CN106443705A - Airborne laser radar measurement system and method - Google Patents
Airborne laser radar measurement system and method Download PDFInfo
- Publication number
- CN106443705A CN106443705A CN201610974759.9A CN201610974759A CN106443705A CN 106443705 A CN106443705 A CN 106443705A CN 201610974759 A CN201610974759 A CN 201610974759A CN 106443705 A CN106443705 A CN 106443705A
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- Prior art keywords
- aircraft
- laser radar
- laser scanner
- radar measuring
- airborne
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- 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 provides an airborne laser radar measurement system and method. The airborne laser radar measurement system comprises a laser scanner and a support; the laser scanner is used for scanning a target object and acquiring three-dimensional laser scanned data of the target object; the support is provided with a first surface and a second surface, the first surface is used for being connected with an aircraft, and the second surface is used for supporting the laser scanner; an included angle more than 0 degree and less than 90 degrees is formed between the first surface and the second surface. With the airborne laser radar measurement system and method, inclined scanning of the target object can be realized, so that more facade information can be acquired, and surveying and mapping precision of the target object is improved beneficially.
Description
Technical field
The present invention relates to remote sensing survey technical field, relate more specifically to a kind of airborne laser radar measuring system and side
Method.
Background technology
Airborne laser radar (Light Detection And Ranging, LIDAR) technology is that laser is used for back by one kind
Ripple range finding and orientation, and the technology of target is identified by information such as position, radial velocity and object reflection characteristics.Airborne laser
Radar Technology embodies special transmitting, scanning, receives and signal processing technology.Airborne laser radar technology originates from traditional
Laser ranging technique in engineering survey, is the product that conventional radar technology is combined with modern laser, is remote sensing survey neck
One emerging technology in domain.
Airborne laser radar measuring system is the aerial survey equipment of a kind of high speed, high-performance, distance, this system one
As by laser scanner, global positioning system (Global Positioning System, GPS) positioner, inertia measurement list
First (Inertial measurement unit, IMU) and high resolving power digital camera composition, it is possible to achieve same to target
Pacing amount.Measurement data is processed by particular equation resolving, can generate high-density laser cloud data, for for terrain and its features
The extraction of information offers precise data source.
At present, in airborne laser radar measuring system collection target data, generally by laser scanner level (or substantially
Level) dispose on board the aircraft, to erect to target object along the heading of aircraft in the surface of target object
The straight laser scanning data scanning, obtaining target object.Fig. 1 is exemplarily illustrated aircraft of the prior art and airborne
The schematic diagram of the laser scanner in lidar measurement system.As shown in figure 1, laser scanner 120 horizontal setting is in flight
On device 110, laser can be launched in its upper and lower surfaces, and therefore laser scanner 120 is to be scanned using vertical sweep mode
's.Due to vertical sweep angle less (thinking in industry that laser scanner belongs to two-dimensional scanner), lead to acquired target
The facade data of object is less, thus affecting the mapping precision of target object.Elevation of building details, shaft tower facade details etc.
The disappearance of detailed information can affect data processed result to a certain extent, be that mapping operations bring adverse effect.For example,
If the scan data with regard to the window on elevation of building is few, window information may be lost in modeling.Again for example, if closed
Few in the scan data of power line cross arm of tower, then shaft tower modeling and electric inspection process can be made a big impact.
Accordingly, it is desirable to provide a kind of improved airborne laser radar measuring system, to solve the above problems at least in part.
Content of the invention
Propose the present invention in view of the problems referred to above.
According to an aspect of the present invention, there is provided a kind of airborne laser radar measuring system.This airborne laser radar measurement system
System includes：Laser scanner, for being scanned and gathering the laser scanning data of target object to target object；And
Support member, has the first face and the second face, and the first face is used for being connected with aircraft, and the second face is used for supporting laser scanner；Its
In, there is between the first face and the second face angle, angle is more than 0 degree and is less than 90 degree.
Exemplarily, airborne laser radar measuring system also includes：Determine appearance alignment system, determine appearance alignment system for gathering
Positional information and attitude information, determine the positional information of appearance alignment system and attitude information be used for combining laser scanning data
Obtain the spatial data of target object；And fixture, fixing on board the aircraft for appearance alignment system will be determined.
Exemplarily, support member and fixture link together.
Exemplarily, angle is more than 5 degree and is less than 85 degree.
According to a further aspect of the invention, there is provided a kind of airborne laser radar measuring method, including：By airborne laser radar
Laser scanner tiltably-mounted in measuring system on board the aircraft so that the center line of laser scanner and aircraft is pre-
Determine that there is between heading the first angle, the first angle is more than 0 degree and is less than 90 degree；And using laser scanner to mesh
Mark object is scanned and gathers the laser scanning data of target object.
Exemplarily, by the laser scanner tiltably-mounted in airborne laser radar measuring system on board the aircraft it
Before, airborne laser radar measuring method also includes：By the support member in laser scanner and airborne laser radar measuring system
Second face links together；Laser scanner tiltably-mounted in airborne laser radar measuring system is included on board the aircraft：
First face of support member is linked together with aircraft, so that laser scanner disposes on board the aircraft via support member,
Wherein, there is between the first face and the second face the second angle, the second angle is more than 0 degree and is less than 90 degree.
Exemplarily, airborne laser radar measuring method also includes：Appearance of determining in airborne laser radar measuring system is determined
Position system footprint is on board the aircraft；And the positional information of appearance alignment system is determined in the collection of appearance alignment system and attitude is believed using determining
Breath, determines the positional information of appearance alignment system and attitude information is used for obtaining the space of target object with reference to laser scanning data
Coordinate data.
Exemplarily, by airborne laser radar measuring system determine appearance alignment system dispose on board the aircraft before,
Airborne laser radar measuring method also includes：The fixture that appearance alignment system is fixed in airborne laser radar measuring system will be determined
On；Appearance alignment system arrangement of determining in airborne laser radar measuring system is included on board the aircraft：Secure the fix to fly
On row device, so that determine appearance alignment system disposing on board the aircraft via fixture.
Exemplarily, airborne laser radar measuring method also includes：Using data handling system according to determining appearance alignment system
Positional information and attitude information and laser scanner and the relative position determined between appearance alignment system determine laser scanner
Positional information and attitude information, and the positional information according to laser scanner and attitude information are to laser scanning data
It is corrected, to determine the spatial data of target object.
Exemplarily, airborne laser radar measuring method also includes：Using measuring apparatus, swept based on demarcating field measurement laser
Retouch instrument and determine the relative position between appearance alignment system.
Exemplarily, the laser scanner tiltably-mounted in airborne laser radar measuring system is included on board the aircraft：
By laser scanner tiltably-mounted on board the aircraft, so that the first angle is in the range of predetermined angle；Wherein, predetermined angle model
Enclose maximum measurement distance according at least to laser scanner, the pre-set flight height of aircraft and the shape facility meter of target object
Calculate and obtain.
Exemplarily, the first angle is more than 5 degree and is less than 85 degree.
Above-mentioned airborne laser radar measuring system and method can realize the dip sweeping to target object, such that it is able to obtain
Take more facade information, be conducive to improving the mapping precision of target object.
Brief description
By combining accompanying drawing, the embodiment of the present invention is described in more detail, the above-mentioned and other purpose of the present invention,
Feature and advantage will be apparent from.Accompanying drawing is used for providing the embodiment of the present invention is further understood, and constitutes explanation
A part for book, is used for explaining the present invention together with the embodiment of the present invention, is not construed as limiting the invention.In the accompanying drawings,
Identical reference number typically represents same parts or step.
Fig. 1 is exemplarily illustrated the laser scanner in aircraft of the prior art and airborne laser radar measuring system
Schematic diagram；
Fig. 2 a illustrates the schematic diagram of laser scanner according to an embodiment of the invention and support member；
Fig. 2 b illustrates the laser scanner shown in a by Fig. 2 according to an embodiment of the invention and support member be arranged to winged
The schematic diagram of the construction being formed on row device；
Fig. 3 a illustrates according to an embodiment of the invention using laser scanner, the top surface of target object to be scanned
Schematic diagram；
Fig. 3 b illustrates that utilization laser scanner according to an embodiment of the invention enters to the side (facade) of target object
The schematic diagram of row scanning；
Fig. 4 illustrates the laser scanning in aircraft according to an embodiment of the invention and airborne laser radar measuring system
Instrument, support member and the schematic diagram determining appearance alignment system；
Fig. 5 illustrates the schematic flow sheet of airborne laser radar measuring method according to an embodiment of the invention；And
Fig. 6 illustrates the schematic diagram of aircraft according to an embodiment of the invention and target object.
Specific embodiment
So that the object, technical solutions and advantages of the present invention become apparent from, describe root below with reference to accompanying drawings in detail
Example embodiment according to the present invention.Obviously, described embodiment is only a part of embodiment of the present invention, rather than this
Bright whole embodiments are not it should be appreciated that the present invention is limited by example embodiment described herein.Described in the present invention
The embodiment of the present invention, the obtained all other embodiment in the case of not paying creative work of those skilled in the art
All should fall under the scope of the present invention.
In order to solve problem as described above, the embodiment of the present invention proposes a kind of airborne laser radar measuring system and side
Method.Airborne laser radar measuring system disclosed herein and method make during laser scanning the center line of laser scanner with
The heading shape of aircraft has angle, and this angle is more than 0 degree and is less than 90 degree, i.e. make the laser of laser scanner
The heading of the direction of the launch and aircraft is both not parallel and out of plumb.Because aircraft typically flies in the horizontal direction, because
Laser emission direction during laser scanning for this laser scanner is that relative level tilts, therefore in the laser scanning phase
Between, laser scanner can launch laser towards the facade (or saying side) of target object, to obtain more facade information.
Below with reference to Fig. 2 a and Fig. 2 b, airborne laser radar measuring system according to embodiments of the present invention to be described.Fig. 2 a shows
Go out the schematic diagram of laser scanner according to an embodiment of the invention and support member.Fig. 2 b illustrates according to one enforcement of the present invention
Schematic diagram laser scanner shown in Fig. 2 a and support member being arranged to the construction being formed on aircraft of example.For letter
Clean, Fig. 2 b and the subsequent accompanying drawing illustrating aircraft exemplarily only show the fuselage bottom of aircraft, and not shown complete
Aircraft.Although it should be noted that Fig. 2 b and the subsequent accompanying drawing illustrating aircraft illustrate laser scanner (or determine appearance positioning system
System) be placed in the fuselage bottom of aircraft, but Fig. 2 b and subsequent aircraft is shown laser scanner shown in the drawings (or
Determine appearance alignment system) setting on board the aircraft is only exemplary rather than limiting, laser scanner (or determining appearance alignment system)
Can be placed at any suitable position in aircraft.
As shown in Figure 2 a, airborne laser radar measuring system includes laser scanner 210 and support member 220.Laser scanning
Instrument 210 is used for target object is scanned and gathers with the laser scanning data of target object.Support member 220 has first
Face (can be described as bottom surface) and the second face (can be described as top surface).First face of support member 220 is used for being connected with aircraft.Support member
220 the second face is used for supporting laser scanner 210.Between first face of support member 220 and the second face, there is angle theta, this folder
Angle θ is more than 0 degree and is less than 90 degree.
Target object as herein described can be any suitably to need to carry out laser scanning to obtain its space coordinates number
According to object, such as transmission line of electricity (include shaft tower, power line etc.), building, vegetation, massif etc..
Any of first face of support member 220 and the second face can be continuous entire panel or tool
There is the support in space.Support member 220 can be made up of any suitable material such as metal, timber, rubber, and the present invention does not enter to this
Row limits.
Using any suitable connector, the first face of support member 220 can be linked together with aircraft, this connection
Part can be, but not limited to be the attachment means such as alignment pin or threaded connector (including bolt, nut etc.), the present invention does not enter to this
Row limits.Exemplarily, the first face of support member 220 has location hole, aircraft also has location hole, it is possible to use be fixed
First face of support member 220 is linked together by position pin with aircraft.
Likewise it is possible to the second face of support member 220 is connected with laser scanner 210 using any suitable connector
Together, this connector can be, but not limited to be the attachment means such as alignment pin or threaded connector (including bolt, nut etc.), this
Invention is not limited to this.Exemplarily, the second face of support member 220 has location hole, laser scanner 210 also has
There is location hole, it is possible to use the second face of support member 220 and laser scanner 210 are linked together by alignment pin.
Fig. 2 a and Fig. 2 b shows the center line L1 of laser scanner 210.The center line L1 of laser scanner 210 be through
Laser scanner 210 center of gravity, along laser scanner 210 Laser emission direction extend straight line.By laser scanning
Instrument 210 is fixed on support member 220, during being supported by the second face of support member 220, so that in laser scanner 210
Heart line L1 is parallel or substantially parallel with the second face of laser scanner 210.Similarly, support member 220 is being fixed to aircraft
When upper, so that the first face of support member 220 is parallel with the predetermined heading (it is typically horizontal direction) of aircraft
Or it is almost parallel.So, when being arranged on aircraft laser scanner 210 via support member 220, laser scanner 210
Center line can have angle with the predetermined heading shape of aircraft, first face and second of this angle and support member 220
Angle theta between face is equal or roughly equal, as shown in Figure 2 b.Therefore, laser scanner 210 is being arranged on aircraft it
Afterwards, laser scanner 210 can realize the dip sweeping to target object.
It is appreciated that in the embodiment shown in Fig. 2 b, the predetermined heading of aircraft 230 and the machine of aircraft 230
Body bottom is parallel, and the projection in the plane that fuselage bottom is located at is (straight with the predetermined heading of aircraft 230 for Fig. 2 b
Line L2) representing the predetermined heading of aircraft 230, then the center line L1 of laser scanner 210 and aircraft 230 is predetermined
Angle between heading is the angle theta between the center line L1 and straight line L2 of laser scanner 210.
As described above, angle theta is more than 0 degree and less than 90 degree that is to say, that laser scanner 210 tiltably-mounted exists
On aircraft 230, its Laser emission direction is neither put down with the predetermined heading (it is typically horizontal direction) of aircraft 230
OK, also not vertical with the predetermined heading of aircraft 230.Exemplarily, angle theta more than 5 degree and can be less than 85 degree.Folder
0 degree or 90 degree of angle θ distance is slightly remote, can compensate the deviation of the Laser emission angle caused by the course deviation of aircraft.Can
To be understood by, aircraft 230 may fly exactly along horizontal direction always, and it may deviate water in some moment
Square to certain angle, subsequently adjust system call interception back to the horizontal direction via the course of itself.When aircraft 230 deviates level side
During to certain angle, due to remaining in certain distance between angle, θ and 0 degree or 90 degree, therefore can ensure laser scanning as far as possible
The Laser emission direction of instrument is with respect to the horizontal plane to tilt.
As described above, during target object is surveyed and drawn, aircraft is typically horizontally (with horizontal plane
Parallel direction) flight, therefore, during target object is surveyed and drawn, the Laser emission direction of laser scanner is big
Causing with horizontal direction is in a fixed angle, and its size is equal to angle theta.
It is understood that the Laser emission direction of laser scanner can be towards the front of aircraft it is also possible to direction
The rear of aircraft.Because the Laser emission direction of laser scanner and the predetermined heading of aircraft all can be with single arrows
Ray representation, angle therefore therebetween is equally likely to the supplementary angle of above-mentioned angle theta (it is acute angle) or angle theta, and (it is
Obtuse angle).When angle between the Laser emission direction of laser scanner and the predetermined heading of aircraft is acute angle, laser
The Laser emission direction of scanner is towards the front of aircraft.Relatively, when Laser emission direction and the flight of laser scanner
When angle between the predetermined heading of device is obtuse angle, the Laser emission direction of laser scanner is towards the rear of aircraft.
So, laser scanner is no longer from the surface vertical sweep of target object, and can be towards the side of target object
Face dip sweeping.Therefore, compared with existing airborne laser radar measuring system, airborne laser thunder according to embodiments of the present invention
Reach measuring system, the facade information of more target objects can be obtained by the laser scanner of tiltably-mounted.Furthermore, it is possible to reason
Solution is although laser scanner tiltably-mounted, but it still can scan the Top-print information of target object.
Fig. 3 a illustrates according to an embodiment of the invention using laser scanner, the top surface of target object to be scanned
Schematic diagram.Fig. 3 b illustrates that utilization laser scanner according to an embodiment of the invention enters to the side (facade) of target object
The schematic diagram of row scanning.
In Fig. 3 a and Fig. 3 b, aircraft 320 flies from left to right, the Laser emission direction direction of laser scanner 310
The rear of aircraft 320.Therefore, when shown in Fig. 3 a, laser scanner 310 can scan the top of target object 330
Face.Then, aircraft 320 gradually moves, until the moment shown in Fig. 3 b, now laser scanner 310 can scan target
The right side facade of object 330.
Compared with existing airborne laser radar measuring system, airborne laser radar measurement according to embodiments of the present invention is
System can realize the dip sweeping to target object, such that it is able to obtain more facade information, is conducive to improving target object
Mapping precision.
According to embodiments of the present invention, airborne laser radar measuring system can also include determining appearance alignment system and fixture.
Fig. 4 illustrates laser scanner in aircraft according to an embodiment of the invention and airborne laser radar measuring system, support
Part and the schematic diagram determining appearance alignment system.Laser scanner 410 shown in Fig. 4, support member 420 and aircraft 430 and Fig. 2 b institute
The corresponding intrument showing is consistent, repeats no more.Fig. 4 also show and determines appearance alignment system 440.
Determine appearance alignment system 440 for gathering the positional information determining appearance alignment system 440 and attitude information, determine appearance positioning system
The positional information of system 440 and attitude information are used for obtaining the spatial data of target object with reference to laser scanning data.
Exemplarily, determine appearance alignment system 440 and can include GPS positioning device and IMU, being respectively used to gather it, to determine appearance fixed
The positional information of position system 440 and attitude information.Positional information can include determining appearance alignment system 440 centre coordinate (x, y,
Z), attitude information can include determining appearance alignment system 440 three attitude angle (ω,κ).Determine appearance alignment system 440 and laser
Relative position between scanner 410 is constant, therefore can be believed according to the positional information determining appearance alignment system 440 and attitude
Breath determines positional information and the attitude information of laser scanner 410.Subsequently can according to the positional information of laser scanner 410 and
Attitude information is corrected to laser scanning data, to determine the spatial data of target object.Position according to determining appearance
The positional information of system 440 and attitude information determine that the positional information of laser scanner 410 and the mode of attitude information can be adopted
Realized with prior art, do not repeat herein.It is noted that in airborne laser radar measurement system according to embodiments of the present invention
In system, laser scanner 410 and determine relative position between appearance alignment system 440 unlike the prior art, laser scanner 410
Center line for determining the center line of appearance alignment system 440 be tilt rather than perpendicular or parallel.Determine appearance positioning system
System 440 has the coordinate system of oneself, and the center line determining appearance alignment system 440 can be through the center of gravity determining appearance alignment system 440
, the straight line extending along a certain preferred coordinates axle in its coordinate system.
Fixture (Fig. 4 is not shown) is used for being fixed on aircraft 430 by determining appearance alignment system 440.Fixture can be
Any suitable connector, it can be fixed on determining appearance alignment system 440 on aircraft 430, is connected to aircraft 430
Together.Exemplarily, fixture can be such as housing.Can place in the housing by determining appearance alignment system 440, housing has
There are some location holes, aircraft 430 also has location hole.Using alignment pin, housing and aircraft 430 can be connected to one
Rise, the purpose that appearance alignment system 440 is fixed on aircraft 430 will be determined to reach.
As shown in figure 4, determining appearance alignment system 440 horizontal setting during laser scanning on aircraft 430.Determine appearance positioning
Relative position between system 440 and laser scanner 410 keeps constant.Determine the center line of appearance alignment system 440 and laser is swept
There is angle, this angle can be pre- with the center line of laser scanner 410 and aircraft 430 between the center line retouching instrument 410
The angle determined between heading is equal.
In one example, above-mentioned support member and fixture can be detached devices.That is, will be with support member
The laser scanner connecting and determining of being connected with fixture be before appearance alignment system is arranged on aircraft, support member and fixture
Between relative position can be adjusted so that laser scanner and determine the relative position between appearance alignment system as needed
Change therewith.Laser scanner and the relative position determined between appearance alignment system can include coordinate translation amount therebetween and
Rotation amount.Subsequently by laser scanner that relative position is adjusted and appearance alignment system can be determined respectively via support member and fixation
Part is arranged on aircraft.This mode is easy to laser scanner and is determined the relative position between appearance alignment system and adjust
Whole.
In another example, above-mentioned support member and fixture can link together.That is, support member and fixation
Part can be an entirety.Exemplarily, support member and fixture can be to be linked together using modes such as welding.In this feelings
Under condition, the linkage interface between the first face of support member and the second face can be designed as activity, can adjust as needed
Angle between first face and the second face, this equally can realize to laser scanner and determine the relative position between appearance alignment system
The adjustment put.This mode is conducive to keeping laser scanner and determines the constant of the relative position between appearance alignment system, is easy to
Laser scanner is arranged on aircraft together with determining appearance alignment system.
According to embodiments of the present invention, airborne laser measurement radar system can also include data handling system (not shown).
Data handling system can be with laser scanner and determine appearance positioning system communication, for according to determining appearance alignment system
Positional information and attitude information and laser scanner and the relative position determined between appearance alignment system determine laser scanner
Positional information and attitude information, and the positional information according to laser scanner and attitude information enter to laser scanning data
Row correction, to determine the spatial data of target object.
Data handling system can be realized using any suitable hardware, software and/or firmware.Data handling system is machine
Carry the central processing unit of lidar measurement system, its number that can receive laser scanner and determine the transmission of appearance alignment system
According to processing to these data.Data handling system can according to the positional information determining appearance alignment system and attitude information with
And laser scanner and the relative position determined between appearance alignment system determine positional information and the attitude information of laser scanner, such as
Mentioned above, determination mode can be realized using prior art.Subsequently, data handling system can be according to the position of laser scanner
Confidence breath and attitude information are corrected to laser scanning data.Similarly, correcting mode can be real using prior art
Existing, do not repeat herein.
According to a further aspect of the invention, provide a kind of airborne laser radar measuring method.Fig. 5 illustrates according to the present invention one
The schematic flow sheet of the airborne laser radar measuring method 500 of embodiment.
As shown in figure 5, airborne laser radar measuring method 500 comprises the following steps.
In step S510, by the laser scanner tiltably-mounted in airborne laser radar measuring system on board the aircraft, with
Make to have the first angle between the center line of laser scanner and the predetermined heading of aircraft, the first angle is more than 0 degree
And it is less than 90 degree.
Exemplarily, it is possible to use support member mentioned above by laser scanner tiltably-mounted on board the aircraft, is such as schemed
As shown in 2b.May be referred to be described above via the mode that support member disposes laser scanner and understood, here is no longer
Repeat.It is understood, however, that above-mentioned support member is only exemplary rather than limiting, can be will be swashed using other suitable modes
Photoscanner tiltably-mounted is on board the aircraft.For example, aircraft can have the support of inclination, and can pass through such as connector will
Laser scanner be fixed on the support of inclination so that the center line of laser scanner with respect to aircraft predetermined heading
It is to tilt.
Exemplarily, described first angle is more than 5 degree and is less than 85 degree.Via support member, laser scanner is being disposed
In the case of on board the aircraft, the angle between the first face of the first angle and support member and the second face is (in embodiment of the method
Represented with the second angle) equal or roughly equal.Those skilled in the art may be referred to the angle theta in above-mentioned a and 2b with regard to Fig. 2
Description understand the first angle, will not be described here.
In step S520, the three-dimensional laser that using laser scanner, target object is scanned and gathers with target object is swept
Retouch data.
In the working method of the laser scanner of step S520 and the working method class of laser scanner of the prior art
Seemingly, repeat no more.
Airborne laser radar measuring method according to embodiments of the present invention, due to flying laser scanner tiltably-mounted
On device, therefore when using laser scanner scans target object, it is possible to obtain the facade information of more target object, be conducive to
Improve the mapping precision of target object.
According to embodiments of the present invention, before step S510, airborne laser radar measuring method 500 can also include：Will
Second face of the support member in laser scanner and airborne laser radar measuring system links together；Step S510 can be wrapped
Include：First face of support member is linked together with aircraft, so that laser scanner is placed in aircraft via support member
On, wherein, there is between the first face and the second face the second angle, the second angle is more than 0 degree and is less than 90 degree.
As described above, it is possible to use the connector of such as alignment pin or threaded connector is by laser scanner and support member
The second face link together.It is likewise possible to using such as alignment pin or threaded connector connector by the of support member
Simultaneously link together with aircraft.First face of support member and the second face are being connected with aircraft and laser scanner respectively
After together, laser scanner is placed on board the aircraft.
It is understood that via support member by laser scanner dispose on board the aircraft when, aircraft and support
The face (hereinafter referred to as contact surface) of the first face contact of part is typically smooth, in such a case, it is possible to think the second angle
Equal with the first angle.However, the contact surface of some aircraft may be less smooth, that is, the contact surface of aircraft itself with respect to
There is a certain degree of inclination in the predetermined heading (such as horizontal direction) of aircraft, in this case, the first angle is
The contact surface of the second angle and aircraft is with respect to the angle of inclination sum of the predetermined heading of aircraft.But, aircraft
Contact surface angle of inclination generally not too large, the dip sweeping of laser scanner is affected less.Furthermore, it is possible to will support
The second angle between first face of part and the second face is designed to 0 degree and 90 degree of distance far, such as at 45 degree about, this
Sample, can reduce the impact that the inclination of the contact surface of aircraft itself is brought to the dip sweeping of laser scanner.In a word, by
Knowable to above-mentioned, the size of the first angle can be determined by the size of the second angle.
According to embodiments of the present invention, airborne laser radar measuring method 500 can also include：Airborne laser radar is measured
Appearance alignment system of determining in system disposes on board the aircraft；And gather, using determining appearance alignment system, the position determining appearance alignment system
Information and attitude information, determine the positional information of appearance alignment system and attitude information is used for obtaining mesh with reference to laser scanning data
The spatial data of mark object.
Exemplarily, it is possible to use fixture mentioned above will be determined appearance alignment system and dispose on board the aircraft.Via solid
Determine part dispose determine appearance alignment system mode may be referred to be described above understood, will not be described here.It is appreciated, however, that
, above-mentioned support member only be exemplary rather than limit, can with using other suitable modes by determine appearance alignment system be placed in winged
On row device.For example, aircraft can have support, can be fixed to determining appearance alignment system on support by such as connector.
In one example, determine the center that appearance alignment system with horizontal setting on board the aircraft, that is, can determine appearance alignment system
Line can be parallel with the predetermined heading of aircraft.Compared with determining the long-time tiltably-mounted of appearance alignment system, determining appearance positioning
In the case of the long-time horizontal setting of system, the precision of acquired positional information and attitude information is higher.
According to embodiments of the present invention, the appearance alignment system of determining in airborne laser radar measuring system is being placed in aircraft
Before upper, airborne laser radar measuring method 500 can also include：It is fixed on airborne laser radar measurement by determining appearance alignment system
On fixture in system；By in airborne laser radar measuring system determine appearance alignment system dispose can wrap on board the aircraft
Include：Secure the fix on aircraft, so that determine appearance alignment system disposing on board the aircraft via fixture.
Describe the structure determining appearance alignment system and fixture in airborne laser radar measuring system above already in connection with Fig. 4
Make and working method, those skilled in the art can be no longer superfluous in conjunction with the embodiment understanding the present embodiment described above, here
State.
According to embodiments of the present invention, airborne laser radar measuring method 500 can also include：Using data handling system root
According to the positional information determining appearance alignment system and attitude information and laser scanner with determine the relative position between appearance alignment system
Determine positional information and the attitude information of laser scanner, and the positional information according to laser scanner and attitude information are to three
Dimension laser scanning data is corrected, to determine the spatial data of target object.
Construction and the working method of data handling system are hereinbefore described, those skilled in the art can be in conjunction with above
Description understands the embodiment of the present embodiment, will not be described here.
According to embodiments of the present invention, airborne laser radar measuring method can include the standard of airborne laser radar measuring system
Standby step.Preparation process can include other devices (the such as this paper in laser scanner and airborne laser radar measuring system
Described determines appearance alignment system) arrangement step.Before laser scanner is disposed on board the aircraft, the phase can be determined first
Hope laser scanner angle of inclination on board the aircraft.
According to embodiments of the present invention, step S510 can include：By laser scanner tiltably-mounted on board the aircraft, so that
Obtain the first angle in the range of predetermined angle；Wherein, predetermined angle scope according at least to laser scanner maximum measurement distance,
The shape facility of the pre-set flight height of aircraft and target object calculates and obtains.The shape facility of target object can include mesh
The height of mark object.
It is described in preparation process between the center line of laser scanner and the predetermined heading of aircraft below
One example of the determination mode of one angle.Fig. 6 illustrates showing of aircraft according to an embodiment of the invention and target object
It is intended to.In figure 6, aircraft label 610 represents, target object label 620 represents.As shown in fig. 6, H is target object
620 height, h is the pre-set flight height of aircraft 610, and S is the maximum measurement distance (i.e. range) of laser scanner, permissible
One angle is calculated according to below equation：
arcsin((h+H)/S*180/π
Wherein, h+H<S.The angle being calculated can be considered as the desired value of the first angle.However, due to above-mentioned H, h
It is respectively provided with certain error with S, therefore can obtain a scope near above-mentioned desired value, i.e. predetermined angle scope.Should
Predetermined angle scope can be, for example, [40 °, 45 °].
It should be noted that the formula of the desired value of above-mentioned calculating first angle is only illustrative and not restrictive, can adopt
Other suitable formula calculate the desired value of the first angle, to determine predetermined angle scope.
After determining predetermined angle scope, laser scanner can be disposed according to predetermined angle scope.In an example
In, laser scanner and determine appearance alignment system and can separately dispose on board the aircraft.In another example, can will swash first
Photoscanner and determine appearance alignment system and be secured together, subsequently the two is disposed along on aircraft.No matter using above-mentioned which
The mode of kind, before disposing laser scanner and determining appearance alignment system, needs measurement relative position therebetween.And surveying
Amount laser scanner and determine between appearance alignment system relative position after, keep relative position therebetween constant, up to
Scanning to target object completes.
Describe laser scanner below and be arranged to a kind of carry-on implementation together with determining appearance alignment system.
After determining above-mentioned predetermined angle scope, by laser scanner and appearance alignment system can be determined it is fixed together,
So that forming angle between the center line of laser scanner and the center line determining appearance alignment system, it is true that this angle meets previously institute
The fixed requirement to the first angle, that is, this angle is in the range of predetermined angle.Due to the angle that now obtains not necessarily with set
The angle of meter is completely the same, therefore using measuring apparatus measurement laser scanner and can determine the relative position between appearance alignment system
Put, this will hereinafter be described.Can be informed in laser scanner in this way and determine appearance alignment system and be placed in
After on aircraft, laser scanner is with respect to the actual tilt situation of aircraft.
Subsequently, by laser scanner and the arrangement of appearance alignment system can be determined on board the aircraft so that determining appearance alignment system
Center line is parallel with the predetermined heading of aircraft, as such, it is possible to make the center line of laser scanner and the pre- of aircraft
Determine between heading, to form the first angle, this first angle is equal to the center line of laser scanner and determines in appearance alignment system
Angle between heart line is that is to say, that the first angle is also in the range of predetermined angle.
According to embodiments of the present invention, airborne laser radar measuring method 500 can also include：Using measuring apparatus, it is based on
Demarcate field measurement laser scanner and determine the relative position between appearance alignment system.
Exemplarily, measuring apparatus can be such as Laser Distance Measuring Equipment, slide measure etc., and it can measure and sweep with laser
The spatial data that to retouch instrument related with determining appearance alignment system.
The coordinate of the point of the several ad-hoc locations in the origin and Calibration Field in Calibration Field is known.Therefore, may be used
So that by laser scanner with determine appearance alignment system and put in Calibration Field, field data is demarcated in scanning, using known point coordinate with sweep
Retouch data to determine scanner and determine the relative position between appearance alignment system.As described above, data handling system can utilize
This relative position determines the spatial data of target object.
Although it is understood that laser scanner and the relative position determined between appearance alignment system are to determine and known
, but by laser scanner with when determine appearance alignment system and being arranged on aircraft, laser scanner may be towards determining appearance calmly
Any one radial direction around the system of position.Exemplarily, in order to scan conveniently, laser scanner can be placed in and determine appearance
The front or behind (along heading) of alignment system.Referring back to Fig. 4 it is assumed that aircraft flies from left to right, then solid line
Laser scanner is disposed upon determining the example of the laser scanner in front of appearance alignment system, and the laser scanner of dotted line is then to dispose
Example in the laser scanner determining appearance alignment system rear.
Airborne laser radar measuring system according to embodiments of the present invention and method, laser scanner can tiltably-mounted exist
On aircraft such that it is able to target object side-emitting laser, to solve the facade of target object during laser scanning
Point cloud obtains not enough problem.
Although herein by reference to Description of Drawings example embodiment it should be understood that above-mentioned example embodiment is merely exemplary
, and be not intended to limit the scope of the invention to this.Those of ordinary skill in the art can carry out various changes wherein
And modification, it is made without departing from the scope of the present invention and spirit.All such changes and modifications are intended to be included in claims
Within required the scope of the present invention.
In specification mentioned herein, illustrate a large amount of details.It is to be appreciated, however, that the enforcement of the present invention
Example can be put into practice in the case of not having these details.In some instances, known method, structure are not been shown in detail
And technology, so as not to obscure the understanding of this description.
Similarly it will be appreciated that in order to simplify the present invention and help understand one or more of each inventive aspect,
In description to the exemplary embodiment of the present invention, each feature of the present invention be sometimes grouped together into single embodiment, figure,
Or in descriptions thereof.However, this method of the present invention should be construed to reflect following intention：I.e. required for protection
Application claims more features than the feature being expressly recited in each claim.More precisely, weighing as corresponding
As sharp claim is reflected, its inventive point is can be with the spy of all features of embodiment single disclosed in certain
Levy to solve corresponding technical problem.Therefore, it then follows it is concrete that claims of specific embodiment are thus expressly incorporated in this
Embodiment, wherein each claim itself is as the separate embodiments of the present invention.
It will be understood to those skilled in the art that in addition to mutually exclusive between feature, any combinations pair can be adopted
All features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so disclosed any method
Or all processes of equipment or unit are combined.Unless expressly stated otherwise, (including adjoint right will for this specification
Ask, make a summary and accompanying drawing) disclosed in each feature can be replaced by the alternative features providing identical, equivalent or similar purpose.
Although additionally, it will be appreciated by those of skill in the art that some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiment means to be in the present invention's
Within the scope of and form different embodiments.For example, in detail in the claims, embodiment required for protection one of arbitrarily
Can in any combination mode using.
It should be noted that above-described embodiment the present invention will be described rather than limits the invention, and ability
Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims,
Any reference symbol between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not
Assembly listed in the claims or step.Word "a" or "an" before assembly does not exclude the presence of multiple such
Assembly.The present invention can come real by means of the hardware including some difference assemblies and by means of properly programmed computer
Existing.If in the unit claim listing equipment for drying, several in these devices can be by same hardware branch
To embody.The use of word first, second, and third does not indicate that any order.These words can be explained and run after fame
Claim.
The above, the only specific embodiment of the present invention or the explanation to specific embodiment, the protection of the present invention
Scope is not limited thereto, any those familiar with the art the invention discloses technical scope in, can be easily
Expect change or replacement, all should be included within the scope of the present invention.Protection scope of the present invention should be with claim
Protection domain is defined.
Claims (10)
1. a kind of airborne laser radar measuring system, including：
Laser scanner, for being scanned and gathering the laser scanning data of described target object to target object；With
And
Support member, has the first face and the second face, and described first face is used for being connected with aircraft, and described second face is used for supporting institute
State laser scanner；
Wherein, between described first face and described second face, there is angle, described angle is more than 0 degree and is less than 90 degree.
2. airborne laser radar measuring system as claimed in claim 1, wherein, described airborne laser radar measuring system is also wrapped
Include：
Determine appearance alignment system, for gathering the described positional information determining appearance alignment system and attitude information, described determine appearance positioning system
The positional information of system and attitude information are used for obtaining the space coordinates of described target object with reference to described laser scanning data
Data；And
Fixture, for determining described appearance alignment system and being fixed on described aircraft.
3. airborne laser radar measuring system as claimed in claim 2, wherein, described support member and described fixture are connected to
Together.
4. airborne laser radar measuring system as claimed in claim 1, wherein, described angle is more than 5 degree and is less than 85 degree.
5. a kind of airborne laser radar measuring method, including：
By the laser scanner tiltably-mounted in airborne laser radar measuring system on board the aircraft, so that described laser scanning
There is between the center line of instrument and the predetermined heading of described aircraft the first angle, described first angle be more than 0 degree and
Less than 90 degree；And
Using described laser scanner, target object is scanned and gathers with the laser scanning data of described target object.
6. airborne laser radar measuring method as claimed in claim 5, wherein, described by airborne laser radar measuring system
In laser scanner tiltably-mounted on board the aircraft before, described airborne laser radar measuring method also includes：
Second face of the support member in described laser scanner and described airborne laser radar measuring system is linked together；
Laser scanner tiltably-mounted in the described measuring system by airborne laser radar includes on board the aircraft：
First face of described support member and described aircraft are linked together, so that described laser scanner is via described
Support member is placed on described aircraft,
Wherein, there is between described first face and described second face the second angle, described second angle is more than 0 degree and is less than 90
Degree.
7. airborne laser radar measuring method as claimed in claim 5, wherein, described airborne laser radar measuring method is also wrapped
Include：
Appearance alignment system of determining in described airborne laser radar measuring system is placed on described aircraft；And
Determine appearance alignment system and gather the described positional information determine appearance alignment system and attitude information using described, described determine appearance and position
The positional information of system and attitude information are used for obtaining the space seat of described target object with reference to described laser scanning data
Mark data.
8. described airborne laser radar wherein, is measured by airborne laser radar measuring method as claimed in claim 7 described
Before appearance alignment system is placed on described aircraft, described airborne laser radar measuring method also includes determining in system：
Determine described appearance alignment system and be fixed on the fixture in described airborne laser radar measuring system；
Described by described airborne laser radar measuring system determine appearance alignment system be placed on described aircraft include：
Described fixture is fixed on described aircraft, determines appearance alignment system and be placed in via described fixture so that described
On described aircraft.
9. airborne laser radar measuring method as claimed in claim 7, wherein, described airborne laser radar measuring method is also wrapped
Include：
Using data handling system according to the described positional information determining appearance alignment system and attitude information and described laser scanning
Instrument and the described relative position determined between appearance alignment system determine positional information and the attitude information of described laser scanner, and
Positional information according to described laser scanner and attitude information are corrected to described laser scanning data, to determine
State the spatial data of target object.
10. airborne laser radar measuring method as claimed in claim 9, wherein, described airborne laser radar measuring method is also
Including：
Using measuring apparatus, based on laser scanner and the described relative position determined between appearance alignment system described in demarcation field measurement
Put.
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| CN201610974759.9A CN106443705A (en) | 2016-11-04 | 2016-11-04 | Airborne laser radar measurement system and method |
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