1us.In detail, upper in shutter control signal
Rise along when, trigger recording image documentation equipment 300 triggering shutter take pictures.Rising edge in sync break signal
When, trigger inertia test device 400 interrupt test, now inertia test device 400 records this moment
Position, ephemeris time and attitude information.Further, inertia test device 400 and laser scanner
500 is to be connected by 1PPS+TOD interface, 1PPS pulse triggering per second pulsatile once signal, from
And control inertia test device 400 and laser scanner 500 synchronous acquisition, TOD agreement number
According to the synchronous ephemeris time value of report transmission.In detail, it is appreciated that 1pps pulse per second (PPS) precision is
0.5us.Therefore, the method for the present embodiment is used for the error of streetscape acquisition system less than 1us.
Other details with regard to the present embodiment can also will not be described here with reference to first embodiment.
According to the method for the present embodiment, by above-mentioned synchronization module 200 control signal, reach synchronization
Control inertial measuring unit 400 and recording image equipment 300 gathered data, thus effectively improving street
Synchronization accuracy between equipment during scape acquisition system gathered data, further, recording image equipment
300 is synchronous with inertial measuring unit, and inertial measuring unit is synchronous with laser scanner 500 again, thus
Realize the collection between recording image equipment 300, inertial measuring unit 400 and laser scanner 500
The synchronization of data.
3rd embodiment
The present embodiment provides a kind of streetscape gathered data sychronisation, as shown in figure 5, in the present embodiment
Device include：Transmitting element 301 and set of frequency unit 302；
Transmitting element 301, for according to predeterminated frequency to synchronization module 200 sending signal output order,
Thus trigger synchronization module 200 to export shutter control signal and sync break signal, to control respectively simultaneously
Inertial measuring unit 400 processed and recording image equipment 300 synchronous acquisition.
Set of frequency unit 302, for carrying out predeterminated frequency, wherein, pin according to current streetscape environment
To the streetscape containing much information, described predeterminated frequency is big, for the little streetscape of information content, described default frequency
Rate is little.With regard to the present embodiment device other details can further with reference to first embodiment,
This repeats no more.
According to the device of the present embodiment, synchronization module 200 is controlled to send the frequency of control signal, thus
Streetscape collection, and the fast gate of synchronization module 200 output can be carried out using streetscape acquisition system in order
The rising edge stringent synchronization of signal processed and sync break signal, therefore triggering inertial measuring unit 400 with
The corresponding operating of recording image equipment 300 is also synchronous, thus being effectively realized streetscape acquisition system
The data high-precise synchronization of the collection between equipment during gathered data
Fourth embodiment
The present embodiment provides a kind of streetscape gathered data synchronization system, as shown in fig. 6, the present embodiment
System includes：Electric terminal 100, synchronization module 200, recording image equipment 300 and inertia are surveyed
Amount device 400.
Electric terminal 100, for according to predeterminated frequency to synchronization module 200 sending signal output order.
Synchronization module 200, after being used for receiving described signal output instruction, exports shutter control simultaneously
Signal and sync break signal, described output shutter control signal and described sync break signal carry respectively
Supply recording image equipment 300 and inertial measuring unit 400.
In detail, in the present embodiment, described shutter control signal start for described shutter control believe
Number rising edge, the rising edge starting as described sync break signal of described sync break signal.
Recording image equipment 300, for when described shutter control signal starts, triggering shutter is taken pictures.
Inertial measuring unit 400, for when described sync break signal starts, interrupting measuring and obtaining
Take the measurement data being recorded during interruption, wherein, described shutter control signal is believed with described sync break
Number time started synchronous.
Inertial measuring unit 400 is additionally operable to lasting record data, when described sync break signal starts
Interrupt, and continue record data in described sync break signal ended.
Synchronization module 200, is additionally operable to control described shutter control signal and the sync break signal of output
Terminate after described recording image equipment and described inertial measuring unit complete a data record respectively.
Other details with regard to the system of the present embodiment can be with further reference to first embodiment, and here is no longer
Repeat.
According to the system of the present embodiment, by the control signal of above-mentioned synchronization module 200 output, real
Existing Synchronization Control inertial measuring unit 400 and recording image equipment 300 gathered data, thus effectively
Realize the data high-precise synchronization of the collection between equipment during streetscape acquisition system gathered data.
5th embodiment
The present embodiment provides a kind of streetscape gathered data synchronization system, the present embodiment and fourth embodiment class
Seemingly.Its difference is, as shown in fig. 7, the system of the present embodiment includes：Electric terminal 100,
Synchronization module 200, recording image equipment 300, inertial measuring unit 400 and laser scanner 500.
Laser scanner 500 is connected by 1PPS+TOD interface with inertial measuring unit 400, institute
State 1PPS+TOD Interface Controller inertial measuring unit 400 and laser scanner 500 synchronous acquisition number
According to.
Other details with regard to the system of the present embodiment can be with further reference to second embodiment, and here is no longer
Repeat.
According to the system of the present embodiment, by the control signal of above-mentioned synchronization module 200 output, real
Existing Synchronization Control inertial measuring unit 400 and recording image equipment 300 gathered data, thus realize remembering
Record image documentation equipment 300 and the synchronization of inertial measuring unit 400 gathered data, further, inertia is surveyed
Amount device 400 is synchronous with laser scanner 500 again, thus being effectively realized the collection of streetscape acquisition system
The data high-precise synchronization of the collection between equipment during data.
Additionally, the embodiment of the present invention also provides a kind of computer-readable recording medium, it is stored with meter
Calculation machine executable instruction, above-mentioned computer-readable recording medium for example, nonvolatile memory is for example
CD, hard disk or flash memory.Above-mentioned computer executable instructions are used for allowing computer or similar
Arithmetic unit complete the various operations in above-mentioned streetscape gathered data synchronous method method.
It should be noted that each embodiment in this specification is described by the way of going forward one by one, each
What embodiment stressed is all the difference with other embodiment, phase homophase between each embodiment
As partly mutually referring to.For device class embodiment, due to itself and embodiment of the method base
This is similar, so description is fairly simple, in place of correlation, the part referring to embodiment of the method illustrates.
It should be noted that herein, such as first and second or the like relational terms are only used
By an entity or operation with another entity or operate make a distinction, and not necessarily require or
Imply between these entities or operation, there is any this actual relation or order.And, term
" inclusion ", "comprising" or its any other variant are intended to comprising of nonexcludability, thus
So that including a series of process of key elements, method, article or device not only include those key elements, and
And also include other key elements of being not expressly set out, or also include for this process, method, thing
Product or the intrinsic key element of device.In the absence of more restrictions, " include one by sentence
Individual ... " key element that limits is being it is not excluded that including process, method, article or the device of key element
In also there is other identical element.
It is somebody's turn to do above, is only presently preferred embodiments of the present invention, not the present invention is made any formal
Restriction although the present invention is disclosed above with preferred embodiment, but be not limited to the present invention,
Any those skilled in the art, in the range of without departing from technical solution of the present invention, when available
The technology contents of the disclosure above make a little Equivalent embodiments changing or be modified to equivalent variations, as long as
It is without departing from technical solution of the present invention content, the technical spirit according to the present invention is made to above example
Any simple modification, equivalent variations and modification, all still fall within the range of technical solution of the present invention.
Claims (10)
1. a kind of streetscape gathered data synchronous method is it is characterised in that the method comprising the steps of：
Electric terminal is to synchronization module according to predeterminated frequency sending signal output order；
After described synchronization module receives the instruction of described signal output, simultaneously output shutter control signal and
Sync break signal, described output shutter control signal and described sync break signal are respectively supplied to remember
Record image documentation equipment and inertial measuring unit；
When described shutter control signal starts, described recording image equipment triggering shutter is taken pictures；
When described sync break signal starts, described inertial measuring unit interrupts measuring and obtaining interruption
When the measurement data that recorded, wherein, described shutter control signal is opened with described sync break signal
Beginning time synchronized.
2. streetscape gathered data synchronous method as claimed in claim 1 is it is characterised in that described fast
The rising edge starting as described shutter control signal of gate control signal, the opening of described sync break signal
The rising edge beginning as described sync break signal.
3. streetscape gathered data synchronous method as claimed in claim 1 is it is characterised in that described fast
Gate control signal and described sync break signal are respectively in described recording image equipment and described inertia measurement
Device terminates after completing a data record.
4. streetscape gathered data synchronous method as claimed in claim 1 is it is characterised in that described side
Method also includes：
Described inertial measuring unit continues record data, interrupts when described sync break signal starts,
And continue record measurement data in described sync break signal ended.
5. a kind of streetscape gathered data sychronisation is it is characterised in that described device includes：
Transmitting element, for according to predeterminated frequency to synchronization module sending signal output order, thus touch
Send out synchronization module described exports shutter control signal and sync break signal, to control inertia respectively simultaneously
Measurement apparatus and recording image equipment synchronous acquisition.
6. streetscape gathered data sychronisation as claimed in claim 5 is it is characterised in that described dress
Put and also include, set of frequency unit, for predeterminated frequency is carried out according to current streetscape environment, wherein,
For the streetscape containing much information, described predeterminated frequency is big, for the little streetscape of information content, described default
Frequency is little.
7. a kind of streetscape gathered data synchronization system is it is characterised in that include：Electric terminal, synchronization
Module, recording image equipment and inertial measuring unit；
Described electric terminal, for according to predeterminated frequency to described synchronization module sending signal output order；
Described synchronization module, after being used for receiving described signal output instruction, exports shutter control simultaneously
Signal and sync break signal, described output shutter control signal and described sync break signal carry respectively
Supply recording image equipment and inertial measuring unit；
Described recording image equipment, for when described shutter control signal starts, triggering shutter is taken pictures；
Described inertial measuring unit, for when described sync break signal starts, interrupting measuring and obtaining
Take the measurement data being recorded during interruption, wherein, described shutter control signal is believed with described sync break
Number time started synchronous.
8. streetscape gathered data synchronization system as claimed in claim 7 is it is characterised in that described fast
The rising edge starting as described shutter control signal of gate control signal, the opening of described sync break signal
The rising edge beginning as described sync break signal.
9. streetscape gathered data synchronization system as claimed in claim 7 it is characterised in that described with
Step module, is additionally operable to control the described shutter control signal of output and sync break signal respectively described
Recording image equipment and described inertial measuring unit complete end after a data record.
10. streetscape gathered data synchronization system as claimed in claim 7 is it is characterised in that described
Inertial measuring unit is additionally operable to lasting record data, interrupts when described sync break signal starts, and
Continue record data in described sync break signal ended.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510447553.6A CN106411493B (en) | 2015-07-27 | 2015-07-27 | Streetscape acquires method of data synchronization, apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510447553.6A CN106411493B (en) | 2015-07-27 | 2015-07-27 | Streetscape acquires method of data synchronization, apparatus and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106411493A true CN106411493A (en) | 2017-02-15 |
| CN106411493B CN106411493B (en) | 2019-03-15 |
Family
ID=58008538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510447553.6A Active CN106411493B (en) | 2015-07-27 | 2015-07-27 | Streetscape acquires method of data synchronization, apparatus and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106411493B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107172320A (en) * | 2017-06-21 | 2017-09-15 | 成都理想境界科技有限公司 | Method of data synchronization and picture pick-up device |
| CN110139066A (en) * | 2019-03-24 | 2019-08-16 | 初速度（苏州）科技有限公司 | A kind of Transmission system of sensing data, method and apparatus |
| CN110636603A (en) * | 2019-10-22 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Aircraft time synchronization system and method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100272423A1 (en) * | 2009-04-23 | 2010-10-28 | Panasonic Corporation | Shake correcting apparatus and imaging apparatus having the same |
| CN102301399A (en) * | 2009-09-04 | 2011-12-28 | 松下电器产业株式会社 | Image generation system, image generation method, computer program, and recording medium in which computer program is recorded |
| CN102575933A (en) * | 2009-08-13 | 2012-07-11 | 株式会社博思科 | System that generates map image integration database and program that generates map image integration database |
| CN103402056A (en) * | 2013-07-31 | 2013-11-20 | 北京阳光加信科技有限公司 | Compensation processing method and system applied to image capture device |
| CN104113698A (en) * | 2014-08-06 | 2014-10-22 | 北京北纬通信科技股份有限公司 | Blurred image processing method and system applied to image capturing device |
| CN104506753A (en) * | 2015-01-07 | 2015-04-08 | 中国科学院光电技术研究所 | Method for generating external synchronizing signal for real-time error compensation of camera exposure control |
-
2015
- 2015-07-27 CN CN201510447553.6A patent/CN106411493B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100272423A1 (en) * | 2009-04-23 | 2010-10-28 | Panasonic Corporation | Shake correcting apparatus and imaging apparatus having the same |
| CN102575933A (en) * | 2009-08-13 | 2012-07-11 | 株式会社博思科 | System that generates map image integration database and program that generates map image integration database |
| CN102301399A (en) * | 2009-09-04 | 2011-12-28 | 松下电器产业株式会社 | Image generation system, image generation method, computer program, and recording medium in which computer program is recorded |
| CN103402056A (en) * | 2013-07-31 | 2013-11-20 | 北京阳光加信科技有限公司 | Compensation processing method and system applied to image capture device |
| CN104113698A (en) * | 2014-08-06 | 2014-10-22 | 北京北纬通信科技股份有限公司 | Blurred image processing method and system applied to image capturing device |
| CN104506753A (en) * | 2015-01-07 | 2015-04-08 | 中国科学院光电技术研究所 | Method for generating external synchronizing signal for real-time error compensation of camera exposure control |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107172320A (en) * | 2017-06-21 | 2017-09-15 | 成都理想境界科技有限公司 | Method of data synchronization and picture pick-up device |
| CN110139066A (en) * | 2019-03-24 | 2019-08-16 | 初速度（苏州）科技有限公司 | A kind of Transmission system of sensing data, method and apparatus |
| CN110139066B (en) * | 2019-03-24 | 2021-02-02 | 初速度（苏州）科技有限公司 | Sensor data transmission system, method and device |
| CN110636603A (en) * | 2019-10-22 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Aircraft time synchronization system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106411493B (en) | 2019-03-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7187401B2 (en) | System and a method of three-dimensional modeling and restitution of an object | |
| CN100534144C (en) | Image pickup apparatus, camera main body thereof and interchangeable lens | |
| US7319511B2 (en) | Surveying instrument and electronic storage medium | |
| CN111007554A (en) | Data acquisition time synchronization system and method | |
| CN102692364B (en) | Blurring image processing-based dynamic grain measuring device and method | |
| JP2003279351A (en) | Surveying apparatus and method for acquisition of image data by using the same | |
| JP2000002518A (en) | Three dimensional input device | |
| EP3353492B1 (en) | Device and method to locate a measurement point with an image capture device | |
| JP2001004377A (en) | Method and arrangement for survey by video tacheometer | |
| JP7152137B2 (en) | Photogrammetry system and photogrammetry method | |
| CN104913766A (en) | Laser scanning measurement method and device | |
| JP2022171677A5 (en) | ||
| EP4008997A1 (en) | Surveying system, surveying method, and surveying program | |
| CN110398258A (en) | A kind of performance testing device and method of inertial navigation system | |
| CN106411493B (en) | Streetscape acquires method of data synchronization, apparatus and system | |
| JP2008032701A (en) | Survey instrument | |
| CN101776758B (en) | Distance meter for measuring distance between two target points | |
| KR101296601B1 (en) | The camera control system and method for producing the panorama of map information | |
| CN112995524A (en) | High-precision acquisition vehicle, and photo exposure information generation system, method and synchronization device thereof | |
| JP3175393B2 (en) | Distance measuring method and device | |
| CN111457884B (en) | Method and system for testing horizontal field angle of vehicle-mounted stereoscopic vision sensor | |
| JP2002090116A (en) | Three-dimensional image detector | |
| JP4451968B2 (en) | 3D image input device | |
| CN113678427A (en) | Shooting control method and device, holder, focus follower motor and storage medium | |
| JP5297366B2 (en) | Imaging object information generation apparatus and imaging object information generation program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |