CN109211200A - Map data collecting system - Google Patents
Map data collecting system Download PDFInfo
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- CN109211200A CN109211200A CN201811145518.9A CN201811145518A CN109211200A CN 109211200 A CN109211200 A CN 109211200A CN 201811145518 A CN201811145518 A CN 201811145518A CN 109211200 A CN109211200 A CN 109211200A
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- 238000012545 processing Methods 0.000 claims abstract description 27
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 238000012544 monitoring process Methods 0.000 claims description 30
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Traffic Control Systems (AREA)
Abstract
Map data collecting system provided by the invention belongs to map data collecting technical field, and target, GNSS antenna and measuring receiver are installed on mobile vehicle, and unmanned plane identifies target by its imaging system and acquires image data；Calibration module is used to obtain the geometry placement parameter between target and GNSS antenna；Image data processing module according between the target and GNSS antenna geometry placement parameter and the corresponding image coordinate data of target handled, and obtain the unmanned plane image data for having geo-location reference.Map data collecting system provided by the invention is not influenced by ground control point arrangement environment, meets a wide range of map data collecting requirement.
Description
Technical field
The present invention relates to map data collecting technical field more particularly to a kind of map data collecting systems.
Background technique
High-precision map is the component part for realizing that automatic Pilot is indispensable, and field data acquisition is high-precision map system
One of the important link made and updated.Field data acquisition is carried out frequently with fixed-wing unmanned plane or composite wing unmanned plane at present,
Fixed-wing unmanned plane or composite wing unmanned plane are expensive, complicated for operation, and equipment safety hidden danger is larger, are not suitable for a wide range of, high
The high-precision map data collecting of the frequency；Rotor wing unmanned aerial vehicle it is light and small it is portable, easy to operate, cost performance is high, be widely used.
However, since rotor wing unmanned aerial vehicle load-carrying is limited, flight stability is poor, it is general only to carry in addition to carrying imaging system
The global positioning system (Global Position System, abbreviation GPS) of non-measured grade is adopted to meet accurately diagram data
The requirement of collection is needed at surface deployment ground control point (Ground Control Point, abbreviation GCP), and ground control point is
The significant data source that geometric correction and geo-location are carried out to the aviation image of unmanned plane imaging system shooting, is controlled by ground
Point is made to guarantee the precision of map datum.
Before using rotor wing unmanned aerial vehicle acquisition field data, need manually to use total station in the cloth of measured zone comparatively dense
If ground control point, it is artificial lay ground control point by lay environment influenced, higher cost, it is big to be unable to satisfy rotor wing unmanned aerial vehicle
Range data acquisition requires.
Summary of the invention
The present invention provides a kind of map data collecting system and methods, carry out field data using rotor wing unmanned aerial vehicle and adopt
Collection is not influenced by ground control point arrangement environment, meets a wide range of map data collecting requirement of rotor wing unmanned aerial vehicle.
To achieve the goals above, the present invention adopts the following technical scheme that；
The present invention provides a kind of map data collecting system, including unmanned plane, mobile vehicle, at least two targets,
GNSS antenna, measuring receiver, calibration module and image data processing module；The target, GNSS antenna and measuring receiver
It is installed on mobile vehicle, the GNSS antenna and the measuring receiver communication connection, the unmanned plane is by its imaging
System identifies the target and acquires image data；The output end and nothing of the output end of the calibration module, the measuring receiver
The output end of man-machine imaging system is connect with the input terminal of described image data processing module；The calibration module is for obtaining
Geometry between the target and the GNSS antenna disposes parameter；Described image data processing module is according to the target and institute
The image coordinate data stated in the corresponding acquisition image of geometry placement parameter and the target between GNSS antenna are handled,
And obtain the unmanned plane image data for having geo-location reference.
Compared with prior art, map data collecting system provided by the invention, the calibration module are described for obtaining
Geometry between target and the GNSS antenna disposes parameter；The data processing module was according to the target and described GNSS days
Geometry placement parameter and the corresponding image coordinate data of target between line are handled, and are obtained with geo-location reference
Unmanned plane image data.The present invention is not necessarily to improve the ground control point of the precision of images in ground configuration, is utilizing rotor wing unmanned aerial vehicle
Field data acquisition is carried out, is not influenced by ground control point arrangement environment, meeting rotor wing unmanned aerial vehicle, diagram data is adopted on a large scale
Collection requires, and improves measurement efficiency, saves measurement cost.
Further, shutdown platform is provided at the top of the mobile vehicle；The shutdown platform is provided with charging unit and lock
Determine device and identified for the shutdown of unmanned plane identification, the unmanned plane utilizes the locking by identifying the shutdown mark
Device is fixed on the shutdown platform.
Further, the locking device includes locking bar, driving device, signal receiver and signal projector；The lock
Bar is equipped with signal receiver, and the signal projector is connect with the signal receiver signal, the signal receiver and institute
State the connection of driving device signal；The signal projector issues locking or the signal to unlock and reaches the signal and receives
Device, the signal receiver control driving device driving locking bar are locked or are unlocked to the unmanned plane.
Further, the map data collecting system further includes operation guiding module and monitoring operation module；The work
Industry guiding module and monitoring operation module are integrated in controlling terminal, and the controlling terminal is located on mobile vehicle；The control
Terminal respectively with the unmanned plane, receiving antenna, locking device and charging unit communication connection.
Further, the mobile vehicle is vehicle；The target, GNSS antenna and shutdown platform are arranged on roof.
Further, the charging unit is contact wireless charging device, the contact wireless charging device setting
There is the power supply coil for generating magnetic field, one end of the power supply coil connects to power supply；
The supplying cell of the unmanned plane is provided with the receiving coil made of magnetic alloy.
Further, one end of the power supply coil is connect with interior cigar lighter or battery.
Further, the vehicle is pilotless automobile.
Further, the map data collecting system is provided with monitoring management platform, and the monitoring management platform is located at
In the monitoring room of distal end, the monitoring management platform and unmanned plane and pilotless automobile communication connection.
Further, the map data collecting system further includes the GNSS measurement base station fixed on the ground, described
GNSS measurement base station is used to obtain GNSS signal and reaches the transmission error during the GNSS antenna and be conveyed to described image
Data processing module.
In addition to it is described above present invention solves the technical problem that, constitute technical solution technical characteristic and by these
Outside beneficial effect brought by the technical characteristic of technical solution, map data collecting system provided by the invention can solve its
The other technical characteristics and these technical characteristic bring beneficial effects for including in his technical problem, technical solution, will have
Further details of explanation is made in body embodiment.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the present invention will be implemented below
Example or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is only a part of the embodiments of the present invention, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the overall structure composition schematic diagram of image capturing system provided in an embodiment of the present invention；
Fig. 2 is each section connection schematic diagram of image capturing system provided in an embodiment of the present invention；
Fig. 3 is that unmanned plane and mobile vehicle are respectively connected with the control terminal schematic diagram in Fig. 1；
Fig. 4 is the composition schematic diagram of controlling terminal in Fig. 3；
Fig. 5 be the embodiment of the present invention in automatic driving vehicle, unmanned plane respectively with monitoring management platform connection schematic diagram.
Description of symbols:
10- unmanned plane, 11- imaging system
20- mobile vehicle, 21- pilotless automobile,
30- target, 40-GNSS antenna,
50- measuring receiver, 60- image data processing module,
70- calibration module, 80- controlling terminal,
81- operation guiding module, 82- monitoring operation module,
90- monitoring management platform.
Specific embodiment
In order to keep the above objects, features and advantages of the present invention more obvious and easy to understand, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described implementation
Example is only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative labor, belongs to protection of the present invention
Range.
In the description of the embodiment of the present invention, it is to be understood that term " center ", " longitudinal direction ", " transverse direction ", " length ",
" width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside",
The orientation or positional relationship of the instructions such as " clockwise ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " is based on the figure
Orientation or positional relationship is merely for convenience of the description embodiment of the present invention and simplifies description, rather than indication or suggestion meaning
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to of the invention
Limitation.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the embodiment of the present invention, the meaning of " plurality " is at least two, such as two
It is a, three etc., unless otherwise specifically defined.
In embodiments of the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ",
Terms such as " fixations " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with
It is mechanical connection, is also possible to be electrically connected or can communicate each other；It can be directly connected, the indirect phase of intermediary can also be passed through
Even, the connection inside two elements or the interaction relationship of two elements be can be, unless otherwise restricted clearly.For this
For the those of ordinary skill in field, can understand as the case may be above-mentioned term in embodiments of the present invention specifically contain
Justice.
As depicted in figs. 1 and 2, the embodiment of the invention provides a kind of map data collecting systems, including unmanned plane 10, shifting
Dynamic load body 20, at least two targets 30, GNSS antenna 40, measuring receiver 50, calibration module 70 and image data processing module
60；Target 30, GNSS antenna 40 and measuring receiver 50 are installed on mobile vehicle 20, GNSS antenna 40 and measuring receiver 50
Communication connection, unmanned plane 10 identify target 30 by its imaging system 11 and acquire image data；Calibration module 70 is for obtaining
Geometry between target 30 and GNSS antenna 40 disposes parameter；The output end of the output end of calibration module 70, measuring receiver 50
And the output end of the imaging system 11 of unmanned plane 10 is connect with the input terminal of image data processing module 60；Image real time transfer mould
Block 60 according to the geometry placement parameter and the corresponding image coordinate data of target 30 between target 30 and GNSS antenna 40 at
Reason, and obtain the unmanned plane image data for having geo-location reference.
Specifically, unmanned plane 10 includes imaging system 11, GPS module and communication module, wherein imaging system 11 includes CCD
Camera or CMOS camera, for obtaining the image data of the high degree of overlapping of measured zone, GPS module is mentioned for the flight of unmanned plane 10
It is guided for general location and operation, while also providing time reference for the imaging system 11 of unmanned plane 10, every image can be made attached
With accurate temporal information, unmanned plane 10 is connect by communication module with ground control centre.
Target 30, GNSS antenna 40 and measuring receiver 50 are each attached on mobile vehicle 20, in the present embodiment, for convenient for
The top of mobile vehicle 20 can be arranged in GNSS antenna 40 and target 30 by the reception of GNSS signal and the identification of unmanned plane 10,
Since the top installation space of mobile vehicle 20 is limited, measuring receiver 50 can be arranged in mobile vehicle 20, wherein GNSS
Antenna 40 and 50 communication connection of measuring receiver, to ensure stable signal transmission between GNSS antenna 40 and measuring receiver 50
Property, GNSS antenna 40 and measuring receiver 50 are attached using the communications cable.Wherein, target 30 can be flat target
Mark, surface, which is drawn, is coated with certain pattern, in order to accurately be identified by the imaging system 11 of unmanned plane 10, and can guide nobody
Machine 10 flies；Spherical structure also can be set into target 30, and the surface of spherical structure is laid with laser high reflection material.
The two sides of GNSS antenna 40 can be arranged in two targets 30 along 20 moving direction of mobile vehicle, to GNSS antenna 40
And after target 30 is fixed on mobile vehicle 20, need calibration module 70 to the 3-D migration amount between GNSS antenna 40 and target 30
Calibration is measured, i.e. geometry between acquisition GNSS antenna 40 and two targets 30 disposes parameter.It is understood that obtain
Take accurate geometry placement parameter, can use calibration module 70 respectively to the center at the center of GNSS antenna 40 and target 30 it
Between 3-D migration amount measure, and will measure geometry placement parameter be transferred to image data processing module 60.
GNSS antenna 40 receives GNSS signal after powering on certain frequency and this signal is transferred to measuring receiver 50, surveys
Amount receiver 50 can obtain the coordinate data of GNSS antenna 40 according to transmission GNSS signal, and be stored in measuring receiver 50,
After to image data acquiring, the coordinate data of the GNSS antenna 40 of the storage of measuring receiver 50 is transferred to image data
Processing module 60；Image data processing module 60 disposes ginseng according to the geometry between the GNSS antenna 40 of acquisition and two targets 30
Number converts 40 coordinate data of GNSS antenna to the object coordinates data of target 30.
The corresponding coordinate of target 30 in the image that image data processing module 60 is shot according to 10 imaging system 11 of unmanned plane
The absolute control information and object space of every image of information acquisition control information.It is specific as follows: the shooting of 10 imaging system 11 of unmanned plane
The time of image is ti, wherein i=1,2 ... N, the number of representative image.Two vehicle load measurement tracing points of its adjacent moment
Time is tm、tn, it is contemplated that in local space section, the variation of vehicle location and time are linear, therefore when can pass through
Interpolation obtains tiThe track of vehicle point coordinate at moment.In conjunction with the geometry placement calibration ginseng between target 30 and GNSS antenna 40
Number, it can obtain tiThe relative coordinate of the object coordinates of 30 central point of target and former and later two 30 central points of target after moment,
Thus it obtains the absolute of every image and opposite object space controls information.
Image data processing module 60, as constraint condition, joined nothing according to above-mentioned absolute and opposite object space control information
In man-machine 10 image sky, three processing, global optimization solution is carried out.Furthermore, it is contemplated that the mobile vehicle 20 during imaging can
The homonymy matching point of mistake can be provided during sky three, it can be according to 30 position of target identified, to the of the same name of vehicle region
Point is to rejecting, to reject the Mismatching point of problem entrance.After above-mentioned three processing of image sky, unmanned plane image data
With accurate geographical reference information, the significant data source of high-precision map data creating and update can be used as.
Image data collection system provided by the invention is carrying out field data acquisition using rotor wing unmanned aerial vehicle, not by ground
The influence of environment is arranged at face control point, without improving the ground control point of the precision of images in ground configuration, meets a wide range of map
The required precision of data acquisition, improves measurement efficiency, saves measurement cost.
In the present embodiment, the top of mobile vehicle 20 is provided with shutdown platform, shuts down platform and is provided with charging unit and locking dress
The shutdown set and identified for unmanned plane 10 identifies, and unmanned plane 10 shuts down mark by identification, and is fixed on and is stopped using locking device
On board.Specifically, the measurement environment faced is compared since unmanned plane 10 is when carrying out extensive area map data collecting
It is more severe that small range measures environment, thus it is for example possible to encounter strong wind weather etc., need 10 Suspend Job of unmanned plane or terminate to make
When industry, a shutdown platform need to be provided and landed for unmanned plane 10；Furthermore need when large-scale map data collecting operation
There is certain continuation of the journey requirement to unmanned plane 10, the course continuation mileage of general unmanned plane 10 is unable to satisfy prolonged flight, needs
It charges on way.Therefore it is provided with the shutdown platform to land for unmanned plane 10 on mobile vehicle 20, shuts down platform and be provided with and knows for unmanned plane 10
Other shutdown mark, unmanned plane 10 drops under the guidance for shutting down mark shuts down on platform.It is preferably that unmanned plane 10 is fixed
It on shutting down platform, shuts down and is additionally provided with locking device on platform, locking device can be to nobody after unmanned plane 10 drops to and shuts down platform
Machine 10 is locked, and when unmanned plane 10 leaves and shuts down platform, locking device can unlock to unmanned plane 10.
It shuts down and is additionally provided with charging unit on platform, it is to be understood that charging unit can be using conventional cable connector
Realize the connection of unmanned plane 10 and power supply, wherein one end charging unit one end of cable connector connects to power supply, other end connection
To 10 charging interface of unmanned plane.
In the present embodiment, locking device includes locking bar, driving device, signal receiver and signal projector；Locking bar installation
There is signal receiver, signal projector is connect with signal receiver signal, and signal receiver is connect with driving device signal；Signal
Transmitter issues locking or the signal to unlock and reaches signal receiver, and signal receiver controls driving device driving lock
Bar is locked or is unlocked to unmanned plane 10.
Specifically, locking bar can be set according to the undercarriage of unmanned plane 10, locking bar can be designed to semicircle buckle-like,
Including sliding part and fixed part, the part of it body of rod, which is fixed on to shut down, is known as fixed part on platform, another part body of rod can be along fixation
It is known as sliding part in the shank portion telescopic slide shut down on platform, signal receiver, signal receiver and letter is provided on locking bar
Number transmitter is connected by wireless signal, and signal receiver is used to receive the lock instruction of signal projector sending and unlocks
Instruction.
When unmanned plane 10 rests in and shuts down platform, signal receiver is connected to unmanned plane 10 into when line-locked instruction, is made
Driving device drives sliding part to slide along fixed part, and sliding part is set on the undercarriage of unmanned plane 10, and is locked.Conversely,
When signal receiver receives the instruction to unlock to unmanned plane 10, driving device drives sliding part to slide to fixed part
One end releases the locking to 10 undercarriage of unmanned plane.It is understood that the structure type of locking device is not added in this implementation
, can also be fluted using being arranged in shutdown platform with limitation, telescopic gag lever post is provided in groove.
As shown in Figure 3 and Figure 4；Map data collecting system further includes operation guiding module 81 and operation prison in the present embodiment
Module 82 is controlled, operation guiding module 81 and monitoring operation module 82 are integrated in controlling terminal 80, and controlling terminal 80 is located at movement
On carrier 20；Controlling terminal 80 respectively with unmanned plane 10, receiving antenna, locking device and charging unit communication connection.
Specifically, operation guiding module 81 and monitoring operation module 82 are integrated in controlling terminal 80, controlling terminal 80 can
To be arranged on mobile vehicle 20, and controlling terminal 80 can be laptop, smart phone etc..Controlling terminal 80 and nobody
Machine 10 by wireless signal connect, wherein operation guiding module 81 be used for for unmanned plane 10 provide work planning, mission dispatching and
Flight control；Monitoring operation module 82 is used to carry out the image data that the imaging system 11 of flight path and unmanned plane 10 acquires
The visualization of unmanned plane job task is realized in monitoring；And monitoring operation module 82 is monitored simultaneously the state of unmanned plane 10
Alarm；Such as unmanned plane 10, when there is low battery, capable of emitting warning reminding operation collector charges to unmanned plane 10.Make
Industry monitoring module 82 can also be used to be monitored the state of the locking device and charging unit shut down on platform.
Mobile vehicle 20 is vehicle in the present embodiment, and target 30, GNSS antenna 40 and shutdown platform setting are formed on roof
Map data collecting assists vehicle.Specifically, can choose vehicle as mobile vehicle 20, GNSS antenna 40 is arranged in roof
At the heart, target 30 is symmetricly set on the two sides of roof along the front-rear direction of car body, and GNSS antenna 40 be located at two targets 30 it
Between, measuring receiver 50 is installed in the car, and measuring receiver 50 is connect with GNSS antenna 40 by cable.
In the present embodiment, charging unit is contact wireless charging device, and contact wireless charging device is provided with generation
One end of the power supply coil in magnetic field, power supply coil connects to power supply, and the supplying cell of unmanned plane 10 is provided with by magnetic alloy system
At receiving coil.Specifically, charging unit is arranged on the shutdown platform of roof, the charging unit in the present embodiment can be to connect
Touch wireless charging device, contact radio charging unit are provided with coil array, and one end of coil connects to power supply, therefore
Coil array can produce magnetic field；The supplying cell of corresponding unmanned plane 10 is provided with receiving coil, receiving coil is closed by magnetism
Gold winding is made；It can realize and charge to unmanned plane 10 when the receiving coil of unmanned plane 10 is fitted on coil array,
It no longer needs to be charged by adding cable connector between unmanned plane 10 and charging unit, it can be achieved that quickly filling to unmanned plane 10
Electricity.
On the basis of the above embodiments, one end of power supply coil is connect with interior cigar lighter or battery.Specifically
, power supply coil one end is connect with interior cigar lighter or battery, wherein interior cigar lighter is capable of providing charging interface, is
Power supply coil power supply and battery may be power supply coil power supply.One end of the power supply coil of the present embodiment and cigar lighter or
Person's battery connection, can directly using the electricity of the generation of vehicle be unmanned plane 10 charge, can convenient for unmanned plane 10 into
Row charging.
On the basis of the above embodiments, vehicle is pilotless automobile 21, is carried in pilotless automobile 21 as mobile
Body 20, and GNSS antenna 40, target 30 are arranged on the roof of pilotless automobile 21, measuring receiver 50 is arranged in
The car of pilotless automobile 21, and the integrated setting of controlling terminal 80 of monitoring operation module 82 and operation guiding module 81 is existed
Distally, vehicle is assisted as map data collecting using pilotless automobile 21, realizes the automation collection of map datum.
As shown in figure 5, map data collecting system is provided with monitoring management platform 90, monitoring management platform 90 is located at distal end
Monitoring room in, monitoring management platform 90 and 21 communication connection of unmanned plane 10 and pilotless automobile.Specifically, monitoring pipe pats
Platform 90 is integrated with controlling terminal 80, and the multiple unmanned planes 10 of unified monitoring and multiple unpiloted map data collecting auxiliary
Vehicle, multiple unpiloted map data collecting auxiliary vehicles and unmanned plane 10 and 90 communication connection of monitoring management platform, for example, more
A unpiloted map data collecting auxiliary vehicle and unmanned plane 10 are used by 5G communication and 90 communication connection of monitoring management platform
To receive assignment instructions and information exchange.
In the present embodiment, map data collecting system further includes the GNSS measurement base station fixed on the ground, GNSS measurement
Base station is used to obtain GNSS signal and reaches the transmission error during GNSS antenna 40 and be conveyed to image data processing module 60.
Specifically, laying GNSS in measurement operating area measures base station, about 30 kilometers to 100 of base station area of effective coverage radius are measured
Kilometer, measurement base station are fixed on the ground near measured zone, for providing difference settlement function, while can also calculate
GNSS signal reaches the transmission error in GNSS measurement base station process.During receiving GNSS signal due to GNSS antenna 40
Error is identical as the transmission error that GNSS signal reaches in GNSS measurement base station process is measured, therefore can will measure GNSS signal
The transmission error reached in GNSS measurement base station process is conveyed to image data processing module 60, can further promote map number
According to the precision of acquisition.It is understood that GNSS antenna also can connect to ground strengthening system, obtains GNSS antenna 40 and receive
Error during GNSS signal can be further improved the precision of map data collecting.
It is specifically discussed in detail using pilotless automobile as mobile vehicle below and utilizes map provided in an embodiment of the present invention
The method that data collection system carries out map data collecting, includes the following steps；
A, GNSS antenna 40, target inspection 30 are fixed on the roof of pilotless automobile, and is obtained using calibration module 70
Geometry of the GNSS antenna 40 apart from target 30 disposes parameter, and this geometry installation parameter is inputed to data processing module.
B, GNSS antenna 40 and measuring receiver 50 are powered on, GNSS antenna 40 acquires GNSS signal with 20hz, and will
GNSS signal is transferred to measuring receiver；Measuring receiver 50 obtains 40 coordinate data of GNSS antenna and is transferred at image data
Manage module 60.
C, unmanned map datum acquisition auxiliary vehicle is travelled along to Operation road, and unmanned plane 10 is apart from road certain altitude
Flight, flying height are determined by the camera focus of imaging system, map sampled distance and precision, are generally highly
100m, unmanned plane passes through the target recognition and tracking map data collecting auxiliary vehicle that roof is arranged in, and shoots and be imaged to road, and
The image coordinate data for obtaining the target 30 comprising temporal information and coordinate information are transferred to image data processing module 60.
D, image data processing module 60 carries out conversion acquisition using geometry placement parameter to 40 coordinate data of GNSS antenna
The object coordinates data of target 30；Image data processing module 60 is by the corresponding image coordinate data of target 30 and the object of target 30
The constraint condition of square coordinate data building three processing empty to the progress of 10 image of unmanned plane simultaneously obtains the nothing for having geo-location reference
Man-machine 10 image data, 10 image data of unmanned plane with geo-location reference can be used as the important number of production high-precision map
According to source.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (10)
1. a kind of map data collecting system, which is characterized in that including unmanned plane, mobile vehicle, at least two targets, GNSS days
Line, measuring receiver, calibration module and image data processing module；
The target, GNSS antenna and measuring receiver are installed on mobile vehicle, and the GNSS antenna and the measurement receive
Machine communication connection, the unmanned plane identify the target by its imaging system and acquire image data；
The output end of the imaging system of the output end of the calibration module, the output end of the measuring receiver and unmanned plane and institute
State the input terminal connection of image data processing module；
The calibration module is used to obtain the geometry placement parameter between the target and the GNSS antenna；
Described image data processing module disposes parameter and the target according to the geometry between the target and the GNSS antenna
It marks corresponding image coordinate data to be handled, and obtains the unmanned plane image data for having geo-location reference.
2. map data collecting system according to claim 1, which is characterized in that be provided at the top of the mobile vehicle
Shut down platform；
The platform of shutting down is provided with charging unit and locking device and identifies for the shutdown of unmanned plane identification, and the unmanned plane passes through
It identifies the shutdown mark, and is fixed on the shutdown platform using the locking device.
3. map data collecting system according to claim 2, which is characterized in that the locking device includes locking bar, drives
Dynamic device, signal receiver and signal projector；
The locking bar is equipped with signal receiver, and the signal projector is connect with the signal receiver signal, the signal
Receiver is connect with the driving device signal；
The signal projector issues locking or the signal to unlock and reaches the signal receiver, and the signal receives
Device control driving device driving locking bar is locked or is unlocked to the unmanned plane.
4. map data collecting system according to claim 2, which is characterized in that the map data collecting system is also wrapped
Include operation guiding module and monitoring operation module；
The operation guiding module and monitoring operation module are integrated in controlling terminal, and the controlling terminal is located at mobile vehicle
On；
The controlling terminal respectively with the unmanned plane, receiving antenna, locking device and charging unit communication connection.
5. map data collecting system according to claim 2, which is characterized in that the mobile vehicle is vehicle；
The target, GNSS antenna and shutdown platform are arranged on roof.
6. map data collecting system according to claim 5, which is characterized in that the charging unit is that contact is wireless
Charging unit；
The contact wireless charging device is provided with the power supply coil for generating magnetic field, and one end of the power supply coil and power supply connect
It connects；
The supplying cell of the unmanned plane is provided with the receiving coil made of magnetic alloy.
7. map data collecting system according to claim 6, which is characterized in that one end of the power supply coil and car
Cigar lighter or battery connection.
8. according to the described in any item map data collecting systems of claim 5 to 7, which is characterized in that the vehicle is for nobody
Driving.
9. map data collecting system according to claim 8, which is characterized in that the map data collecting system setting
There is monitoring management platform, the monitoring management platform is located in the monitoring room of distal end；
The monitoring management platform and unmanned plane and pilotless automobile communication connection.
10. map data collecting system according to claim 1, which is characterized in that the map data collecting system is also
GNSS including fixing on the ground measures base station；
GNSS measurement base station is used to obtain GNSS signal and reaches the transmission error during the GNSS antenna and be conveyed to
Described image data processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145518.9A CN109211200A (en) | 2018-09-29 | 2018-09-29 | Map data collecting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811145518.9A CN109211200A (en) | 2018-09-29 | 2018-09-29 | Map data collecting system |
Publications (1)
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| CN109211200A true CN109211200A (en) | 2019-01-15 |
Family
ID=64982184
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811145518.9A Pending CN109211200A (en) | 2018-09-29 | 2018-09-29 | Map data collecting system |
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