CN108279428A - Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station - Google Patents

Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station Download PDF

Info

Publication number
CN108279428A
CN108279428A CN201710007925.2A CN201710007925A CN108279428A CN 108279428 A CN108279428 A CN 108279428A CN 201710007925 A CN201710007925 A CN 201710007925A CN 108279428 A CN108279428 A CN 108279428A
Authority
CN
China
Prior art keywords
data
acquisition
base station
vehicle
map
Prior art date
Application number
CN201710007925.2A
Other languages
Chinese (zh)
Inventor
曹亮
章丽萍
李雪冬
吕枘蓬
Original Assignee
武汉四维图新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 武汉四维图新科技有限公司 filed Critical 武汉四维图新科技有限公司
Priority to CN201710007925.2A priority Critical patent/CN108279428A/en
Publication of CN108279428A publication Critical patent/CN108279428A/en

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/45Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network
    • G01C21/28Navigation; Navigational instruments not provided for in preceding groups G01C1/00-G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30Map- or contour-matching
    • G01C21/32Structuring or formatting of map data

Abstract

The present invention discloses a kind of map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station, the map datum evaluating apparatus:Data acquisition module obtains automatic driving map field data acquisition data in real time for passing through mobile network;It analyzes and determines module, is connect with data acquisition module, for analyzing and judging automatic Pilot map field data acquisition data with the presence or absence of missing, and export analysis result;Quality assessment module, for carrying out full-view image quality examination, and outgoing inspection result;Registration accuracy computing module for carrying out panorama camera and laser point cloud trajectory analysis, and the laser scanning data based on mutual information and full-view image Registration of Measuring Data accuracy detection for laser scanning initial data and panorama camera initial data, and exports registration error.Therefore, field operation gathered data quality can be evaluated and tested in time by implementing the present invention, improves the acquisition quality and production efficiency of map datum.

Description

Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition Base station

Technical field

The present invention relates to for map data collecting field more particularly to a kind of automatic Pilot map datum evaluating system, Map datum evaluating apparatus, automatic Pilot map data collecting system and collecting vehicle and acquisition base station.

Background technology

Automatic Pilot map is the indispensable important support technology of automatic Pilot, and multiple-sensor integration movement is relied on to adopt The field data acquisition of collection vehicle is the core channel that automatic Pilot map datum obtains and the important ring that its map producing makes One of section.As the development of automatic Pilot technology is more and more rapider, this requires high-precision map fast-ripenins to get up, to provide More accurate more fresh and alive map datum.

The core channel that automatic Pilot map datum obtains is to carry out field operation by multiple-sensor integration mobile collection vehicle Data acquire, such as laser scanner, panorama camera, integrated navigation (inertial navigation+GPS), odometer are carried on mobile collection vehicle (DMI) a variety of measuring apparatus such as, the field data acquisition system of such a complexity include combination sensor, mechanical structure, Multiple modules such as electric, data communication storage, are relatively vulnerable to the shadow of equipment itself, collector and external complex environment Ring and reduce the quality and efficiency of the acquisition of its data.

However, during actual acquisition, the inventors found that:Existing automatic Pilot map field data acquisition number It is just carried out after data acquisition is completed according to quality examination, since field data acquisition data class is more, data volume is big, data The reasons such as preprocessing process is complicated terminate even a couple of days a few hours in field operation acquisition tasks and just complete data quality accessment inspection. Field data acquisition task terminates even a couple of days a few hours and just completes data quality accessment inspection, if finding at this time, quality problems will be spent Larger cost progress data are adopted again or filling mining, seriously affect the efficiency of automatic Pilot map field data acquisition, while band Carry out larger human and material resources waste.

In addition, present inventor has further discovered that:The robustness of above-mentioned automatic Pilot map field data collecting vehicle is not It is enough, and its quality of data checks poor in timeliness, thus there is an urgent need for the real-time effective qualities of data to evaluate and test scheme, to realize to acquiring number It is fed back with problem according to the real-time inspection of quality.

Invention content

In view of this, the present invention provides a kind of map datum evaluating system, field data acquisition system and collecting vehicle and adopts Collect base station, field operation gathered data quality can be evaluated and tested in time, improve the acquisition quality and production efficiency of map datum.

Wherein, map datum evaluating apparatus disclosed by the invention includes:Data acquisition module, for passing through mobile network's reality When obtain automatic driving map field data acquisition data;The automatic Pilot map field data acquisition data include acquisition base station data, Laser real-time track data, panorama camera real-time track data, integrated navigation data and mileage count, laser scanning is original Data and panorama camera initial data;It analyzes and determines module, is connect with the data acquisition module, for analyzing and judging institute Automatic Pilot map field data acquisition data are stated with the presence or absence of missing, and export analysis result;Quality assessment module is complete for carrying out Scape quality of image inspection, and outgoing inspection result;Registration accuracy computing module, for for the laser scanning initial data with And panorama camera initial data carries out panorama camera and laser point cloud trajectory analysis, and the laser scanning data based on mutual information with Full-view image Registration of Measuring Data accuracy detection, and export registration error.

In addition, automatic Pilot map data collecting vehicle disclosed by the invention is configured with:Vehicle load measurement sensor-based system, for obtaining A real-time position information of picking up the car and mapping geographic information data;Networked devices are used in combination for building In-vehicle networking and communication environment It is communicated to connect in establishing;Car-mounted computer, configured with collaboration Collecting operation platform, with the vehicle load measurement sensor-based system and described Networked devices connect, and status information for obtaining the vehicle load measurement sensor-based system and reception, parsing and store vehicle-mounted Measure the data that sensor-based system obtains;The collaboration Collecting operation platform is used to access network, control by the networked devices The vehicle load measurement sensor-based system work compound and the data for obtaining the vehicle load measurement sensor-based system acquisition, and for monitoring Vehicle real-time position information simultaneously judges whether vehicle exceeds effective range, and the report that crosses the border is carried out when beyond effective range It warns and records the geofence event.

In addition, mobile collection base station disclosed by the invention includes:Measure base station, be set up in region to be collected, for for Collecting vehicle provides base station GPS data;The portable acquisition terminal of base station side, the portable acquisition terminal of base station side is for running base station side collaboration Collecting operation platform obtains collecting vehicle and the gathered data and status information of base station by procotol in real time;The base station side Collaboration Collecting operation platform be used for by mobile network on other-end cooperate with Collecting operation platform realize account number connection and Data communicate;And for being arranged fence according to base station location and effective coverage range, and to critical or cross the border in electronics The case where fence, carries out early warning, alarm and record event.

Correspondingly, field data acquisition system disclosed by the invention includes:At least an any of the above-described technical solution discloses Automatic Pilot map data collecting vehicle and mobile collection base station, the collecting vehicle and the mobile collection base station pass through mobile mutual Networking is communicatively coupled, and the collaboration Collecting operation platform run respectively in collecting vehicle side and base station side is carried out by account number system Connection, and carry out data transmission communicating with information, realize the collaboration acquisition of automatic Pilot map field data.

Based on above-mentioned each technical solution, map datum evaluating system disclosed by the invention includes:Any of the above-described technical solution Disclosed map datum evaluating apparatus and field data acquisition system;Wherein, the automatic Pilot map data collecting vehicle and institute It states mobile collection base station to connect with the map datum evaluating apparatus by mobile internet, the collecting vehicle is in field data Laser real-time track data, panorama camera real-time track data, integrated navigation data and mileage are counted in gatherer process It is real-time transmitted to the map datum evaluating apparatus, and according to certain sample frequency by laser scanning initial data and panorama camera Original data transmissions are to the map datum evaluating apparatus.Meanwhile base station GPS data is real-time transmitted to by base station side acquisition terminal The map datum evaluating apparatus.The map datum evaluating apparatus generates evaluation and test analysis report, and the evaluation and test is analyzed and is reported Announcement feeds back to the field data acquisition system.

Compared with prior art, present invention technical solution disclosed above has the following advantages:

In technical solution disclosed above, by building mobile internet environment, collecting vehicle and measurement base station in real time will Field data acquisition data transmission is to map datum evaluating apparatus, using computer cluster, in real time to camera track, laser trace, complete The contents such as scape image quality, laser and panoramic view data registration accuracy carry out evaluation and test calculating and quickly analysis, realize to automatic Pilot The map field data acquisition quality of data carries out the fine real-time assessment of deep layer, can find in time in being acquired with feedback field data Quality problems, while the automatic laser point cloud data based on mutual information and full-view image Registration of Measuring Data accuracy checking, to base Analysis in real time and feedback are carried out in the data collection problems of network, it is outer to advance to the required On Quality Examining Problems of interior industry It is completed in industry gatherer process, field data acquisition person is enable to pinpoint the problems in time, reduce the interior industry activity duration, improve production effect Rate.Meanwhile the workload resurveyed due to data quality problem is also greatly reduced, by the extremely caused loss of the quality of data It is reduced to minimum.

Description of the drawings

Attached drawing described herein is used to provide further understanding of the present invention, and constitutes the part of the present invention, this hair Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings:

Fig. 1 is the composition frame chart of map datum evaluating apparatus provided in an embodiment of the present invention;

Fig. 2 is the composition frame chart of field data acquisition system provided in an embodiment of the present invention;

Fig. 3 is the composition frame chart of communication interface in the embodiment of the present invention;

Fig. 4 is the composition frame chart of map datum evaluating system provided in an embodiment of the present invention;

Fig. 5 is that map datum provided in an embodiment of the present invention evaluates and tests operation schematic diagram;

Fig. 6 is the processing flow schematic diagram of map datum provided in an embodiment of the present invention evaluation and test.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts Embodiment shall fall within the protection scope of the present invention.

It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase Mutually combination.

Some vocabulary has such as been used to censure specific components in specification and claim.Those skilled in the art answer It is understood that hardware manufacturer may call the same component with different nouns.This specification and claims are not with name The difference of title is used as the mode for distinguishing component, but is used as the criterion of differentiation with the difference of component functionally.Such as logical The "comprising" of piece specification and claim mentioned in is an open language, therefore should be construed to " include but do not limit In "." substantially " refer in receivable error range, those skilled in the art can be described within a certain error range solution Technical problem basically reaches the technique effect.Specification subsequent descriptions are to implement the better embodiment of the present invention, so described Description is being not limited to the scope of the present invention for the purpose of the rule for illustrating the present invention.Protection scope of the present invention When subject to appended claims institute defender.

Referring to Fig.1, it is a kind of composition frame chart of map datum evaluating apparatus provided in an embodiment of the present invention, the map number Include according to evaluating apparatus:Data acquisition module 300 analyzes and determines that module 301, quality assessment module 302 and registration accuracy calculate Module 303, wherein:

Data acquisition module 300 is used to obtain automatic driving map field data acquisition data in real time by mobile network;Automatically Driving map field data acquisition data include acquisition base station data, laser real-time track data, panorama camera real-time track data, group Close navigation data and mileage count, laser scanning initial data and panorama camera initial data.Analyze and determine module 301 It is connect with data acquisition module 300, for analyzing and judging that automatic Pilot map field data acquisition data whether there is missing, and it is defeated Go out analysis result.Quality assessment module 302 is connect with data acquisition module 300, for carrying out full-view image quality examination, and it is defeated Go out inspection result.Registration accuracy computing module 303 is connect with data acquisition module 300, for being directed to laser scanning initial data And panorama camera initial data carries out panorama camera and laser point cloud trajectory analysis, and the laser scanning data based on mutual information With full-view image Registration of Measuring Data accuracy detection, and registration error is exported.

As an optional embodiment, above-mentioned map datum evaluating apparatus further includes feedback modifiers module 304, this is anti- Feedback correcting module 304 checks that module 303 is connect with module 301, quality assessment module 302 and registration accuracy is analyzed and determined, according to The evaluation result of each module generates and exports evaluation and test analysis report.

Optionally, it is based on aforementioned any embodiment, above-mentioned analytical judgment module can further comprise:First analytic unit, Second analytic unit and third analytic unit, wherein:

For first analytic unit for analyzing panorama camera real-time track, the panorama acquisition interval according to setting analyzes panorama phase The track data of machine and the frame number of full-view image to judge whether full-view image leaks bat, and export judging result;

Second analytic unit is for analyzing panorama camera real-time track, and in conjunction with the acquisition route in mission planning, judgement is It is no to there are problems that data acquisition range missing, and export judging result;

Third analytic unit, in conjunction with the acquisition route in mission planning, judges whether to deposit for analyzing laser real-time track It is lacked in data acquisition range, and exports judging result.

Optionally, it is based on aforementioned any embodiment, above-mentioned quality assessment module can further comprise:Image joint unit, Clarity inspection unit and quantitative assessment unit, wherein image joint unit is for carrying out full-view image splicing, clarity inspection Unit for checking splicing panorama image, judge to splice image whether imaging clearly, quantitative assessment unit is for calculating panorama shadow The color histogram of picture, the exposure status of quantitative assessment image.

Optionally, it is based on aforementioned any embodiment, above-mentioned registration accuracy computing module can further comprise:First resolves list Member, the second solving unit, converting unit and registration accuracy detection unit, wherein:

First solving unit, which is used to count base station data, onboard combined navigation data, mileage, carries out close coupling resolving, Obtain precise acquisition wheel paths data;

Second solving unit is used to combine precise acquisition wheel paths data and the outer calibrating parameters of laser scanner, is swept to laser It retouches initial data to be resolved, obtains the laser point cloud under WGS84 tripleplanes coordinate system;

Converting unit is used to combine precise acquisition wheel paths data and the outer calibrating parameters of panorama camera, obtains full-view image and exists Pose parameter under WGS84 tripleplanes coordinate system, and according to the pose parameter of full-view image, calculate the corresponding point of laser point cloud Cloud depth map;

Registration accuracy detection unit is used to, using mutual information as similarity measurement, detect corresponding cloud depth degree of laser point cloud Figure is registrated situation between full-view image, when the association relationship that cloud depth map is registrated with full-view image is less than preset threshold value When, laser scanning data is unsatisfactory for requiring with full-view image Registration of Measuring Data precision.

In the present embodiment, the association relationship size that is registrated with full-view image by cloud depth map evaluate full-view image with It corresponds to the registration situation of depth map, that is, realizes the inspection to laser scanning data and full-view image Registration of Measuring Data precision.

With reference to shown in Fig. 2, the embodiment of the present invention proposes that field data acquisition system, the field data acquisition system include: At least one automatic Pilot map data collecting vehicle and mobile collection base station, collecting vehicle pass through mobile mutual with mobile collection base station Networking is communicatively coupled, and the collaboration Collecting operation platform run respectively in collecting vehicle side and base station side is carried out by account number system Connection, and carry out data transmission communicating with information, realize the collaboration acquisition of automatic Pilot map field data.

In addition, the embodiment of the present invention also proposes that a kind of map data collecting vehicle, the collecting vehicle are sensed configured with vehicle load measurement System 100, networked devices 105, collaboration Collecting operation platform 121 and car-mounted computer 120, wherein vehicle load measurement sensing system System 100 is for obtaining vehicle real-time position information and mapping geographic information data.Networked devices 105 for build In-vehicle networking and Communication environment, and for establishing communication connection.Car-mounted computer 120 is connected and is controlled configured with collaboration Collecting operation platform 121 Vehicle load measurement sensor-based system and networked devices, be additionally operable to obtain the status information of the vehicle load measurement sensor-based system and reception, Parse and store the data of vehicle load measurement sensor-based system acquisition.Wherein collaboration Collecting operation platform 121 is with vehicle load measurement sensing System 100, networked devices 105 and car-mounted computer 120 connect, and for accessing network by networked devices, control vehicle load measurement passes Sensing system work compound and the data for obtaining the acquisition of vehicle load measurement sensor-based system, and for monitoring vehicle real-time position information simultaneously Judge whether vehicle exceeds effective range, geofence is carried out when beyond effective range and records the geofence Event.

As an alternative embodiment, above-mentioned networked devices 105 can further comprise that WIFI routers and communication connect Mouthful, wherein:WIFI routers are used to cable network signal and mobile network signals being converted into wireless network signal, by reception Data are sent to destination address.

As shown in figure 3, communication interface may include:Route switch module 305, network interface module 310, wireless module 315, string Mouth/network interface module 320, USB interface/network interface module 325, serial port module 330, usb interface module 335 etc., are respectively used to be based on Corresponding communication protocol carries out reception or transmission data.It is uniformly accessed into network after the sensor of each distinct interface is converted, with Collecting operation platform 121 and car-mounted computer 120 etc. is cooperateed with to carry out information exchange in real time.Most sensors support network interface Or be followed by into network interface through interface conversion, the communication interface of the present embodiment is by total interface networking, the net based on ICP/IP protocol Port communications, transmission rate is high, data reliability is high, and scalability is good, can easily access new equipment at any time.

It should be noted that in above-described embodiment, the data of reception are sent to destination address by route switch module;Network interface Module is received using TCP/IP communication agreement or transmission data;Wireless module is received using wireless communication protocol or transmission data; The data formed according to serial communication protocol are converted to the number formed according to TCP/IP communication agreement by serial ports/network port conversing module The data formed according to serial communication protocol are converted to according to or by by the data formed according to TCP/IP communication agreement;Serial ports mould Block sends or receives data according to serial communication protocol;The number that USB/ network port conversing modules will be formed according to USB communication protocol According to being converted to the data formed according to TCP/IP communication agreement or be converted to the data formed according to TCP/IP communication agreement The data formed according to USB communication protocol;USB interface is received according to USB communication protocol or transmission data.

In an alternative embodiment, above-mentioned vehicle load measurement sensor-based system can further comprise:Vehicle-borne Laser Scanning instrument, panorama Camera, hybrid navigation equipment and other measurement sensors, connect with car-mounted computer respectively, are respectively used to obtain laser point cloud number According to, full-view image data, integrated navigation data and vehicle real time.Wherein, hybrid navigation equipment includes vehicle GPS and is used to Property measuring system.

As an alternative embodiment, above-mentioned car-mounted computer 120 may also include control system 122, the control system System 125 is connect with vehicle load measurement sensor-based system, controls signal for generating space-time synchronous, the synchronous control signal is for recording reality When space time information and driving vehicle load measurement sensor-based system carry out the data acquisition of space-time synchronous, and vehicle load measurement sensor-based system is adopted The data of collection carry out temporal-spatial fusion processing.Wherein, sensing acquisition system 100 is further used in Collecting operation according to control system The triggering of system synchronous control signal carries out mapping geographic information data and vehicle real time acquisition.

As an alternative embodiment, above-mentioned collaboration Collecting operation platform can further comprise:Account login system, Data module, cooperative module and monitoring module.Wherein:Account login system is for logging in collaboration Collecting operation platform, data mould Block is used to cooperate with work with the work compound platform of other-end for being stored with the map base map data regularly updated, cooperative module Industry, carries out data transmission and information sharing.The information that monitoring module is used to be obtained according to cooperative module monitors vehicle real time position Information simultaneously judges whether vehicle exceeds effective range and operation abnormal conditions, and carries out early warning, alarm and logout.

As an alternative embodiment, above-mentioned car-mounted computer 120 can further comprise network module 124 and display Module 123, wherein:The module 124 that networks is used to access internet by networked devices, by the account for cooperateing with Collecting operation platform Login system cooperates with the terminal of Collecting operation platform to be communicatively coupled with other logins.Display module 123 is for showing account The interface of login system logs in collaboration acquisition system to log in collaboration Collecting operation platform, and for being shown on map base map Other-end location information, task execution situation, data acquisition state and the coverage area effectively measured.

Correspondingly, the embodiment of the present invention also provides a kind of mobile collection base station, which includes:GPS is measured Base station 200 and the portable acquisition terminal of base station side 205, wherein GPS measures base station 200 and is set up in region to be collected, for for Collecting vehicle provides base station GPS data.High-precision differential GPS number is obtained according to measurement base station GPS data and vehicle GPS data According to.

Wherein, the portable acquisition terminal of base station side 205 is equipped with collaboration Collecting operation platform 210, cooperates with Collecting operation platform 210 cooperate with Collecting operation platform to realize that account number connection is communicated with data for passing through mobile network on other-end, and For being arranged fence according to base station location and effective coverage range, and to critical or cross the border and carried out in the case where fence Early warning, alarm and record event.Base station side acquisition 205 cooperates with Collecting operation platform 210 for running base station side eventually, passes through network Agreement obtains collecting vehicle and the gathered data and status information of base station in real time.

It should be pointed out that any of the above-described collecting vehicle and any measurement base station constitute a field data acquisition system, Wherein collaboration Collecting operation platform can be used for invocation map base map and on it the position letter of each platform registration terminal of real-time display Breath, task execution situation, data acquisition state and base station effective coverage range, and to the thing of crossing the border beyond effective range Part carries out early warning, alarm and logout.

Optionally, it is realized between each platform registration terminal by cooperateing with Collecting operation platform to carry out word or speech communication Real time information between collecting vehicle and base station is shared and Collecting operation flow Coordinate development.

Here, for 4G communication networks can be selected in mobile internet, above-mentioned field data acquisition system is made further Explanation:

In the present embodiment, automatic Pilot map datum field data acquisition system by vehicle-mounted WIFI routers establish 4G networks come The information sharing and work compound realized base station and acquire workshop.Car-mounted computer passes through gigabit network interface or USB3.0 interfaces and vehicle Measurement sensor connection is carried, and obtains the real-time data collection and status information of sensor;Base station is using smart mobile phone as just Acquisition terminal is taken, obtains the gathered data and status information of base station GPS in real time by procotol.And car-mounted computer and base station By the information sharing between the two of 4G real-time performances between acquisition terminal, and shown in real time in running on respectively collaboration acquisition platform Show location information, task execution situation, data acquisition state and the base station range of other side, and to critical or abnormal conditions Give timely early warning, alarm and logout.

Below to field operation data acquisition, it is illustrated below:

1) a variety of measurement sensors such as laser scanner, panorama camera are carried in collecting vehicle to realize mapping geography information number According to acquisition, and GPS measurement base station racks are located in region to be collected, and base station GPS data is provided for collecting vehicle.GPS Base Station has one Fixed effective coverage range, collecting vehicle operation only in the effective coverage range of base station just can guarantee the precision of data acquisition.Vehicle It carries pocket computer to connect with vehicle load measurement sensor by gigabit network interface or USB3.0 interfaces, and obtains adopting in real time for sensor Collect data and status information;GPS Base Station mobile phone acquisition terminal obtains the gathered data and shape of base station GPS by procotol in real time State information.Bicycle-mounted portable computer is separately operable with base station mobile handset acquisition terminal and cooperates with acquisition platform, and the two is real by 4G networks Existing account number connection is communicated with data;

2) collaboration acquisition platform in collecting vehicle end uses offline map datum as base map, is done visually to the following contents on map Change:

A, base station state;

B, collecting vehicle real time position;

C, base station location, and drawn using coverage area as the circle of radius using the position;

D, fence is formed with base station location and coverage area, early warning, alarm and note is carried out to critical or situation of crossing the border Copyist's part;

E, the design position and its coverage area of next base sites.

3) collaboration acquisition platform in base station mobile handset end uses network map as base map, is done visually to the following contents on map Change:

A, collecting vehicle acquisition state;

A, the position of base station, and drawn using coverage area as the circle of radius using the position;

B, fence is formed with base station location and coverage area, early warning, alarm and note is carried out to critical or situation of crossing the border Copyist's part;

D, collecting vehicle real time position;

E, the design position and its coverage area of next base sites.

4) collecting vehicle operating personnel can cooperate with acquisition platform to carry out word or speech communication with base station operator by both ends.

From the various embodiments described above as can be seen that automatic Pilot map data collecting coordinated operation system disclosed by the invention, Information sharing between the two is realized in collecting vehicle, base station by respective acquisition terminal by mobile network, and in respective collaboration Location information, task execution situation, data acquisition state and the base station range of other side are shown in acquisition platform, and to facing Boundary or abnormal conditions give timely early warning, alarm and logout.Thus automatic Pilot map data collecting vehicle and GPS are built Coordinated operation system between base station realizes effective communication and the high-efficient homework of acquisition system, and by cooperateing with Collecting operation flat Platform realization real-time and intuitive information sharing between the two, high efficiency communication, workflow Coordinate development.Therefore, above-mentioned each reality It applies automatic Pilot map data collecting coordinated operation system disclosed in example and effectively alleviates manpower burden, optimize job stream Journey improves the efficiency and quality of field data acquisition.

Inventive concept based on the various embodiments described above, the embodiment of the present invention also propose a kind of map datum collaboration acquisition side Method, this method cooperate with acquisition system, map datum collaboration using the automatic Pilot map datum described in any of the above-described embodiment Acquisition method includes:

It is flat in collecting vehicle side and base station side operation collaboration Collecting operation respectively after the completion of mobile collection measures base station laying Platform is communicatively coupled by account number login system.

At collecting vehicle end, by cooperateing with Collecting operation platform invocation map base map, and base station state, acquisition are shown on it Vehicle real time position, base station location and the fence formed with the base station location and coverage area and next base sites Design position and its coverage area.After collecting vehicle termination receives the signal that base station starts normal work, start formal progress data Collecting work.And early warning, alarm and record event are carried out to critical or situation of crossing the border.

Operation collaboration Collecting operation platform, invocation map base map simultaneously show collecting vehicle in base station side, base station acquisition terminal Acquisition state, collecting vehicle real time position, the position of base station and the fence, next that is formed with the base station location and coverage area The design position and its coverage area of a base sites, and early warning, alarm and record event are carried out to critical or situation of crossing the border.And When receiving collecting vehicle side and terminating acquisition tasks message, base station is migrated.

From the various embodiments described above as can be seen that automatic Pilot map data collecting work compound method disclosed by the invention, Information sharing between the two is realized by mobile network by respective acquisition terminal, and is shown in respective collaboration acquisition platform Show location information, task execution situation, data acquisition state and the base station range of other side, and to critical or abnormal conditions Give timely early warning, alarm and logout.Thus the association between automatic Pilot map data collecting vehicle and GPS Base Station is built Same operating system realizes effective communication and the high-efficient homework of acquisition system, and by cooperateing with Collecting operation platform to realize the two Between real-time and intuitive information sharing, high efficiency link up, workflow Coordinate development.Therefore, the various embodiments described above are disclosed certainly Dynamic driving map data acquisition coordinated operation system effectively alleviates manpower burden, optimizes work flow, improves field operation The efficiency and quality of data acquisition.

It is a kind of composition frame chart of map datum evaluating system provided in an embodiment of the present invention, the map number with reference to Fig. 4 Include according to evaluating system:The field operation that the map datum evaluating apparatus and aforementioned any embodiment that aforementioned any embodiment provides provide Data collecting system.

Wherein, the data evaluating apparatus has built computer cluster, the automatic Pilot map data collecting vehicle and institute Mobile collection measurement base station is stated to be attached by the computer cluster of mobile internet and the map datum evaluating apparatus, The collecting vehicle leads laser real-time track data, panorama camera real-time track data, combination in field operation data acquisition Boat data and odometer real-time data transmission sweep laser to the map datum evaluating apparatus, and according to certain sample frequency Initial data and panorama camera original data transmissions are retouched to the map datum evaluating apparatus.Meanwhile base station side acquisition terminal will Base station GPS data is real-time transmitted to the map datum evaluating apparatus.

Map datum evaluating apparatus generates evaluation and test analysis report, and the evaluation and test analysis report is fed back to the field operation number According to acquisition system.

As an alternative embodiment, above-mentioned map datum evaluating system may also include:

Automatic Pilot map data collecting vehicle and/or mobile collection measure base station according to evaluation and test analysis report, further use In searching problem and judge whether to need quickly to resurvey problem data.

In the various embodiments described above, based on the communication of vehicle-mounted mobile internet and map datum evaluating apparatus, pass through structure The real-time evaluating system of quality of automatic Pilot map field data acquisition data, to being waited for comprising more rich including the GPS data of base station It evaluates and tests data and carries out evaluation and test in real time, profound and problem feedback, it is comprehensive depth can not only to be carried out in data acquisition Quality assessment, the required On Quality Examining Problems of interior industry are advanceed to and are completed during field data acquisition, reduce in industry operation when Between, production efficiency is improved, the workload resurveyed due to data quality problem is also greatly reduced, thus by quality of data exception Caused loss is reduced to minimum.

With reference to Fig. 5 and example shown in fig. 6, the test process of above-mentioned map datum evaluating system illustrate It is bright:

Fig. 5 is that map datum provided in this embodiment evaluates and tests operation schematic diagram, and Fig. 6 is map datum provided in this embodiment The processing flow schematic diagram of evaluation and test.In the present embodiment, computer cluster is built at the center of data evaluation and test indoors in advance, sets up map Data evaluating apparatus, to reception, resolving and the quality assessment of automatic Pilot map field data acquisition data.It is automatic in the present embodiment Driving map field data collecting vehicle carries laser scanner, panorama camera, integrated navigation (vehicle GPS and inertial navigation), odometer Etc. measurement sensors, the equipment such as laser scanner, panorama camera, which pass through, reinforces USB3.0 or gigabit network interface and car-mounted computer It is attached, gathered data by sensor transmissions and is stored into car-mounted computer in real time.The vehicle-mounted roads WIFI of installation in collecting vehicle By device, telecom operators (movement, telecommunications or unicom) 4G SIM cards are inserted into router, car-mounted computer passes through vehicle-mounted WIFI's To internet, car-mounted computer is evaluated and tested center and established by 4G networks and data stablizes effective data communication link for 4G network connections It connects, automatic Pilot map field data collecting vehicle carries out in data acquisition, by laser real-time track data, the real-time phase of panorama Machine track data, integrated navigation data (GPS+IMU) and odometer real-time data transmission evaluate and test center to data.GPS Base Station Mobile phone acquisition terminal can obtain base station GPS data in real time by GPS device internal communication protocol, and by 4G telecommunication networks by base Original satellite of standing observes real-time data transmission and evaluates and tests center to data.

Wherein, in automatic Pilot map field data collecting vehicle data acquisition, laser is swept with certain sample frequency It retouches initial data and panorama camera original data transmissions and evaluates and tests center to data, the sample frequency is according to sensor data acquisition Rate, network data transmission rate and data evaluation and test center calculation efficiency determines, principle guarantee data transmission completely with And data calculate smoothness.Such as it and is not limited to:1 frame full-view image initial data is uploaded every 1km, while being uploaded apart from the panorama The laser scanning initial data of each 20m before and after image pickup position.

In the present embodiment, data are evaluated and tested center and are evaluated and tested using the real-time field data acquisition data that mobile network obtains, and to right The automatic Pilot map field data acquisition data of reception carry out resolving evaluation and test, include laser scanning data and panorama based on mutual information Image data registration accuracy inspection, data are evaluated and tested center and are carried out in real time with the network-based data collection problems of field data acquisition personnel Analysis and feedback.The resolving test process comprises the steps of:

S1:Panorama camera real-time track is analyzed, according to such as 15 meters of the panorama acquisition interval of setting, to judge full-view image Whether leakage is clapped.

Wherein, it refers to after collecting vehicle often travels 15 meters that leakage, which is clapped, and vehicle-mounted synchronizer gives panorama camera one triggering information of taking pictures And the tracing point at the moment is recorded, however panorama camera is not because shutter responds or store the reasons such as unsuccessfully that there is no acquisitions one Full-view image thus constitutes full-view image leakage and claps.This step is by analyzing the track data and full-view image of panorama camera Frame number, can determine whether full-view image leaks bat.

S2:Panorama camera real-time track is analyzed, in conjunction with the acquisition route in mission planning, judges whether that data acquire The problem of range lacks.

S3:Analysis laser real-time track judges whether data acquisition range in conjunction with the acquisition route in mission planning The problem of missing.

Wherein, route to be collected has been formulated in mission planning, laser real-time track represents actual acquisition route, by two The track that broken line represents is compared, and can determine whether the missing there are data acquisition range.

S4:Panorama camera image quality inspection, the process comprise the steps of:

S41:Full-view image splices;

S42:Data evaluate and test center check splicing panorama image, check image whether imaging clearly, check that camera lens are It is no by impurity pollution;

This step can check image definition by image recognition tool to check image quality, can also use to image The method that image quality carries out quantitative assessment, such as:The evaluation indexes such as mean square error, Y-PSNR, fuzzy coefficient, qualitative factor Deng can also carry out picture quality in conjunction with the mode of image definition and quantitative appraisal is evaluated, to ensure evaluation result Accuracy and reliability.

S43:Calculate the color histogram of full-view image, the exposure status of quantitative assessment image.

S5:Laser scanning data based on mutual information and full-view image Registration of Measuring Data accuracy checking, the process include following Step:

S51:(DMI) is counted by base station GPS data, onboard combined navigation data (GPS+IMU), mileage and carries out close coupling It resolves, obtains accurate collecting vehicle track data;

S52:In conjunction with calibrating parameters outside precise trajectory and laser scanner, laser scanning initial data is resolved to obtain Laser point cloud under WGS84 tripleplanes coordinate system;

S53:In conjunction with calibrating parameters outside precise trajectory and panorama camera, full-view image is obtained in WGS84 tripleplanes coordinate Pose parameter under system, the pose parameter include spin matrix RpWith translation vector tp

S54:In conjunction with the pose parameter R of full-view imagepWith tp, the corresponding depth map of laser point cloud is calculated, as a result, by laser The 3D-2D registration problems that point cloud is registrated with full-view image are converted to the 2D-2D registrations that a cloud depth map is registrated with full-view image and ask Topic, and registration between the two is using mutual information as similarity measurement;

S55:If p is a point on full-view image, q is corresponding points of the p in depth map, then the mutual information of the two:

I(p:Q)=H (p)+H (q)-H (p, q)

Wherein, H (p) is full-view image entropy, and H (q) is depth map entropy, and H (p, q) is the combination entropy of the two.By the two mutual trust Breath value size evaluates the registration situation of the corresponding depth map of full-view image, that is, realizes to laser scanning data and panorama shadow As the inspection of Registration of Measuring Data precision.

It should be noted that about laser scanning data and full-view image Registration of Measuring Data accuracy checking based on mutual information, Following three kinds of methods substantially can be used:1) laser based on control point and panoramic view data registration accuracy inspection, such method rely on Existing control point;2) automation is carried out based on laser and the local feature of the same name of full-view image and is registrated inspection, such method according to By the partial points of the two, line, region feature;3) laser point cloud is converted to intensity map by the registration based on global information, such method Or depth map carries out laser point cloud and full-view image global using mutual information or normalized mutual information as similarity measurement Optimization registration, such method rely only on data self-information, high degree of automation, the excellent height of registration accuracy.What the present embodiment used It is that the global registration method based on mutual information carries out laser scanning data and full-view image Registration of Measuring Data accuracy checking.

S56:The mutual information threshold value that full-view image is registrated with depth map can be arranged and be not limited to 1.0;If the mutual information of the two Value is less than threshold value, then laser scanning data is unsatisfactory for requiring with full-view image Registration of Measuring Data precision;

S57:Above step is performed both by the laser scanning data and full-view image data that sample acquisition each time;

S6:If any of upper step inspection item is unsatisfactory for quality requirement, data evaluation and test is centrally formed evaluation and test analysis report, And problem and analysis report are timely feedbacked and give field data acquisition personnel.

S7:Field data acquisition personnel solve the problems, such as according to the feedback search at data evaluation and test center, and judge as the case may be Whether need quickly to resurvey problem data.

From the various embodiments described above as can be seen that being communicated and being remotely laid in indoorly based on vehicle-mounted mobile internet Diagram data evaluating apparatus, to being evaluated and tested comprising the more rich measured data to be evaluated including the GPS data of base station, and map datum Evaluating apparatus can not only provide more powerful computing capability, realize field data acquisition data profound level, efficient quality assessment.

For further, offer of the embodiment of the present invention carries vehicle-mounted WIFI routers to build mobile interchange in collecting vehicle Network environment, base station measurement data can be obtained in real time by the collaboration acquisition platform of loading by measuring the acquisition terminal of base station, and be led to The map datum evaluating apparatus that mobile internet uploads to the center of house data evaluation and test such as is crossed, using computer cluster, in real time Evaluation and test calculating is carried out to contents such as camera track, laser trace, panoramic imagery quality, laser and panoramic view data registration accuracies, it is right Data are quickly analyzed, and then realize that the automatic Pilot map field data acquisition quality of data is fine, assesses in real time, can be sent out in time Quality problems in now being acquired with feedback field data, while the automatic laser point cloud data based on mutual information and full-view image Registration of Measuring Data accuracy checking, and data evaluation and test center can be real-time with the network-based data collection problems of field data acquisition personnel Analysis and feedback.

To sum up, the map datum evaluating system constructed by the embodiment of the present invention is automatic Pilot map field data acquisition data matter Real-time evaluating system is measured, using mobile internet and computer cluster, field operation gathered data quality is carried out in real time profound Evaluation and test and problem feedback, the comprehensive quality assessment of depth can be carried out in data acquisition, by the required quality of interior industry Test problems are completed during advanceing to field data acquisition, and field data acquisition person is enable to pinpoint the problems in time, reduce interior industry operation Time improves production efficiency.Meanwhile also avoid the expansion of problem, avoid data every other day resurvey and bring personnel, vehicle tune Degree, is avoided the laying again of base station, greatly reduces the workload resurveyed due to data quality problem, thus by the quality of data Abnormal caused loss is reduced to minimum.

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, apparatus or computer program Product.Therefore, complete hardware embodiment, complete software embodiment or reality combining software and hardware aspects can be used in the present invention Apply the form of example.Moreover, the present invention can be used in one or more wherein include computer usable program code computer The computer program production implemented in usable storage medium (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.

Several specific embodiments of the present invention have shown and described in above description, but as previously described, it should be understood that the present invention Be not limited to form disclosed herein, be not to be taken as excluding other embodiments, and can be used for various other combinations, Modification and environment, and the above teachings or related fields of technology or knowledge can be passed through in the scope of the invention is set forth herein It is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be in this hair In the protection domain of bright appended claims.

Claims (10)

1. a kind of map datum evaluating apparatus, which is characterized in that including:
Data acquisition module obtains automatic driving map field data acquisition data in real time for passing through mobile network;
It analyzes and determines module, is connect with the data acquisition module, for analyzing and judging that the automatic Pilot map field operation is adopted Collect data with the presence or absence of missing, and exports analysis result;
Quality assessment module, for carrying out full-view image matter to the image data in the automatic Pilot map field data acquisition data Amount checks, and outgoing inspection result;
Registration accuracy computing module, for for the laser scanning initial data in the automatic Pilot map field data acquisition data And panorama camera initial data carries out panorama camera and laser point cloud trajectory analysis, and the laser scanning data based on mutual information With full-view image Registration of Measuring Data accuracy detection, and registration error is exported.
2. map datum evaluating apparatus according to claim 1, which is characterized in that further include:
Feedback modifiers module checks that module connects with the analytical judgment module, the quality assessment module and the registration accuracy It connects, generated according to the evaluation result of each module and exports evaluation and test analysis report.
3. map datum evaluating apparatus according to claim 1 or 2, which is characterized in that the analytical judgment module is into one Step includes:
First analytic unit, for analyzing panorama camera real-time track, the panorama acquisition interval according to setting analyzes panorama camera Track data and full-view image frame number, to judge whether full-view image leaks bat, and export judging result;
Second analytic unit, in conjunction with the acquisition route in mission planning, judges whether to deposit for analyzing panorama camera real-time track The problem of data acquisition range lacks, and export judging result;
Third analytic unit, in conjunction with the acquisition route in mission planning, judges whether to count for analyzing laser real-time track It is lacked according to acquisition range, and exports judging result;
And/or the quality assessment module further comprises:
Image joint unit, for carrying out full-view image splicing;
Clarity inspection unit, for checking splicing panorama image, judge the splicing image whether imaging clearly;
Quantitative assessment unit, the color histogram for calculating full-view image, the exposure status of quantitative assessment image.
4. according to claim 1-3 any one of them map datum evaluating apparatus, which is characterized in that the registration accuracy calculates Module further comprises:
First solving unit carries out close coupling solution for being counted to the base station data, onboard combined navigation data, mileage It calculates, obtains precise acquisition wheel paths data;
Second solving unit is used in conjunction with calibrating parameters outside the precise acquisition wheel paths data and laser scanner, to laser Scanning initial data is resolved, and the laser point cloud under WGS84 tripleplanes coordinate system is obtained;
Converting unit, in conjunction with calibrating parameters outside the precise acquisition wheel paths data and panorama camera, obtaining full-view image Pose parameter under WGS84 tripleplanes coordinate system, and according to the pose parameter of full-view image, it is corresponding to calculate laser point cloud Point cloud depth map;
Registration accuracy detection unit, for using mutual information as similarity measurement, detecting corresponding cloud depth map of laser point cloud It is registrated situation between full-view image, is preset when the association relationship that described cloud depth map is registrated with the full-view image is less than Threshold value when, the laser scanning data is unsatisfactory for requiring with the full-view image Registration of Measuring Data precision.
5. a kind of automatic Pilot map data collecting vehicle, which is characterized in that the collecting vehicle is configured with:
Vehicle load measurement sensor-based system, for obtaining vehicle real-time position information and mapping geographic information data;
Networked devices, for building In-vehicle networking and communication environment, and for establishing communication connection;
Car-mounted computer connects configured with collaboration Collecting operation platform with the vehicle load measurement sensor-based system and the networked devices Connect, and for obtain the vehicle load measurement sensor-based system status information and reception, parsing and store vehicle load measurement sensing system The data that system obtains;The collaboration Collecting operation platform is used to access network by the networked devices, controls the vehicle-mounted survey Amount sensor-based system work compound and the data for obtaining the vehicle load measurement sensor-based system acquisition, and for monitoring the real-time position of vehicle Confidence ceases and judges whether vehicle exceeds effective range, and geofence is carried out when beyond effective range and is recorded to be somebody's turn to do Geofence event.
6. automatic Pilot map data collecting vehicle according to claim 5, it is characterised in that:
The networked devices further comprise:
Vehicle-mounted WIFI routers will be received for cable network signal and mobile network signals to be converted into wireless network signal Data be sent to destination address;
Communication interface, including route switch module, network interface module, serial ports/network port conversing module, serial port module, USB/ network interfaces turn Block, and/or USB interface are changed the mold, is respectively used to carry out reception or transmission data based on corresponding communication protocol;
And/or
The vehicle load measurement sensor-based system further comprises:Vehicle-borne Laser Scanning instrument, panorama camera, hybrid navigation equipment and other Measurement sensor is connect with the car-mounted computer respectively, is respectively used to obtain laser point cloud data, full-view image data, group Close navigation data and vehicle real time.
7. a kind of mobile collection base station, which is characterized in that including:
Base station is measured, is set up in region to be collected, for providing base station GPS data for collecting vehicle;
The portable acquisition terminal of base station side, configured with collaboration Collecting operation platform, the portable acquisition terminal of the base station side is for running base It stands side collaboration Collecting operation platform, and obtains collecting vehicle and the gathered data and status information of base station in real time by procotol; Wherein, the base station side collaboration Collecting operation platform is used to cooperate with Collecting operation platform on other-end by mobile network Realize that account number connection is communicated with data;And for fence to be arranged according to base station location and effective coverage range, and to facing Boundary crosses the border and carries out early warning, alarm and record event in the fence the case where.
8. a kind of field data acquisition system, which is characterized in that including:At least one according to claim 5 or 6 automatic Driving map data collecting vehicle and mobile collection base station according to claim 7, the collecting vehicle and the mobile collection Base station is communicatively coupled by mobile Internet, and the collaboration Collecting operation platform run respectively at vehicle end and base station side passes through account Number system is attached, and carries out data transmission communicating with information, realizes the collaboration acquisition of automatic Pilot map field data.
9. a kind of map datum evaluating system, which is characterized in that including:
According to claim 1-4 any one of them map datum evaluating apparatus and field data according to claim 8 Acquisition system;
Wherein, the automatic Pilot map data collecting vehicle and the mobile collection base station by mobile internet with described Diagram data evaluating apparatus connects, and the collecting vehicle is in field operation data acquisition by laser real-time track data, panorama camera Real-time track data, integrated navigation data and odometer real-time data transmission to the map datum evaluating apparatus, and according to Certain sample frequency is by laser scanning initial data and panorama camera original data transmissions to the map datum evaluating apparatus;Base Base station GPS data is real-time transmitted to the map datum evaluating apparatus by side acquisition terminal of standing;
The map datum evaluating apparatus generates evaluation and test analysis report, and the evaluation and test analysis report is fed back to the field operation number According to acquisition system.
10. map datum evaluating system according to claim 9, which is characterized in that further include:
The automatic Pilot map data collecting vehicle and/or the mobile collection base station are according to the evaluation and test analysis report, into one Step is for searching problem and judging whether to need quickly to resurvey problem data.
CN201710007925.2A 2017-01-05 2017-01-05 Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station CN108279428A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710007925.2A CN108279428A (en) 2017-01-05 2017-01-05 Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710007925.2A CN108279428A (en) 2017-01-05 2017-01-05 Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station

Publications (1)

Publication Number Publication Date
CN108279428A true CN108279428A (en) 2018-07-13

Family

ID=62800522

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710007925.2A CN108279428A (en) 2017-01-05 2017-01-05 Map datum evaluating apparatus and system, data collecting system and collecting vehicle and acquisition base station

Country Status (1)

Country Link
CN (1) CN108279428A (en)

Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101110165A (en) * 2007-08-15 2008-01-23 民航数据通信有限责任公司;北京航空航天大学 Data estimation system for ADS-B monitoring technology
CN102955160A (en) * 2011-08-19 2013-03-06 湖北省电力公司电力科学研究院 Three-dimensional laser radar technology based transmission line tower parameter determination method
CN103177189A (en) * 2013-04-09 2013-06-26 武汉大学 Public source position check-in data quality analysis method
CN103678905A (en) * 2013-12-09 2014-03-26 深圳先进技术研究院 Quality evaluation method based on track data
CN104502122A (en) * 2015-01-12 2015-04-08 交通运输部公路科学研究所 Unmanned vehicle remote control brake performance testing and assessment method
CN104535070A (en) * 2014-12-26 2015-04-22 上海交通大学 High-precision map data structure, high-precision map data acquiringand processing system and high-precision map data acquiringand processingmethod
CN104573733A (en) * 2014-12-26 2015-04-29 上海交通大学 High-precision map generation system and method based on high-definition ortho-photo map
CN104794743A (en) * 2015-04-27 2015-07-22 武汉海达数云技术有限公司 Color point cloud producing method of vehicle-mounted laser mobile measurement system
CN104977022A (en) * 2014-04-04 2015-10-14 西北工业大学 Multi-target track system performance evaluation simulation method
CN105241461A (en) * 2015-11-16 2016-01-13 曾彦平 Map creating and positioning method of robot and robot system
CN105430378A (en) * 2015-11-26 2016-03-23 航天恒星科技有限公司 Image quality evaluation system and method
WO2016093725A1 (en) * 2014-12-08 2016-06-16 Инвенсенс Интернешнл, Инк. Method for positioning a mobile terminal at the moment of a trigger event
CN205563214U (en) * 2016-04-05 2016-09-07 郑州创合电子科技有限公司 On -vehicle three -dimensional information system

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101110165A (en) * 2007-08-15 2008-01-23 民航数据通信有限责任公司;北京航空航天大学 Data estimation system for ADS-B monitoring technology
CN102955160A (en) * 2011-08-19 2013-03-06 湖北省电力公司电力科学研究院 Three-dimensional laser radar technology based transmission line tower parameter determination method
CN103177189A (en) * 2013-04-09 2013-06-26 武汉大学 Public source position check-in data quality analysis method
CN103678905A (en) * 2013-12-09 2014-03-26 深圳先进技术研究院 Quality evaluation method based on track data
CN104977022A (en) * 2014-04-04 2015-10-14 西北工业大学 Multi-target track system performance evaluation simulation method
WO2016093725A1 (en) * 2014-12-08 2016-06-16 Инвенсенс Интернешнл, Инк. Method for positioning a mobile terminal at the moment of a trigger event
CN104535070A (en) * 2014-12-26 2015-04-22 上海交通大学 High-precision map data structure, high-precision map data acquiringand processing system and high-precision map data acquiringand processingmethod
CN104573733A (en) * 2014-12-26 2015-04-29 上海交通大学 High-precision map generation system and method based on high-definition ortho-photo map
CN104502122A (en) * 2015-01-12 2015-04-08 交通运输部公路科学研究所 Unmanned vehicle remote control brake performance testing and assessment method
CN104794743A (en) * 2015-04-27 2015-07-22 武汉海达数云技术有限公司 Color point cloud producing method of vehicle-mounted laser mobile measurement system
CN105241461A (en) * 2015-11-16 2016-01-13 曾彦平 Map creating and positioning method of robot and robot system
CN105430378A (en) * 2015-11-26 2016-03-23 航天恒星科技有限公司 Image quality evaluation system and method
CN205563214U (en) * 2016-04-05 2016-09-07 郑州创合电子科技有限公司 On -vehicle three -dimensional information system

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
宋杨: "基于RIEGL VZ-400及Ladybug3全景相机的移动激光测量系统的研制及应用", 《城市勘测》 *
闫利等: "车载激光雷达点云与全景影像的自动配准", 《测绘科学》 *

Similar Documents

Publication Publication Date Title
CA2535136C (en) Construction equipment discovery on a network
KR100725002B1 (en) Diagnostic System and Method for Wireless Network Service Quality of Wireless Internet System
JP4979813B2 (en) Device and method for positioning a terminal device
JP2004533665A (en) Interpretation of place text and graphics, and measurements
US20100215212A1 (en) System and Method for the Inspection of Structures
US20040059539A1 (en) Cable position information management system, facility information management system, cable core wire management system, and methods and programs thereof
CN103210357B (en) There is the handheld field maintenance tools improving diagnosis
US6865484B2 (en) Satellite position measurement system
US20040203906A1 (en) Monitoring device and monitoring system for monitoring the location of communication devices
US7003264B2 (en) System and methods for comparing data quality for multiple wireless communication networks
EP2462409A1 (en) Method of detecting transportation network database errors and devices thereof
CN104159189B (en) Resident trip information acquisition method based on smart mobile phone
KR100925176B1 (en) Apparatus and method for visualizing network state by using geographic information
US7574323B2 (en) Textual and graphical demarcation of location, and interpretation of measurements
CN102054297B (en) Base station patrol method and system
CN103424113A (en) Indoor positioning and navigating method of mobile terminal based on image recognition technology
CN104736968A (en) Crowd-sourcing indoor locations
CA2802247C (en) Seismic survey communication systems and methods
AU729403B2 (en) System and method for the control of a cellular radio radiocommunications network by means of a set of protocol analyzers and mobile stations
JP2010540916A (en) Apparatus and method for determining position match with reference position
WO2010131920A2 (en) Location-based data service apparatus and method
US20060105759A1 (en) Management server for determining perceived quality of service maps in a mobile communication network
CN104157021B (en) Intelligent inspection system and intelligent polling method
CN104185270B (en) Indoor orientation method, system and locating platform
TW200847686A (en) Self-configuring wireless network location system

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination