CN110516304A - A kind of interior space modeling method - Google Patents
A kind of interior space modeling method Download PDFInfo
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- CN110516304A CN110516304A CN201910682395.0A CN201910682395A CN110516304A CN 110516304 A CN110516304 A CN 110516304A CN 201910682395 A CN201910682395 A CN 201910682395A CN 110516304 A CN110516304 A CN 110516304A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining 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
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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Abstract
The present invention relates to a kind of interior space modeling methods, comprising the following steps: step S1: obtaining outdoor terrain figure and indoor CAD diagram；Step S2: based on outdoor terrain figure and indoor CAD diagram, indoor control point, outdoor control point and conducting wire connection relationship are obtained；Step S3: it based on indoor control point, outdoor control point and conducting wire connection relationship, establishes and surveys area's coordinate system；Step S4: outdoor control point WGS84 coordinate system is established；Step S5: based on outdoor control point WGS84 coordinate system, area's coordinate system will be surveyed and converted to WGS84 coordinate system, indoor and outdoor is obtained and unify WGS84 coordinate system；Step S6: the indoor point cloud data of unified WGS84 coordinate system inside and outside collection room obtains interior space model.Compared with prior art, it can be achieved that the unified location navigation of indoor and outdoor, facilitates the correlative study of indoor location service.
Description
Technical field
The present invention relates to field of locating technology, more particularly, to a kind of interior space modeling method.
Background technique
The extensive use of mobile intelligent terminal and the quick universal and extensive application of wireless network, so that being based on location-based service
The application demand of (Location Based Services, LBS) show quickly, increase substantially trend, LBS rapidly develop and
The every field of social life and production is spread to.Wherein, reliable and efficient location technology is to realize premise and the pass of LBS
Where key.
In outdoor, Global Satellite Navigation System (Global Navigation Satellite System, GNSS) by with
In the various occasions for needing location services information.The generation and development of GNSS, has substantially solved in outdoor open space
The problem of being positioned, and oneself is in the fields such as military affairs, traffic, resource environment, farming, animal husbandry and fishery, mapping and people's daily life
It is widely used；At the same time, with WLAN, bluetooth, the technologies such as inertial navigation are gradually popularized, indoor fixed
Position technology has also obtained development at full speed, has substantially met the demand of mankind's daily life.Nowadays, in order to enable positioning service more
The research of the convenient and efficient added, indoor and outdoor seamless positioning becomes new hot spot.However Study of location at this stage is limited to mostly
In single positioning scene, indoor and outdoor location technology fully achieves seamless connection not yet, wherein there is an important reason
It is the disunity of indoor and outdoor coordinate frame.Outdoor positioning airmanship based on GNSS generally uses WGS84 space right-angle to sit
Mark system, and most of indoor positioning technologies carry out research and experiment on the basis of constructing indoor coordinate system, it will be indoor
Outer coordinate frame is converted and is uniformly the premise and key point for realizing indoor and outdoor seamless positioning.
With large complicated building increasing severely in urban construction with day, the interior space model tormulation of complex building and group
It is made into for the emphasis of location-based service industrial research, conventional two-dimensional spatial data, which can not meet growing industry, to be needed
It asks, three-dimensional space data can not only promote the level of detail of expression of space geographical entity, while can also accommodate a greater amount of
Spatial object data.High-precision interior D Spatial Data Modelling has become the basis of indoor location service increasingly, is
Meet indoor location analysis, the indoor disaster relief and emergency, indoor positioning are navigated and the facing positions service fields such as indoor path planning
Complicated analysis application demand.Carrying out rationally expression and effectively tissue to indoor threedimensional model can not only three-dimensional space in enhanced room
Between visualize efficiency, be more advantageous to improve indoor location service practicability, raised position service ability.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of interior spaces to model
Method.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of interior space modeling method, method includes the following steps:
Step S1: outdoor terrain figure and indoor CAD diagram are obtained；
Step S2: based on outdoor terrain figure and indoor CAD diagram, indoor control point, outdoor control point is obtained and is connected with conducting wire
Relationship；
Step S3: it based on indoor control point, outdoor control point and conducting wire connection relationship, establishes and surveys area's coordinate system；
Step S4: outdoor control point WGS84 coordinate system is established；
Step S5: based on outdoor control point WGS84 coordinate system, area's coordinate system will be surveyed and converted to WGS84 coordinate system, obtained
Unify WGS84 coordinate system to indoor and outdoor；
Step S6: the indoor point cloud data of unified WGS84 coordinate system inside and outside collection room obtains interior space model.
The step S3 includes:
Step S31: based on indoor control point, outdoor control point and conducting wire connection relationship, control point coordinate system is established；
Step S32: being based on control point coordinate system and conducting wire connection relationship, obtains surveying area's coordinate system.
The control point coordinate system obtains surveying area's coordinate system by detailed survey.
The foundation outdoor control point WGS84 coordinate system uses real time dynamic measurement technology.
The area's coordinate system that will survey is converted to WGS84 coordinate using Seven-parameter.
The spin matrix R of the Seven-parameter1(εX)、R2(εY) and R3(εZ) be respectively as follows:
Wherein, εXFor the angle between X-axis and X' axis, εYFor the angle between Y-axis and Y' axis, εZBetween Z axis and Z' axis
Angle, O'-X'Y'Z' and O-XYZ are two spaces rectangular coordinate system.
The step S6 includes:
Step S61: the indoor point cloud data of unified WGS84 coordinate system inside and outside collection room；
Step S62: carrying out registration and noise suppression preprocessing to indoor point cloud data, obtains point cloud data in processing rear chamber；
Step S63: the curved surface of point cloud data in processing rear chamber is rebuild, interior space model is obtained.
Described rebuild using triangle gridding method to the curved surface of point cloud data in processing rear chamber.
Compared with prior art, the invention has the following advantages that
(1) tomography being connected between indoor and outdoor spaces frame, to realize the unified location navigation of indoor and outdoor.
(2) high-precision has been carried out to interior using uniform spaces coordinate system to model, be more convenient for indoor location service
Correlative study.
(3) there is simple process, low in cost, period short low in cost, period short high-precision and advantages of environment protection,
It can be adapted for industrializing large-scale application.
Detailed description of the invention
Fig. 1 is flow chart of the invention；
Fig. 2 is the place overall schematic of the embodiment of the present invention；
Fig. 3 is 5 buildings plan views of the embodiment of the present invention；
Fig. 4 is the outdoor control point schematic diagram of the embodiment of the present invention；
Fig. 5 is indoor control point and the thin portion point schematic diagram of the embodiment of the present invention；
Fig. 6 is that the whole of the embodiment of the present invention puts cloud displaying and each website distribution map；
Fig. 7 (a) is schematic diagram before the point cloud data of the embodiment of the present invention denoises；
Fig. 7 (b) is schematic diagram before the point cloud data of the embodiment of the present invention denoises；
Fig. 8 is the room modeling result figure of the embodiment of the present invention；
Fig. 9 is the corridor modeling result figure of the embodiment of the present invention；
Figure 10 (a) is schematic diagram before the sales counter of the embodiment of the present invention models；
Figure 10 (b) is schematic diagram after the sales counter of the embodiment of the present invention models；
Figure 11 (a) is schematic diagram before the door of the embodiment of the present invention models；
Figure 11 (b) is schematic diagram after the door of the embodiment of the present invention models；
Figure 12 (a) is schematic diagram before the ladder of the embodiment of the present invention models；
Figure 12 (b) is schematic diagram after the ladder of the embodiment of the present invention models；
Figure 13 (a) is schematic diagram before the green plant of the embodiment of the present invention models；
Figure 13 (b) is schematic diagram after the green plant of the embodiment of the present invention models；
Figure 14 (a) is schematic diagram before the tables and chairs of the embodiment of the present invention model；
Figure 14 (b) is schematic diagram after the tables and chairs of the embodiment of the present invention model.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
Embodiment
(1) overall thought
A kind of indoor and outdoor spaces unified frame and modeling method, comprising the following steps:
1) topographic survey early period and relevant calculation data are collected, control point is obtained, according to the practical feelings of experimental site
Condition and referential required precision design reasonable control net net type, and field exploring reconnaissance, establish mark.
2) it establishes and surveys area's independent coordinate system: establishing traverse net, the translocation of indoor and outdoor control point carries out control measurement, adjustment
The high-precision three-dimensional independent coordinate at control point is calculated.The control point of known coordinate is recycled to carry out detailed survey, realization pair
Entire interior survey area covers all around.
3) common point converted using outdoor control point as coordinate is carried out field survey using network RTK, obtained high-precision
Spend outdoor control point WGS84 coordinate.
4) Seven-parameter coordinates computed conversion parameter is utilized, and realizes that surveying area's coordinate system arrives using conversion parameter
The unification of indoor and outdoor coordinate frame is realized in the conversion of WGS84 coordinate.
5) point cloud data acquisition, line number of going forward side by side Data preprocess are carried out to indoor scene using laser scanner.
6) indoor point cloud data is modeled using Triangular meshes method, obtains high-precision three-dimensional indoor scene model.
(2) each section specification specified
Step 1) previous work is broadly divided into two steps, and the first step is to collect topographic survey early period and relevant calculation money
Material, including topographic map, indoor CAD diagram etc..Second step is the selection at control point, and control point includes indoor control point and outdoor control
Processed, control point is mainly used for constructing control net coordinate system, and the open traverse after being used for as high-precision datum mark is surveyed
Amount, so reconnaissance should make intervisibility between consecutive points good, overall distribution is uniformly reasonable again, to can control entire survey area.
Due to the common point that outdoor control point needs to convert as coordinate, need to avoid in view of ambient environmental conditions when choosing
High-voltage line, water field of big area and skyscraper reduce the influence that multipath effect measures GNSS to the greatest extent.
Step 2) starts to design conducting wire after choosing control point.Conducting wire can be set as plain conductor and traverse net by cloth.
According to different situation and requirement, plain conductor can be set as echoing conducting wire, back traverse and open traverse by cloth.Traverse net can be by
Cloth is set as arbitrary routing of line net and echos traverse net.
The observation of conducting wire includes the observation of deflection angle and the observation of polygon leg and the measurement of higher degree of traverse point.
1) observation of deflection angle generally uses survey time method to carry out.When the direction number more than two that should be observed on traverse point, answer
It is carried out using method of direction observation.
2) conducting wire side length observation should take bilateral observation, check condition to increase.
3) measurement of the level can be used in the measurement of higher degree of traverse point or trigonometric levelling carries out.Mostly use total station greatly at present
Trigonometric levelling carries out bilateral observation to determine the elevation of traverse point, must observe height difference at this time, measure instrument height and target
It is high.
Traverse Network Adjustment is by the way of least-squares estimation.
Column error equation:
Y=Ax+e
In formula: y is the rank observation vector of n × 1；A is n × t rank sequency spectrum design matrix；X is the rank parameter vector of t × 1；e
For the rank observation error of n × 1.Q is the variance-covariance battle array (positively definite matrix) that n × n rank characterizes observation precision, then the parameter of above formula
And its least square solution of variance are as follows:
Qx=(ATQ-1A)-1
WhereinFor the valuation of parameter, QxFor the variance-covariance battle array of parameter value precision.Observation residual errorAnd its variance
Least square solution are as follows:
Qv=Q-AQxAT
Wherein, QvFor the variance-covariance battle array of correction precision.It can be obtained by each control point coordinate system in this way
And its positional accuracy.Next it needs to carry out detailed survey to the entire area that surveys using control point coordinate system, it is only to obtain survey area
Vertical coordinate system, steps are as follows:
1) survey station is arranged
Control point coordinates where setting up survey station in polygon control survey point, input, and measure resulting height of instrument.
2) orientation by backsight
After setting survey station, orientation by backsight is carried out using another known point, known coordinate value is inputted, using seat
Demarcate to method determine azimuth.
3) Station check
After orientation by backsight, backsight point and another known point are measured, by measurement coordinate and known coordinate
Comparison checks.
4) measurement of coordinates
By the way that after checking measurement of coordinates can be carried out to tested point, measurement data is separately recorded in built in total station
It observes in file and paper record table, so as to later period check and correction.
5) secondary to check
Tested point measurement work complete after, with same method to survey station carries out it is secondary check, with guarantee entirely
Measurement procedure is accurate.
So far, the independent coordinate system for entirely surveying area has been completely established.
The WGS84 measurement of coordinates at step 3) outdoor control point (common point), using RTK measurement method.
RTK (Real Time Kinematic) real time dynamic measurement technology, is the difference that basis is observed with carrier phase
GPS technology.It can provide three-dimensional localization of the survey station point in specified coordinate system as a result, and reaching a centimetre class precision in real time.
Under RTK work pattern, base station sends its observation and survey station coordinate information to rover station by data-link together.Flowing
It stands and the data from base station is not only received by data-link, also to acquire GPS observation data, and form difference in system and see
Measured value is handled in real time, while providing centimeter-level positioning as a result, lasting less than one second.Rover station can be at stationary state,
It can also be in motion state；It can first be initialized on fixed point and enter back into dynamic job afterwards, it can also be straight in a dynamic condition
Booting is connect, and completes the search finding of integer ambiguity in a dynamic environment.Operating procedure is as follows:
(1) project is set
(2) coordinate system parameter is set
(3) GPS is connect with bastion host
(4) base station is set
(5) movement station is set
Step 4) utilizes Seven-parameter coordinates computed conversion parameter.
According to the transformation model between two spaces rectangular coordinate system, it is equipped with two spaces rectangular coordinate system O'-X'Y'Z'
And O-XYZ, the angle between X-axis and X' axis are εX, the angle between Y-axis and Y' axis is εY, the angle between Z axis and Z' axis is
εZIf scale parameter is μ, have:
Wherein [X0 Y0 Z0]TFor the coordinate origin of former coordinate system O'-X'Y'Z'.
Spin matrix is defined as:
Coordinate system can be transformed into WGS84 coordinate system using the transformation model.And calculate seven of the model
Conversion parameter (μ, εX,εY,εZ,X0,Y0,Z0) need known 3 and 3 or more common point coordinate data.Parametric solution is still
Using least-squares estimation, the model that parameter has just obtained coordinate conversion is solved, next can will survey area's coordinate system
System goes to WGS84 coordinate system, completes the unification of indoor and outdoor space frame.
The acquisition and pretreatment of step 5) point cloud data.
Before scanning, the setting of advanced line scanner parameter.Including scanning distance, scanning resolution and quality, resolution ratio
Determine that quantity a little, scanning quality determine the precision of each point.Different scanning resolutions and quality correspond to different scanning
Time.
After parameter setting, scanner is set up on control point or open traverse point, so that cloud coordinate system and indoor coordinate will be put
System carries out unification.At the same time in order to splice the point cloud data of different survey stations, also splicing target ball is placed in common point.
Target ball need to be placed between two stations can be in the range of intervisibility, and the quantity of target ball is three or more；Each target ball, which is put, needs height
It spends different；Public target ball is irremovable in a scan.After determining frame station and the position of target ball, unlatching is scanned into adopting for row data
Collection.
It collects point cloud data to need to carry out data prediction later, including registration and denoising two large divisions.First
It is selecting public target ball be registrated between two stations in neighbor stations data, is repeating the above steps, by each station Registration of Measuring Data to unification
Whole point cloud data is formed under coordinate system, then data are denoised, and removal is caused due to misoperation or poor environment
Noise data and redundant data.
Step 6) point cloud data model construction.
Simple point cloud data is also not enough to a referred to as qualified threedimensional model, due to the premise in not priori knowledge
Under, surface point can not intuitively show object model very much.For the structure and textural characteristics on analog physical surface, had
There is the threedimensional model of the sense of reality also to need to rebuild the curved surface of point cloud data, most common method is triangle gridding.
The triangle gridding of so-called point cloud data be exactly give one group of point cloud data, by between each data point with triangle phase
It connects, forms a triangle gridding.Its essence is the Topology connection passes reflected between the adjacent point of data point with triangle gridding
System.And correctly topological connection relation ties effective shape for disclosing the original objects surface that point cloud data collection is contained and topology
Structure.
The optimization method of triangle gridding: for the planar triangulations of a k neighborhood, a line is known as boundary edge,
Refer to this edge only (being present in a triangle) related to a triangle, two vertex of this edge are then known as boundary
Point.Plane trigonometry web area is mapped back three-dimensional space, corresponding side is also referred to as the boundary edge of three-dimensional grid.Corresponding point is known as side
Boundary's point.The point for not carrying out plane trigonometry is referred to as untreated point, on the contrary then be referred to as process points.Come from definition above
It sees, boundary point is process points entirely.Two carried out the k neighborhood of plane trigonometry, and there are three types of positional relationships: other than boundary point,
There are also other points to belong to the two neighborhoods simultaneously, referred to as intersects；Only boundary point belongs to the two neighborhoods, referred to as phase simultaneously
It cuts；When there is no any point while belonging to the two neighborhoods, referred to as mutually from.Three of the above positional relationship can be by pre-processing handle
Intersection and mutually from becoming tangent.Preprocess method are as follows: a known k neighborhood (neighborhood 1) passes through trigonometric ratio, takes this neighborhood 1
Then some boundary point obtains its a k neighborhood (neighborhood 2), from all the points removed in neighborhood 1 except boundary in neighborhood 2.
Plane trigonometry is carried out to neighborhood 2 again.It is repeated in above step, until all boundary points are all processed, at this moment for neighbour
For domain 1 and neighborhood 2, their positional relationship is tangent.
A specific example presented below.Specifically includes the following steps:
Step 1, data collection and reconnaissance.
The overall schematic in place and 5 buildings plan views such as Fig. 2 and Fig. 3.
This major experimental place is in 5 buildings rooms, since height difference is excessive, introduces in 5 buildings rooms from 1 flooring by outdoor point
It cannot achieve.However 5 buildings can be with balcony intervisibility, and balcony is located at the middle part in entire place, can be used as public affairs if select points equally
Concurrent carries out coordinate conversion.It is relatively open to build circle-of-sight visibility, can be measured with GNSS.This planning of experiments is equably selected in balcony
Take transfer point of 5 control points (T1-T5) as the area global coordinates Xi Hece coordinate system.As shown in figure 4, outdoor control point
It is uniformly distributed the positional accuracy that ensure that measurement.Have chosen 10 control points (C1-C10) indoors simultaneously, indoor control point and
Outdoor control point is mainly used for constructing control net coordinate system, and the open traverse after being used for as high-precision datum mark is surveyed
Amount, so reconnaissance should make intervisibility between consecutive points good, overall distribution is uniformly reasonable again, to can control entire survey area.
Other than choosing traverse net control point, in order to provide known coordinate to the detailed survey of each compartment, also has chosen 26 branch and lead
Line point (D1-D26).Reconnaissance principle is that as much as possible allow between point is able to maintain intervisibility, and with respect to having in test site
Numerous compartments, so most of open traverses point is all chosen at room doorway.In addition, having chosen 6 open traverse points at courtyard
(N1-N6), these points also can be with indoor control point intervisibility, in order to establish entire building coordinate frame.Fig. 5 is showing for reconnaissance
It is intended to, orbicular spot is control point, and five buildings open traverse points of Fang Dianwei, triangulation point is courtyard open traverse point.
It according to previous reconnaissance plan, establishes and marks in corresponding point, the label established should follow following principle:
A. label energy long-term preservation is not easy to be destroyed；
B. label should facilitate three-dimensional coordinate measurement；
C. label should not influence experimental site, not destroy building.
Step 2, traverse net is constructed according to selected control point, and carries out field survey.Measurement principle is thin after first controlling
Portion, from advanced to rudimentary.Position coordinate measurement follows the step of orient-check-measuring-checking again.Total station survey process
In without exception using the high foot prop and prism arrangement of measurement accuracy, do not use centering rod.
The measurement record sheet of 1 three-dimensional wire of table
15 control points, 5, balcony outdoor control points (T1-T5) and interior 10 are shared in the present embodiment Traverse Network
Control point (C1-C10).Polygonal height traverse measurement is carried out to the control net, it is known that coordinate points: T3 is (using T3 point as independent coordinate
It is origin)；Unknown coordinates point: T1, T2, T4, T5, C1, C2, C3, C4, C5, C6, C7, C8, C9, C10；Observation method is opposite direction
Observation；Observation has direction value, puts down away from depth displacement, target is high, instrument height etc.；Record form pattern is as shown in table 1.
It needs to carry out least square adjustment to measured value after carrying out control measurement, adjustment result such as table 2:
2 control point three-dimensional independent coordinate of table and precision summary sheet
| It calls the roll | X(m) | Y(m) | H(m) | Mean square error of a point |
| T3 | 0.0000 | 0.0000 | 0.0000 | 0.0000 |
| T4 | 7.6470 | -5.0032 | 0.0014 | 0.0018 |
| T1 | -12.8487 | -36.0370 | -0.0631 | 0.0025 |
| T2 | -19.9077 | -31.2588 | -0.0804 | 0.0024 |
| T5 | -23.8384 | -8.0303 | -0.2143 | 0.0017 |
| C5 | 3.8163 | -3.5760 | -4.2303 | 0.0000 |
| C4 | 11.3102 | -7.9885 | -4.2358 | 0.0026 |
| C3 | 7.3663 | -18.5704 | -4.2329 | 0.0036 |
| C2 | -5.7168 | -39.8789 | -4.2233 | 0.0027 |
| C1 | -15.6320 | -32.3849 | -4.1997 | 0.0000 |
| C10 | -25.6196 | -25.6050 | -4.2175 | 0.0027 |
| C9 | -13.7034 | -8.7483 | -4.2353 | 0.0036 |
| C8 | -8.0307 | 4.4172 | -4.2208 | 0.0026 |
| C6 | 3.8566 | 5.1522 | -4.2352 | 0.0029 |
3 measurement of coordinates record sheet of table
After control measurement, using known indoor traverse net control point (C1-C10), pass through measurement of coordinates with total station
Method calculate to obtain indoor open traverse point (D1-D26), the coordinate of courtyard control point (N1-N6) under coordinate system.Using
The mode of measurement of coordinates, the specific method is as follows:
1) survey station is arranged
Control point coordinates where setting up survey station in polygon control survey point, input, and measure resulting height of instrument.
2) orientation by backsight
After setting survey station, orientation by backsight is carried out using another known point, known coordinate value is inputted, using seat
Demarcate to method determine azimuth.
3) Station check
After orientation by backsight, backsight point and another known point are measured, by measurement coordinate and known coordinate
Comparison checks.
4) measurement of coordinates
By the way that after checking measurement of coordinates can be carried out to tested point, measurement data is separately recorded in built in total station
It observes in file and paper record table, so as to later period check and correction.
5) secondary to check
Tested point measurement work complete after, with same method to survey station carries out it is secondary check, with guarantee entirely
Measurement procedure is accurate.
Data record table is as shown in table 3.
Step 3, the global coordinates of common point obtain.In experiment, WGS84 measurement of coordinates mode in control point is used outside balcony room
RTK measurement.RTK measurement connection is that the CORS that China surveys stands, and positioning nominal accuracy is 8mm, the specific steps are as follows: by mobile phone card insertion
Enter receiver card slot, opens receiver and hand, bluetooth connection is established between receiver and hand.Select landstar soft
Part, selection or new construction file, into RTK measurement pattern, selection connection CORS net, the station input CORS account number cipher.Into
Enter measurement pattern, selects the fixed smooth option of 10s.When measurement after hand prompts fixed, receiver is placed on 10s on tested point
It is motionless, smoothed out result is saved to project file.The WGS84 coordinate of acquisition is as shown in table 4.
Three-dimensional coordinate of 4 common point of table under WGS84 coordinate system
| It calls the roll | X(m) | Y(m) | H(m) |
| T3 | -2838587.972 | 4667305.307 | 3281340.256 |
| T4 | -2838581.641 | 4667304.511 | 3281346.778 |
| T1 | -2838560.625 | 4667329.669 | 3281329.199 |
| T2 | -2838566.597 | 4667330.306 | 3281323.163 |
| T5 | -2838587.425 | 4667319.849 | 3281319.724 |
Step 4, the estimation of coordinate system conversion parameter.Area's coordinate system can will be surveyed using seven-parameter transformation model to convert
Into WGS84 coordinate system.Existing common point T1, T2, T3, the coordinate of T4, T5 under two sets of coordinate systems are shown in Table 2 and table 4 respectively.Benefit
Seven conversion parameters (μ, ε of the model are calculated with these common point coordinatesX,εY,εZ,X0,Y0,Z0).Pass through least square fitting
Seven obtained parameters are as follows:
Scale parameter:
μ=1
Location parameter:
(X0,Y0,Z0)=(- 2838587.971,4667305.296,3281340.244)
Rotation angle parameter:
εX=0.00045105913051
εY=1.02730432169112
εZ=1.02341593304771
It also needs to test conversion parameter after conversion parameter is calculated, observe its correctness and analyzes its essence
Degree.Mode is as follows, brings the independent coordinate of T1-T5 into conversion formula:
The coordinate being calculated and the WGS84 coordinate of corresponding points are made into poor, observed difference size.Inspection result such as 5 institute of table
Show:
The inspection of 5 conversion parameter of table
| It calls the roll | Δx(m) | Δy(m) | Δz(m) |
| T3 | 0.0013 | -0.0111 | -0.0124 |
| T4 | 0.0010 | 0.0114 | 0.0102 |
| T1 | 0.0032 | -0.0020 | 0.0062 |
| T2 | 0.0020 | -0.0198 | -0.0074 |
| T5 | -0.0075 | -0.0067 | 0.0033 |
According to table 5 it is found that coordinate conversion accuracy is substantially all within 2cm, meet requirement of experiment.
Step 5, the unification of coordinate frame.Acquisition control can be calculated according to coordinate transformation parameter and control point coordinate system
Point WGS84 coordinate.Control point and open traverse o'clock coordinate under two sets of coordinate systems are as shown in table 6.
Step 6, the acquisition and pretreatment of point cloud data.
Data are obtained using three-dimensional laser scanner.Before scanning, it is scanned the setting of instrument parameter.Due to scan ring
Border is interior, and scanning distance is within 10m.Therefore setting scan pattern is interior 10m.Chromoscan is opened to be arranged to acquire
RGB information.Finally scanning resolution is set and quality, resolution ratio determine that quantity a little, scanning quality determine the essence of each point
Degree.Different scanning resolutions and quality corresponds to different sweep times, therefore the point cloud of frame of reference station estimate amount and requirement
Final points and precision, setting scanning resolution are 1/4, quality x3.Each station sweep time control was at 5 minutes or so.
After parameter setting, it is scanned frame station, the leveling of instrument, carries out the placement of splicing target ball at the same time.Target ball need to be put
Set between two stations can intervisibility in the range of, the quantity of target ball is three or more；It is different that each target ball puts needs height；It is public
Target ball is irremovable in a scan altogether.After determining frame station and the position of target ball, the acquisition for being scanned into row data is opened.Carry out
When each station scanning, survey station position is marked on drawing and records survey station number.
After scanning work, registration process is carried out, survey station sum is 55 stations, as shown in Figure 6.It is registrated general procedure are as follows:
It is numbered according to the survey station of record, determines neighbor stations data to be registered.Using the included function of software, selected in neighbor stations data
Public target ball is selected be registrated between two stations.It repeats the above steps, it is whole by being formed under each station Registration of Measuring Data to unified coordinate system
Point cloud data.
It needs to carry out denoising to point cloud data after registration.Removal is due to caused by misoperation or poor environment
Noise data and redundant data.Fig. 7 is denoising front and back comparison diagram.
Step 7, the modeling of point cloud data.
Next the point cloud data in each room is modeled, utilizes the method for triangle gridding.Point cloud data is cut
Obtain modeling result the example such as Fig. 8 and Fig. 9 in room and corridor.
Figure 10-Figure 14 gives the Detail contrast figure of original point cloud and model, and as can be seen from the figure modeling works well.
Control point and open traverse point coordinate summary sheet in table Room 6
Claims (8)
1. a kind of interior space modeling method, which is characterized in that method includes the following steps:
Step S1: outdoor terrain figure and indoor CAD diagram are obtained；
Step S2: based on outdoor terrain figure and indoor CAD diagram, indoor control point, outdoor control point and conducting wire connection relationship are obtained；
Step S3: it based on indoor control point, outdoor control point and conducting wire connection relationship, establishes and surveys area's coordinate system；
Step S4: outdoor control point WGS84 coordinate system is established；
Step S5: based on outdoor control point WGS84 coordinate system, area's coordinate system will be surveyed and converted to WGS84 coordinate system, room is obtained
Inside and outside unified WGS84 coordinate system；
Step S6: the indoor point cloud data of unified WGS84 coordinate system inside and outside collection room obtains interior space model.
2. a kind of interior space modeling method according to claim 1, which is characterized in that the step S3 includes:
Step S31: based on indoor control point, outdoor control point and conducting wire connection relationship, control point coordinate system is established；
Step S32: being based on control point coordinate system and conducting wire connection relationship, obtains surveying area's coordinate system.
3. a kind of interior space modeling method according to claim 2, which is characterized in that the control point independent coordinate
System obtains surveying area's coordinate system by detailed survey.
4. a kind of interior space modeling method according to claim 1, which is characterized in that the foundation outdoor control point
WGS84 coordinate system uses real time dynamic measurement technology.
5. a kind of interior space modeling method according to claim 1, which is characterized in that described will survey area's independent coordinate
System's conversion to WGS84 coordinate uses Seven-parameter.
6. a kind of interior space modeling method according to claim 5, which is characterized in that the spin moment of the Seven-parameter
Battle array R1(εX)、R2(εY) and R3(εZ) be respectively as follows:
Wherein, εXFor the angle between X-axis and X' axis, εYFor the angle between Y-axis and Y' axis, εZFor the folder between Z axis and Z' axis
Angle, O'-X'Y'Z' and O-XYZ are two spaces rectangular coordinate system.
7. a kind of interior space modeling method according to claim 1, which is characterized in that the step S6 includes:
Step S61: the indoor point cloud data of unified WGS84 coordinate system inside and outside collection room；
Step S62: carrying out registration and noise suppression preprocessing to indoor point cloud data, obtains point cloud data in processing rear chamber；
Step S63: the curved surface of point cloud data in processing rear chamber is rebuild, interior space model is obtained.
8. a kind of interior space modeling method according to claim 7, which is characterized in that described to point in processing rear chamber
The curved surface of cloud data rebuild using triangle gridding method.
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