CN107990874A - A kind of ground elevation three-dimensional laser scanner and scan method - Google Patents
A kind of ground elevation three-dimensional laser scanner and scan method Download PDFInfo
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- CN107990874A CN107990874A CN201711177928.7A CN201711177928A CN107990874A CN 107990874 A CN107990874 A CN 107990874A CN 201711177928 A CN201711177928 A CN 201711177928A CN 107990874 A CN107990874 A CN 107990874A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Length Measuring Devices By Optical Means (AREA)
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Abstract
The present invention provides a kind of ground elevation three-dimensional laser scanner and scan method, the aerial big cardinal distance laser triangular distance measuring apparatus of laser scanning and ranging system composition is carried using two aircraft one in front and one in back synchronously to fly, is controlled using flight of the ground control assembly to aircraft and scanning.The ground elevation data that model of the present invention is simple, obtains are reliable and stable and precision is high;Equipment overall cost-effective performance is high, easy to use, is adapted to be generalized to basic unit's use.
Description
Technical field
The present invention relates to Three Dimensional Ground scanning techniques field.
Background technology
The three-dimensional measurement problem on ground is a long-term hot and difficult issue problem, has great pass to all kinds of ground surface works
Connection, the even basis of most critical.Due to the raising of the development of GPS technology, particularly laser ranging technique, make numerical value is three-dimensional to survey
Amount obtains great progress with reconstruct, and laser 3 d scanner therein becomes the mark of e measurement technology development.
Three Dimensional Ground measurement basic skills be on the basis of the mesh coordinate of ground examination network face element height value, obtain
Obtain ground elevation data.The basic principle of the above method is the laser ranging 3-D scanning technical method using origin as base.
Laser ranging 3-D scanning technology, for different scale object, different measurement accuracy requirements, using different scanning side
Method.But with fastest developing speed is still that laser beam ranging scan target surface obtains target three-dimensional surface and largely puts cloud range data, its
Basic principle is to rely on pulse ranging or phase ranging method.Three-dimensional of the basic principle to fixed object such as historical relic, building
Scanning reconstruct, can stringent design basis, obtain data, it can be achieved that very high-precision reconstruct from multi-direction.But above-mentioned basic principle
All there are problems that benchmark and Motion correction to dynamic object or collection of advancing, particularly the accurate measurement to ground three-dimensional shape condition by
To very big limitation.
The measurement situation of Three Dimensional Ground is complicated, there are many complicated landforms or danger zone, is difficult to area for reaching etc., because
This, which measures Three Dimensional Ground from top surface using Aerial Surveying Technology, comes into being, wherein, airborne, spaceborne high frequency measurement pulse scanning is made
Very good effect is obtained for planar survey in large area.Current high-altitude scanning is remained by pulse ranging or phase ranging method,
In the presence of a cloud interval is big, measurement of higher degree precision is not high enough, does not stablize the problems such as stringent benchmark, requirement condition additionally there are
High, costly, general user can not be easy to use.
The content of the invention
Goal of the invention:In order to overcome the deficiencies in the prior art, the present invention provides a kind of ground elevation three-dimensional laser
Scanner and scan method, for solving existing Three Dimensional Ground;
Technical solution:To achieve the above object, the technical solution adopted by the present invention is:
A kind of ground elevation three-dimensional laser scanner, including airflight scan components, ground control assembly and longitude and latitude
Acquisition Instrument;Wherein:
The airflight scan components include two aircraft, are respectively used to carry straight line laser generator and laser mark
Line image harvester, two aircraft one in front and one in back synchronously fly along scanning direction, and two aircraft are in a scanning direction
Spacing is suitable with flying height;
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction;
The straight line laser image collecting device is used to gather straight line laser image, and straight line laser image is adopted in gatherer process
Acquisition means, straight line laser generator and ground to be measured keep range of triangle position relationship;
The ground control assembly includes locator, Attitude Controller, scanning collection isochronous controller and laser mark
Line image processor;There is data interaction, the scanning collection Synchronization Control between the locator and Attitude Controller
Device and longitude and latitude Acquisition Instrument have data interaction between straight line laser image processor;Wherein:
The locator is used to carry out vision positioning to two aircraft, and flying for aircraft is obtained according to vision positioning result
Row height and forward travel distance;The locator is by the flying height of acquisition and the data sending of forward travel distance to flight attitude
Controller;
The flight for the current flight device that the Attitude Controller is arrived according to default flight parameter and real-time reception
Highly, the data of forward travel distance, control the flight attitude of two aircraft;
The scanning collection isochronous controller is used to send Image Acquisition control signal to straight line laser image collecting device
Straight line laser image processor is sent to for the collection of straight line laser image, and by the straight line laser image collected;
The longitude and latitude on ground where the longitude and latitude Acquisition Instrument gathers present laser graticule in real time simultaneously sends collection result
Give straight line laser image processor;
Straight line laser image is converted to the corresponding three-dimensional height each put on ground by the straight line laser image processor
Number of passes evidence, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, acquisition pair
Answer the three-dimensional elevation data on ground.
It is increasingly mature with unmanned air vehicle technique, the Synchronization Control to more unmanned planes can have been realized at present, therefore
In the present invention, unmanned plane can be selected as aircraft.
Based on principle of triangulation, in order to ensure measurement accuracy, the present apparatus aircraft distance in a scanning direction with
Flying height need to keep basically identical, and it is also contemplated that the low difference of high-land, general plains region can sweep aircraft
Retouch the distance on direction and flying height is configured smaller, will can fly in the larger region of the relieves such as knob
Device distance in a scanning direction and the flying height of aircraft are configured higher.It is civilian for unmanned plane
Upper height limit is 120 meters, therefore recommends flying height to be measured between 10 meters~120 meters.
Further, in the present invention, one piece of different mark hot spot of color is respectively arranged with two aircraft;It is described
Locator includes 2 CCD and data handling system, is both provided with the camera lens of the CCD and two carry-on mark light
The corresponding narrow-band feature color filter of spot color;The mark hot spot of 2 CCD collections aircraft obtains light spot image and will
Light spot image passes to data handling system, the data handling system using binocular visual positioning method to two aircraft into
Row positioning.Binocular visual positioning method is to simulate the method that the eyes of people carry out target machine positioning, is given birth in current production
Had a wide range of applications in work.
Further, in the present invention, using laser triangulation method, the basic principle of this method is in measured object body surface
Above face, irradiated at an angle with beam of laser, in body surface reflection or scattering occur for laser, in another angle
To laser reflection or scattering pool picture with imaging system, the change of facula position caused by laser irradiation on testee
Change, the angle of light reflection or scattering can also change, and light be converged with optical system, hot spot is imaged on CCD or PSD
Put on sensor, along laser direction when testee is moved, the imaging facula on position sensor will be moved,
Its unique corresponding object displacement distance, so as to indirectly realize laser measurement.Since incident and transmitting light forms a triangle,
The utilization of calculating, geometric triangulation and laser to spot displacement, so laser triangulation method of gaining the name.By incident laser beam
With the angular relationship of testee surface normal, it is divided into oblique fire formula and direct-injection type two ways.In general, oblique fire formula can be surveyed
Measured surface is measured close to the reflected light of minute surface, and direct-injection type can only receive the scattering light of testee, measure dissipating for body surface
Penetrating performance will get well.In addition, oblique fire formula is compared to direct-injection type, there are hot spot is larger, light intensity is not concentrated, has difference with the change of incident angle
Different, the problem of equipment volume is big but measurement range is small.So in the application scenarios of the present invention, it is more suitable for selecting direct-injection type
Laser triangulation method, so the straight line laser generator projects laser straight down.
Further, in the present invention, the longitude and latitude Acquisition Instrument sends out the longitude and latitude on ground where present laser graticule
Scanning collection isochronous controller is given, scanning collection isochronous controller ground according to where the present laser graticule of acquisition passes through
Latitude is simultaneously based on default lateral separation and longitudinal control straight line laser image acquisition device straight line laser image.For
Guarantee measurement accuracy, preferably laterally interval and longitudinally spaced equal and be fixed a certain value.
Further, in the present invention, datum water level is further included, the three-dimensional elevation data on the ground are with datum-plane
Face is coordinate basis.
The present invention also provides a kind of ground elevation 3 D laser scanning method at the same time, using two aircraft, wherein one
Carry straight line laser generator, another carrying straight line laser image collecting device;
In flight course:
Using the flight attitude of Attitude Controller control aircraft, and keep one in front and one in back synchronously flying along scanning direction
OK, and the spacing of two aircraft in a scanning direction is suitable with flying height;
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction;
The straight line laser image collecting device according to default lateral separation and it is longitudinally spaced collection straight line laser image,
Straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle position relationship in gatherer process;
Vision positionings are carried out to two aircraft using locator, and obtain the flying height of aircraft and advance away from
From;
Image Acquisition control signal is sent using scanning collection isochronous controller to straight line laser image collecting device to be used for
The collection of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor;
The longitude and latitude on ground where gathering present laser graticule in real time using longitude and latitude Acquisition Instrument simultaneously sends collection result
Give straight line laser image processor;
Utilize the warp on straight line laser image processor ground according to where straight line laser image and corresponding straight line laser
Latitude, obtains the three-dimensional elevation data of corresponding ground.
In above-mentioned scan method, the longitude and latitude on ground where present laser graticule is sent to using longitude and latitude Acquisition Instrument and is swept
Retouch collection isochronous controller, ground longitude and latitude is simultaneously according to where the present laser graticule of acquisition for the scanning collection isochronous controller
Based on default lateral separation and longitudinal control straight line laser image acquisition device straight line laser image.
Beneficial effect:
Ground elevation three-dimensional laser scanner provided by the invention and scan method, what utilization was one in front and one in back synchronously flown
Aircraft carries straight line laser generator and the big cardinal distance of straight line laser image collecting device composition in laser triangulation system
Laser triangular distance measuring apparatus, and using ground control assembly control aircraft and laser triangular distance measuring apparatus, realize to ground height
The measurement of number of passes evidence.Its online non-contact, nondestructive measurement mode, can in the case where not influencing ground normal activity into
OK.
The scan method of the present invention is stringent profile scanning, and the principle is more relatively reliable rationally than point cloud method;And break
In the data continuum of face, packing density is higher than scattered point cloud;The altitude data finally obtained is using uniform reference surface as base
Plinth, one time transient acquisition can obtain together profile data, and data are more directly perceived, and the stability of unified basal plane is good, can be effective gram
Take that airborne platform is unstable, the uncertain problem of benchmark;Three-dimensional elevation data are converted into the straight line laser image collected
Data processing method is simple and clear.
The present invention can obtain different measurement accuracy, when control flies by adjusting cardinal distance and airborne CCD resolution ratio
Row height be low-latitude flying and with cardinal distance quite, on the basis of the airborne CCD of selection is high-resolution area array CCD, accuracy rating can
It can as requested be adjusted up to Centimeter Level even grade, measurement accuracy, be entirely capable of the design and planning, management for meeting ground surface works
It is required that.
Finally, the various equipment in the present invention are relatively conventional, and moderate, and equipment overall cost-effective performance is high, therefore, fit
Conjunction is generalized to basic unit's use.
Brief description of the drawings
Fig. 1 is the schematic diagram of scanner in the present invention.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in Figure 1, be a kind of ground elevation three-dimensional laser scanner provided by the invention, including airflight scanning group
Part, ground control assembly, longitude and latitude Acquisition Instrument.
The airflight scan components include No.1 aircraft 1 and No. two aircraft 2, the flight selected in the present embodiment
Device is unmanned plane, and straight line laser image collecting device is wherein equipped with No.1 aircraft 1, is equipped with No. two aircraft 2
Position straight line laser generator, the scanning direction in No.1 aircraft 1 and No. two 2 figures of aircraft shown in arrow one in front and one in back synchronously fly
OK, the spacing of No.1 aircraft 1 and No. two aircraft 2 in a scanning direction is suitable with flying height.
The straight line laser generator projects laser to ground to be measured, and in the present embodiment, straight line laser generator uses work(
Rate is the linear laser source that 2W wavelength is 808nm, and fan-shaped plan light is formed on the laser optical path of projection, is finally handed over ground to be measured
Remittance forms the straight line laser perpendicular to scanning direction.
The straight line laser image collecting device is used to gather straight line laser image, and straight line laser image is adopted in gatherer process
Acquisition means, straight line laser generator and ground to be measured keep range of triangle position relationship;In order to reach higher resolution ratio, preferably
High-resolution area array CCD, if resolution ratio is 2352*1750.
The ground control assembly 6 includes locator, Attitude Controller, scanning collection isochronous controller and laser mark
Line image processor.
There is data interaction between the locator and Attitude Controller, the scanning collection isochronous controller and
Longitude and latitude Acquisition Instrument has data interaction between straight line laser image processor;Wherein:
The locator is used to carry out vision positioning to No.1 aircraft 1 and No. two aircraft 2, according to vision positioning result
The flying height and forward travel distance of aircraft are obtained, the locator is by the flying height of acquisition and the data of forward travel distance
It is sent to Attitude Controller.
Attitude Controller be used for aircraft carry out gesture stability, in the prior art, can by manually participating in controlling,
Also Automatic Control can be passed through.Therefore, default fly can be referred to either by artificial or full automatic mode
Flying height, the data of forward travel distance for the current flight device that row parameter and real-time reception arrive, two aircraft of control fly
Row posture is flown according to default flight parameter;The flight side to aircraft can also be realized by adjusting flight attitude
To and flying height change, to meet the needs of different measured zones and measurement range, such as plains region flying height mistake
Height, then can suitably turn down flying height to obtain more preferably resolution ratio, as forward travel distance reaches the energy supply upper limit of aircraft, then may be used
Aircraft is withdrawn in time in order to avoid causing unnecessary loss.
The scanning collection isochronous controller is used to send Image Acquisition control signal to straight line laser image collecting device
Straight line laser image processor is sent to for the collection of straight line laser image, and by the straight line laser image collected.By
Used outdoors in apparatus of the present invention, the coverage of wireless signal is at hundred meters or so, therefore scanning collection isochronous controller here
Image Acquisition control signal wirelessly can be sent to straight line laser image collecting device.
The longitude and latitude on ground where the longitude and latitude Acquisition Instrument gathers present laser graticule in real time simultaneously sends collection result
Straight line laser image processor is given, here the preferred electronic theodolite of longitude and latitude Acquisition Instrument.
Straight line laser image is converted to the corresponding three-dimensional height each put on ground by the straight line laser image processor
Number of passes evidence, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, acquisition pair
Answer the three-dimensional elevation data on ground.
The present apparatus is in order to ensure the precision relatively having, the preferably tens of rice of flying height, such as No.1 aircraft 1 and No. two aircraft
A length of 20 meters of 2 spacing, that is, base in a scanning direction, flying height are 20 meters.
In order to realize the positioning to No.1 aircraft 1 and No. two aircraft 2, using machine vision positioning mode.
In certain embodiments, binocular visual positioning method is specifically selected, this method is as follows:
One piece of different mark hot spot of color is respectively arranged with two aircraft, for example, being set on No.1 aircraft 1
High brightness green light LED is put, brightness blue light LED is set on No. two aircraft 2, the light that mark hot spot is sent flies as corresponding
The feature hot spot of row device is used in the corresponding aircraft of vision positioning interval scale.
As shown in Figure 1, the locator includes 2 CCD4,5 and data handling system, preferably high-resolution area array CCD with
Ensure precision, narrow-band feature corresponding with two carry-on mark hot spot colors is both provided with the CCD4,5 camera lens
Color filter so that the optical signal only in the specific band where mark hot spot is able to enter by the optical filter
CCD4、5;2 CCD4, the mark hot spot of 5 collection aircraft obtain light spot image and pass to light spot image at data
Reason system, the data handling system determine No.1 aircraft 1 and No. two aircraft 2 using binocular visual positioning method
Position.
In certain embodiments, the Synchronization Control of scanning collection isochronous controller needs to realize by longitude and latitude Acquisition Instrument.
The longitude and latitude on ground where present laser graticule is sent to scanning collection isochronous controller by the longitude and latitude Acquisition Instrument, described to sweep
Collection isochronous controller is retouched according to the present laser graticule place ground longitude and latitude of acquisition and is based on default lateral separation and indulges
To Separation control straight line laser image acquisition device straight line laser image.
In certain embodiments, the lateral separation and longitudinally spaced equal and be some fixed value, based on this acquisition
Scan data point is uniformly distributed, and measurement error is small.
In above-mentioned each embodiment, in order to which the three-dimensional elevation data finally obtained are carried out with the unification of reference coordinate, also need
One datum water level is provided.Datum water level is placed on ground to be measured, using above-mentioned straight line laser generator to benchmark
Horizontal plane launches a branch of fan laser, and with straight line laser image collecting device in a manner of profile scanning to datum water level
It is scanned and obtains horizontal plane straight line laser image, the horizontal plane straight line laser image of acquisition is prestored as benchmark reticle image
Into straight line laser image processor, when straight line laser image processor is high in the straight line laser image acquisition according to ground to be measured
Number of passes according to when, expressed with forming the uniform coordinate data of common horizontal plane benchmark based on benchmark reticle image.
An alternative embodiment of the invention also provides a kind of ground elevation 3 D laser scanning method, utilizes two unmanned planes
As aircraft, straight line laser image collecting device is wherein equipped with No.1 aircraft 1, position is equipped with No. two aircraft 2
Straight line laser generator;
In flight course:
Using the flight attitude of Attitude Controller control aircraft, arrow in No.1 aircraft 1 and No. two 2 figures of aircraft
Scanning direction shown in head is one in front and one in back synchronously flown, and the spacing of two aircraft in a scanning direction and flying height phase
When;
The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction;
The straight line laser image collecting device according to default lateral separation and it is longitudinally spaced collection straight line laser image,
Straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle position relationship in gatherer process;
Vision positionings are carried out to two aircraft using locator, and obtain the flying height of aircraft and advance away from
From;
The flight attitude of two aircraft is controlled using Attitude Controller;
Image Acquisition control signal is sent using scanning collection isochronous controller to straight line laser image collecting device to be used for
The collection of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor;
The longitude and latitude on ground where gathering present laser graticule in real time using longitude and latitude Acquisition Instrument simultaneously sends collection result
Give straight line laser image processor;
Utilize the warp on straight line laser image processor ground according to where straight line laser image and corresponding straight line laser
Latitude, obtains the three-dimensional elevation data of corresponding ground.
As it was previously stated, when synchronous scanning gathers, using longitude and latitude Acquisition Instrument by the longitude and latitude on ground where present laser graticule
Degree is sent to scanning collection isochronous controller, and the scanning collection isochronous controller is according to the present laser graticule location of acquisition
Face longitude and latitude is simultaneously based on default lateral separation and longitudinal control straight line laser image acquisition device straight line laser figure
Picture, realizes equidistant scanning.
Existing airborne spatial digitizer, scans to obtain ground elevation point cloud, spatial movement seat using single-point pulse ranging
The uncertain intractability of mark is big, high-altitude distance is big, resolving accuracy is not high.The present invention is directed to local ground, using flat in low latitude
Upper thread laser strictly by profile scanning, belongs to stringent three-dimensional measurement model, model is simple, profile data collection transient state is continuous,
Measuring height of section benchmark is more reliable, convenience of calculation is simple, solves the problems, such as that high-altitude length is low away from precision;But carry laser triangulation side with unit
Away from precision with highly drastically reducing, the present invention innovatively proposes that synchronously flight forms big cardinal distance laser triangular distance measuring apparatus to two-shipper, surveys
Measurement triangular basis line length and height are kept during amount quite, it can be achieved that regulatable high-acruracy survey, using high-resolution
Area array CCD as straight line laser image collecting device,, can to terrian elevation measurement precision under the conditions of tens meters of low-latitude flyings
Up to centimetre even grade.
The present invention keeps the lossless noiseless on-line measurement characteristic in space, and still has the excellent of the stringent profile scanning of high accuracy
Point, data intuitive display is credible, and processing is convenient.
The component of equipment is cost-effective in the present invention, is adapted to be generalized to basic unit's use.
The above is only the preferred embodiment of the present invention, it should be pointed out that:For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (10)
- A kind of 1. ground elevation three-dimensional laser scanner, it is characterised in that:Including airflight scan components, ground control assembly With longitude and latitude Acquisition Instrument;Wherein:The airflight scan components include two aircraft, are respectively used to carry straight line laser generator and straight line laser figure As harvester, two aircraft one in front and one in back synchronously fly along scanning direction, the spacing of two aircraft in a scanning direction It is suitable with flying height;The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction;The straight line laser image collecting device is used to gather straight line laser image, straight line laser image collector in gatherer process Put, straight line laser generator and ground to be measured keep range of triangle position relationship;The ground control assembly includes locator, Attitude Controller, scanning collection isochronous controller and straight line laser figure As processor;There is data interaction between the locator and Attitude Controller, the scanning collection isochronous controller with And longitude and latitude Acquisition Instrument has data interaction between straight line laser image processor;Wherein:The locator is used to carry out vision positioning to two aircraft, and the flight that aircraft is obtained according to vision positioning result is high Degree and forward travel distance;The flying height and the data sending of forward travel distance that the locator obtains are controlled to flight attitude Device;The flying height for the current flight device that the Attitude Controller is arrived according to default flight parameter and real-time reception, The data of forward travel distance, control the flight attitude of two aircraft;The scanning collection isochronous controller is used to be used for straight line laser image collecting device transmission Image Acquisition control signal The collection of straight line laser image, and the straight line laser image collected is sent to straight line laser image processor;Collection result is simultaneously sent to sharp by the longitude and latitude on ground where the longitude and latitude Acquisition Instrument gathers present laser graticule in real time Cursor line image processor;Straight line laser image is converted to the corresponding three-dimensional elevation number each put on ground by the straight line laser image processor According to, and the longitude and latitude collection result of every bit on ground is matched with the three-dimensional elevation data of corresponding points, obtain accordingly The three-dimensional elevation data in face.
- 2. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that:The aircraft is for nobody Machine.
- 3. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that:The flight of the aircraft is high Spend for 10 meters~120 meters.
- 4. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that:Set respectively on two aircraft It is equipped with one piece of different mark hot spot of color;The locator includes 2 CCD and data handling system, on the camera lens of the CCD It is both provided with and two corresponding narrow-band feature color filters of carry-on mark hot spot color;2 CCD collections fly The mark hot spot of row device obtains light spot image and light spot image is passed to data handling system, and the data handling system utilizes Binocular visual positioning method positions two aircraft.
- 5. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that:The straight line laser generator Laser is projected straight down.
- 6. ground elevation three-dimensional laser scanner according to claim 1, it is characterised in that:The longitude and latitude Acquisition Instrument will The longitude and latitude on ground is sent to scanning collection isochronous controller, the scanning collection isochronous controller root where present laser graticule According to ground longitude and latitude where the present laser graticule of acquisition and it is based on default lateral separation and longitudinal control straight line laser Image acquisition device straight line laser image.
- 7. ground elevation three-dimensional laser scanner according to claim 6, it is characterised in that:The lateral separation and longitudinal direction It is spaced equal.
- 8. according to the ground elevation three-dimensional laser scanner described in any one of claim 1 to 7, it is characterised in that:Further include Datum water level, the three-dimensional elevation data on the ground are using datum water level as coordinate basis.
- A kind of 9. ground elevation 3 D laser scanning method, it is characterised in that:Using two aircraft, wherein a carrying laser Graticule generator, another carrying straight line laser image collecting device;In flight course:Using the flight attitude of Attitude Controller control aircraft, and keep one in front and one in back synchronously flying along scanning direction, And the spacing of two aircraft in a scanning direction is suitable with flying height;The straight line laser generator projects laser to ground to be measured, forms the straight line laser perpendicular to scanning direction;The straight line laser image collecting device is according to default lateral separation and longitudinally spaced collection straight line laser image, collection During straight line laser image collecting device, straight line laser generator and ground to be measured keep range of triangle position relationship;Vision positioning is carried out to two aircraft using locator, and obtains the flying height and forward travel distance of aircraft;The flight attitude of two aircraft is controlled using Attitude Controller;Image Acquisition control signal is sent to straight line laser image collecting device be used for laser using scanning collection isochronous controller The collection of reticle image, and the straight line laser image collected is sent to straight line laser image processor;Collection result is simultaneously sent to sharp by the longitude and latitude on ground where gathering present laser graticule in real time using longitude and latitude Acquisition Instrument Cursor line image processor;Using the longitude and latitude on straight line laser image processor ground according to where straight line laser image and corresponding straight line laser, Obtain the three-dimensional elevation data of corresponding ground.
- A kind of 10. ground elevation 3 D laser scanning method according to claim 9, it is characterised in that:Utilize longitude and latitude The longitude and latitude on ground where present laser graticule is sent to scanning collection isochronous controller by Acquisition Instrument, and the scanning collection is synchronous Controller ground longitude and latitude and is based on default lateral separation and longitudinal control according to where the present laser graticule of acquisition Straight line laser image acquisition device straight line laser image.
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