CN107064954A - A kind of highway topography mapping method and system based on vehicle-mounted and airborne cloud - Google Patents
A kind of highway topography mapping method and system based on vehicle-mounted and airborne cloud Download PDFInfo
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- CN107064954A CN107064954A CN201710375491.1A CN201710375491A CN107064954A CN 107064954 A CN107064954 A CN 107064954A CN 201710375491 A CN201710375491 A CN 201710375491A CN 107064954 A CN107064954 A CN 107064954A
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
Abstract
The present invention relates to a kind of highway topography mapping method and system based on vehicle-mounted and airborne cloud, belong to Surveying Engineering field.Mobile lidar mapping and unmanned plane oblique photograph are surveyed and drawn both emerging technologies and effectively combined by this method.The present invention improves highway engineering mapping operating efficiency, reduces job costs, increases topography mapping Result Precision, and it is low to overcome conventional method efficiency, dangerous high, the defect such as cycle length, poor in timeliness, with certain Social benefit and economic benefit.
Description
Technical field
The present invention relates to a kind of highway topography mapping method, especially a kind of public affairs based on vehicle-mounted and airborne cloud fusion
Road topography mapping method, further relates to the highway topography mapping system based on vehicle-mounted and airborne cloud fusion, belongs to mapping work
Journey field.
Background technology
With 13 transport developments work increasingly propulsion, highway survey work be faced be pressed for time, task weight pressure
Power, substantial amounts of construction project needs topography mapping work along progress.
Traditional mapping method mainly has aerophotogrammetry mapping, satellite stereoplotting and total field digital surveying side
Method, the above two belong to face acquisition method, and the latter belongs to single-point acquiring method.Above-mentioned three kinds of traditional mapping methods are to work people
The degree of specialization of member requires of a relatively high, and the required work period is longer, inefficiency and instrument and equipment, cost of labor
It is all larger, in today of highway mapping demand fast development, the need for this several method can not meet Practical Project.And it is each
Intersect cooperation relation between the method for kind less, generally in a kind of method as main working method, remaining method is done check and is used.
Mapping method based on mobile lidar surveying and mapping technology and unmanned plane oblique photograph technology is in the ratio of development in this several years
It is relatively swift and violent, more scientific achievement and engineering experience is all had been achieved in respective field.Laser radar surveying and mapping technology exists
Make a breakthrough in terms of the acquisition in real time of many grade three dimensions cloud datas is in eighties of last century eighties, but due to computer hardware and software
The limitation of technical elements, more ripe three-dimensional laser is just developed until the beginning of this century by companies such as OPTECH, FORO, RIGL
Vehicle load measurement product.Its main operational principle is the real-time cloud data that regional space is obtained using laser scanner, and is coordinated
Inertial navigation system, GPS device, panorama camera equipment etc., complete space vector point cloud, the collection of image data.Finally by software
Export available mapping product；On the other hand, on unmanned plane oblique photograph technology, it and traditional taking photo technology have one
Fixed difference.Traditional image is to the continuous intake photograph in ground, then by a series of by the aerial surveying camera carried on aircraft
The image data that interior industry processing is obtained, the achievement of acquisition only has atural object depression angle information, that is, viewing angles-both vertical is in ground.To the greatest extent
Pipe both approaches technically all have been realized in larger breakthrough, but all there is its limitation.Mobile lidar is surveyed and drawn
Technology is mainly limited by terms of gathered data region area, road passage capability, though its point cloud density and precision for producing
It is so all higher, but be applied in Practical Project, it there is the problems such as bandwidth is not enough, mapping region is limited.In other words, need
In the region to be gathered it is necessary to have can just can be with the road of vehicle pass-through, and sight can not be blocked completely.And unmanned plane
Although oblique photograph technology mapping area it is larger, exist the later stage calculate complex, precision it is not enough, accuracy is not high to ask
Topic.Up to now, also nobody utilizes the advantage and disadvantage of both technologies, and the two is effectively combined, precision is both being met
It is required that, bandwidth requirement, ease-to-operate while, improve operating efficiency, solve real work problem, so as to meet actual highway
The demand of mapping operations.
The content of the invention
In order to solve the above-mentioned technical problem, the present invention has unmanned plane oblique photograph technology and mobile lidar mapping skill
Combining for effect, while required precision, bandwidth requirement, ease-to-operate is both met, improves operating efficiency, solves actual
Work problem, so as to meet the demand of actual road mapping work, concrete scheme is as follows：
A kind of highway topography mapping method based on vehicle-mounted and airborne cloud, comprises the following steps：
（1）, utilize vehicle-mounted scanning system collection road density three-dimensional vector cloud data；
（2）, using unmanned plane, using oblique photograph gathered data, density three-dimensional vector point cloud number is obtained by data calculation
According to；
（3）, respectively to step（1）With（2）In density three-dimensional vector cloud data carry out denoising respectively, simultaneously utilize
Step（2）Three dimensional point cloud generation true threedimensional model；
（4）, to step（3）Data after middle denoising carry out projection and vacuate processing respectively, specifically vacuate density with actual work
Journey needs to be defined；
（5）, by step（4）The middle vehicle-mounted and airborne point cloud data fusion projected after vacuating；
（6）, by after fusion cloud data carry out reprojection vacuate processing, specifically vacuate density using actual requirement of engineering as
It is accurate；
（7）, reprojection is vacuated to the cloud data generation DEM figures of processing, its inside and border are modified, obtain original
Topographic map；
（8）, to step（3）The true threedimensional model of generation carries out the vector quantization collection of topographic map atural object key element, is stacked to primitively
On shape figure, final topographic map is generated, the engineer's scale of topographic map is defined by actual requirement of engineering.
Further, the step（1）It is middle to specifically include following step using vehicle-mounted scanning system collection road cloud data
Suddenly：A, in the preferably known control point position of satellite-signal set up base station；B, the configuration of debugging vehicle-mounted floating station and adjustment vehicle body position
Put；C, by integrated laser monitor scanning car, during car body high-speed mobile gather density three-dimensional point cloud.
Further, the distance between movement station and base station are no more than 20km.
Further, the step（2）In, density three-dimensional point is generated by aerial triangulation adjustment, dense Stereo Matching
Cloud.
Further, the oblique photograph be by the five camera lens inclined cameras of UAV flight from front, rear, left and right, hang down
Straight five directions are shot to atural object.
Further, the cloud data after vehicle-mounted acquisition process is carried out with the cloud data after airborne collection denoising
Fusion, obtains fused data.
Further, twice projection vacuate processing cloud data precision it is identical.
A kind of highway topography mapping system based on vehicle-mounted and airborne cloud of the present invention, including：
Laser monitoring scanning car, including car body and the first data collecting system, the first data collecting system include being located at car body top
Laser scanner, inertial navigation system, automobile-used GPS and the image acquisition system in portion.Wherein, laser scanner, inertial navigation system, GPS and
Image acquisition system is connected with in-car computer；
Unmanned plane, including flight control system, dynamical system and the second data collecting system, the second data collecting system include what is carried
The five camera lens inclined cameras and machine GPS that can be shot from front, rear, left and right, vertical five directions to atural object；
Data handling system, the data that the first data collecting system and the second data collecting system are gathered are converted into topographic map.
Further, the data handling system includes resolving module, data analysis module, data fusion module and three-dimensional
Modeling module；Module is resolved by the data of five camera lens inclined cameras collection of unmanned plane and the number of laser monitoring scanning car collection
It is density three-dimensional vector cloud data according to resolving；Data analysis module is carried out to the density three-dimensional point cloud vector data of resolving
Denoising, projection vacuate processing；The denoising of inclined camera and the collection of laser monitoring scanning car, projection are vacuated place by data fusion module
Manage data and carry out fusion treatment；The three dimensional point cloud of resolving is generated true threedimensional model by three-dimensional modeling module；
Beneficial effects of the present invention are as follows：
（1）Mobile lidar mapping and unmanned plane oblique photograph are surveyed and drawn both emerging technologies and effectively combined by the present invention, carry
High highway engineering mapping operating efficiency, reduces job costs, increases topography mapping Result Precision, overcome tradition side
Method efficiency is low, dangerous high, the defect such as cycle length, poor in timeliness, with certain Social benefit and economic benefit.
（2）The defect that mobile lidar surveying and mapping technology bandwidth is not enough, mapping region overlay is not enough is compensate for, also be compensate for
It is not enough that nobody calculates complex, precision the later stage, the problem of accuracy is not high.Its each technical advantage is played, is a kind of quick
The method for generating topographic map, increases the accuracy of topography mapping achievement, and then meets the demand of expressway engineering mapping.
Brief description of the drawings
Fig. 1 is the flow chart of the highway topography mapping method of the invention based on vehicle-mounted and airborne point cloud data fusion；
Fig. 2 is the system block diagram of the data acquisition of vehicle-mounted scanning system；
Fig. 3 is the structural scheme of mechanism of vehicle-mounted scanning system；
Fig. 4 is the structural representation of the unmanned plane using oblique photograph；
Fig. 5 is the structural representation of five camera lens inclined cameras of unmanned plane.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the present embodiment is carried out clearly and completely
Description, it is clear that described embodiment is only the example to a part of example of the invention, rather than whole.Based on the present invention
In embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not paid
Example, belongs to the scope of protection of the invention.
Embodiment 1
As shown in figure 1, a kind of highway topography mapping method based on vehicle-mounted and airborne cloud that the present embodiment is related to, including such as
Lower step：
（1）, using vehicle-mounted scanning system gather road density three-dimensional vector cloud data, specifically include following steps：A,
The preferably known control point position of satellite-signal sets up base station；B, the configuration of debugging vehicle-mounted floating station and adjustment vehicle body position；It is C, logical
Integrated laser monitoring scanning car is crossed, during car body high-speed mobile, data collecting system collection density three-dimensional point cloud,
Ensure the correctness and availability of gathered data.The purpose for setting up base station is in order to which the GPS observed by fixed base stations believes
Number, to correct the error that movement station observes gps signal.Carry out before data acquisition, base station must set up completion, and start normal
Work.Base station location selection is correct, under normal circumstances the distance between movement station and base station no more than 20km, i.e., every time
Set up behind base station, the working range of movement station is limited to centered on base station, in radius 20km border circular areas.
（2）, using unmanned plane, using oblique photograph gathered data, by the five camera lens inclined cameras of UAV flight from
Front, rear, left and right, vertical five directions are shot to atural object, are then obtained by aerial triangulation adjustment, dense Stereo Matching
Density three-dimensional vector cloud data；Software used is Bentley Context Capture.
（3）, respectively to step（1）With（2）In density three-dimensional vector cloud data carry out denoising respectively, simultaneously
Utilize step（2）Three dimensional point cloud generate true threedimensional model；Denoising is mainly for influential on generation topographic map
Construction and atural object are removed, including trees, aerial floating-point etc.；Software used in denoising is HD_3LS_SCENE, three-dimensional is built
Software used in mould is Bentley Context Capture.
（4）, to step（3）Data after middle denoising carry out projection and vacuate processing respectively, specifically vacuate density with reality
Border requirement of engineering is defined.Typically according to actual requirement of engineering, 2m, 5m, 10m, 20m, 30m are vacuated；Projection vacuates processing and used
HD_3LS_SCENE。
（5）, by step（4）The middle vehicle-mounted and airborne point cloud data fusion projected after vacuating.Point cloud data fusion is specifically
Vehicle-mounted cloud data is opened with HD_3LS_SCENE, then opens airborne cloud data, point cloud data fusion is realized；Ensure above-mentioned two
It is the cloud data generated under same coordinate control to plant fused data, it is ensured that the uniformity of coordinate, both can be relative, and also might be used
It is absolute.
（6）, by after fusion cloud data carry out reprojection vacuate processing, specifically vacuate density with actual requirement of engineering
It is defined, the precision that projection twice vacuates processing is identical.Then need to check the data for vacuating processing, delete to generation ground
The influential noise cloud data of shape figure, it is ensured that the accuracy of final data；
（7）, reprojection is vacuated to the cloud data generation DEM figures of processing, its inside and border are modified, obtain original
Topographic map；
（8）, to step（3）The true threedimensional model of generation carries out the vector quantization collection of topographic map atural object key element, is stacked to primitively
Shape figure, generates final topographic map, and the engineer's scale of topographic map is defined by actual requirement of engineering.
Embodiment 2
As shown in Figure 2-5, the highway topography mapping system based on vehicle-mounted and airborne cloud used in embodiment 1 is realized, including：
Laser monitoring scanning car, unmanned plane and data handling system, laser monitoring scanning car include car body 1, swashing located at car body top
Photoscanner 2, inertial navigation system（IMU）3rd, automobile-used GPS 4, wheel encoder（DMI）, image acquisition system（CCD）5, wherein,
GPS is located at car body top.
As shown in Fig. 2 machine GPS, laser scanner（LIDAR）, inertial navigation system（IMU）, wheel encoder（DMI）, shadow
As acquisition system（CCD）Enter isochronous controller with the signal of panorama camera（Syn-control）, then by in-car computer（pc）
Collection and storage.
As shown in figure 4, unmanned plane includes the five camera lens inclined cameras 8 below body, flight control system 7, dynamical system 9
With GPS 10, support 11 is additionally provided with.Five camera lens inclined cameras 8 include link 8.1, preceding camera lens 8.2, rear lens, lower camera lens
8.4th, left camera lens and right camera lens 8.3, can shoot from front, rear, left and right, vertical five directions to atural object.
Data handling system, the data that laser monitoring scanning car and unmanned plane are gathered are converted into topographic map.Data processing
System includes resolving module, data analysis module, data fusion module and three-dimensional modeling module；Module is resolved by the five of unmanned plane
The data calculation that the data and laser monitoring scanning car of individual camera lens inclined camera collection are gathered is density three-dimensional vector point cloud number
According to；Data analysis module carries out denoising, projection to the density three-dimensional vector cloud data of resolving and vacuates processing；Data fusion mould
The denoising of inclined camera and the collection of laser monitoring scanning car, projection are vacuated processing data and carry out fusion treatment by block；Three-dimensional modeling
The three dimensional point cloud of resolving is generated true threedimensional model by module；
Software used in data fusion is HD_3LS_SCENE, and fusion treatment is carried out to data；Unmanned plane resolves processing software used
For Bentley Context Capture；Data analysis（Go it is dry, vacuate）Software used is HD_3LS_SCENE softwares；It is three-dimensional
Modeling software used is Bentley Context Capture, and true threedimensional model is generated using the three dimensional point cloud of unmanned plane.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
God is with principle, and any modification, equivalent substitution and improvements made etc. should be included in the scope of the protection.
Claims (9)
1. a kind of highway topography mapping method based on vehicle-mounted and airborne cloud, it is characterised in that：Comprise the following steps：
（1）, utilize vehicle-mounted scanning system collection road density three-dimensional vector cloud data；
（2）, using unmanned plane, using oblique photograph gathered data, density three-dimensional vector point cloud number is obtained by data calculation
According to；
（3）, respectively to step（1）With（2）In density three-dimensional vector cloud data carry out denoising respectively, simultaneously utilize
Step（2）Three dimensional point cloud generation true threedimensional model；
（4）, to step（3）Data after middle denoising carry out projection and vacuate processing respectively；
（5）, by step（4）The middle vehicle-mounted and airborne point cloud data fusion projected after vacuating；
（6）, by after fusion cloud data carry out reprojection vacuate processing；
（7）, reprojection is vacuated to the cloud data generation DEM figures of processing, its inside and border are modified, obtain original
Topographic map；
（8）, to step（3）The true threedimensional model of generation carries out the vector quantization collection of topographic map atural object key element, is stacked to primitively
On shape figure, final topographic map is generated.
2. the highway topography mapping method according to claim 1 based on vehicle-mounted and airborne cloud, it is characterised in that：Institute
State step（1）It is middle to specifically include following steps using vehicle-mounted scanning system collection road cloud data：It is A, preferable in satellite-signal
Known control point position set up base station；B, the configuration of debugging vehicle-mounted floating station and adjustment vehicle body position；C, pass through integrated laser
Scanning car is monitored, density three-dimensional point cloud is gathered during car body high-speed mobile.
3. the highway topography mapping method according to claim 2 based on vehicle-mounted and airborne cloud, it is characterised in that：Move
The distance between dynamic station and base station are no more than 20km.
4. the highway topography mapping method according to claim 1 based on vehicle-mounted and airborne cloud, it is characterised in that：Institute
State step（2）In, data calculation is to generate density three-dimensional point cloud by aerial triangulation adjustment, dense Stereo Matching.
5. the highway topography mapping method according to claim 1 based on vehicle-mounted and airborne cloud, it is characterised in that：Institute
It is that atural object is entered from front, rear, left and right, vertical five directions by the five camera lens inclined cameras of UAV flight to state oblique photograph
Row is shot.
6. the highway topography mapping method according to claim 1 based on vehicle-mounted and airborne cloud, it is characterised in that：Will
Cloud data after vehicle-mounted collection denoising is merged with the cloud data after airborne acquisition process, obtains fused data.
7. the highway topography mapping method according to claim 1 based on vehicle-mounted and airborne cloud, it is characterised in that：Two
The precision that secondary projection vacuates processing is identical.
8. a kind of highway topography mapping system based on vehicle-mounted and airborne cloud, it is characterised in that：Including：
Laser monitoring scanning car, including car body and the first data collecting system, the first data collecting system include being located at car body top
Laser scanner, inertial navigation system, automobile-used GPS and the image acquisition system in portion；Wherein, laser scanner, inertial navigation system, GPS and
Image acquisition system is connected with in-car computer；
Unmanned plane, including flight control system, dynamical system and the second data collecting system, the second data collecting system include what is carried
The five camera lens inclined cameras and machine GPS that can be shot from front, rear, left and right, vertical five directions to atural object；
The data that data collecting system is gathered are converted into topographic map by data handling system.
9. the highway topography mapping system according to claim 8 based on vehicle-mounted and airborne cloud, it is characterised in that：Institute
Stating data handling system includes resolving module, data analysis module, data fusion module and three-dimensional modeling module；Resolving module will
The data calculation that the data and laser monitoring scanning car of five camera lens inclined cameras collection of unmanned plane are gathered is density three-dimensional
Vector cloud data；Data analysis module carries out denoising, projection to the density three-dimensional point cloud vector data of resolving and vacuates processing；
The denoising of inclined camera and the collection of laser monitoring scanning car, projection are vacuated processing data and carried out at fusion by data fusion module
Reason；The three dimensional point cloud of resolving is generated true threedimensional model by three-dimensional modeling module.
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