CN111337913B - Device and method for displaying data in operation of mobile measurement system in real time - Google Patents
Device and method for displaying data in operation of mobile measurement system in real time Download PDFInfo
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- CN111337913B CN111337913B CN202010422536.8A CN202010422536A CN111337913B CN 111337913 B CN111337913 B CN 111337913B CN 202010422536 A CN202010422536 A CN 202010422536A CN 111337913 B CN111337913 B CN 111337913B
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/51—Display arrangements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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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
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining 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
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Abstract
The invention discloses a device and a method for displaying data in real time in the operation of a mobile measurement system, wherein the device comprises inertial navigation equipment, a wireless control module, a control module and laser equipment; the control module is used for acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file and analyzing the inertial navigation data; acquiring laser point cloud data through laser scanning equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data; synchronously matching the laser point cloud data after rarefaction with the position information in the inertial navigation data in real time to form a real-time point cloud data packet; and sending the real-time point cloud data packet to a wireless control module, and forwarding the real-time point cloud data packet to a wireless control module at the ground end to realize ground real-time display of the collected data. According to the display device and the method, the real-time point cloud effect and the point cloud acquisition data can be synchronously displayed in the surveying and mapping process.
Description
Technical Field
The invention relates to the technical field of mobile mapping, in particular to a device and a method for displaying data in real time in the operation of a mobile measurement system.
Background
In the application of mobile mapping, laser scanning equipment and inertial navigation system equipment (inertial navigation for short) are mainly carried on an unmanned aerial vehicle or a human machine, and laser scanning data and inertial navigation data are collected and stored.
The current mobile mapping scheme rarely realizes real-time display of mapping data at the ground end, which has the following problems: 1. the system is not suitable for the requirements of application scenes of emergency rescue and disaster relief, and can not find problems in real time in the process of surveying and mapping acquisition, thereby quickly implementing emergency response. 2. The effect of the unable real-time supervision survey and drawing data of ground end can't satisfy the demand that the customer monitored in real time when using equipment to remove the survey and drawing.
Disclosure of Invention
The invention aims to provide a device and a method for displaying data in real time in the operation of a mobile measurement system, so that the effect of monitoring the current point cloud data in real time at the ground end in the process of flight surveying and mapping data of an unmanned aerial vehicle or a manned aircraft is realized. Simultaneously above-mentioned display device easily realizes, and small-size lightweight is applicable to and carries on more unmanned aerial vehicles.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a real-time data display device in the operation of a mobile measurement system, which comprises inertial navigation equipment, a wireless control module, a control module and laser equipment, wherein the inertial navigation equipment is connected with the wireless control module;
wherein the inertial navigation device comprises a GNSS receiving antenna; the inertial navigation equipment is used for acquiring inertial navigation data received by the GNSS receiving antenna and simultaneously sending the inertial navigation data to the control module in real time;
the wireless control module comprises a wireless module antenna; the wireless control module establishes network communication with the control module through the wireless module antenna, and simultaneously realizes point-to-point wireless communication with the wireless control module at the ground end;
the laser equipment is used for emitting laser points to measure distance data in the mobile mapping process, sending the measured distance data to the wireless control module, and finally forwarding the distance data to the control module by the wireless control module;
the control module specifically comprises an inertial navigation data acquisition sub-module, a rarefying sub-module, a synchronization sub-module and a data packet sending sub-module;
the acquisition sub-module is used for acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, and specifically comprises analyzing and extracting GPS position information, time information, longitude and latitude information, altitude information, pitch angle information, yaw angle information and roll angle information;
the thinning sub-module is used for acquiring laser point cloud data through a laser scanning device, storing the acquired and recorded laser point cloud data in a file, and simultaneously performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data;
the synchronization submodule is used for performing synchronous matching on the laser point cloud data after rarefaction and the GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
and the data packet sending submodule is used for sending the real-time point cloud data packet to a wireless control module and forwarding the real-time point cloud data packet to a wireless control module at the ground end, so that the ground real-time display of the acquired data is realized.
As a further preferred embodiment of the present invention, the rarefying sub-module specifically implements the following functions when performing rarefying real-time point cloud data on the laser point cloud data to obtain rarefied laser point cloud data;
the thinning sub-module is used for measuring the point cloud number in the laser point cloud data, operating a plurality of point clouds in real time according to a thinning mode of a point thinning method, thinning the laser point cloud data of one point cloud from every ten point clouds to obtain thinned laser point cloud data of a plurality of target point clouds, and identifying the distance data of the plurality of target point clouds after thinning; the target point cloud is the point cloud after rarefaction;
as a further preferred embodiment of the present invention, the synchronization sub-module specifically implements the following functions when performing real-time synchronization matching of the laser point cloud data after rarefaction and the GPS position information in the inertial navigation data to form a real-time point cloud data packet;
the synchronization submodule is used for identifying the distance data of the laser points corresponding to each point cloud after rarefaction to obtain the relative distance position of each target point cloud; analyzing the inertial navigation data in real time, and specifically analyzing and extracting GPS position information; determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the plurality of target point clouds, and realizing synchronous matching of the laser point cloud data after the rarefaction of the target point clouds and the GPS position information in the inertial navigation data; and attaching newly analyzed GPS position information behind the thinned laser point cloud data of the thinned target point cloud to form a real-time point cloud data packet.
As a further preferable scheme of the present invention, the communication mode of the real-time point cloud data packet to the wireless control module at the ground end is a UDP communication mode, the real-time point cloud data packet is controlled not to exceed 1500 bytes, and each real-time point cloud data packet contains synchronization information.
As a further preferable scheme of the present invention, the real-time data display device in the operation of the mobile measurement system further comprises a back-end device; the back-end equipment comprises a key, an indicator light and a storage module; the key is used for controlling the data real-time display device in the operation of the mobile measurement system to execute the operation of starting and stopping acquisition; the storage module is used for storing a collection file generated by the data real-time display device in the operation of the mobile measurement system; the indicator light is used for displaying the time synchronization state of the data real-time display device in the operation of the mobile measurement system, and displaying the acquisition starting state and the acquisition stopping state.
Correspondingly, the invention also provides a real-time data display method in the operation of the mobile measurement system, and the real-time data display device in the operation of the mobile measurement system comprises the following control operation steps:
step S100: acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, wherein the analyzing and extracting of GPS position information, time information, longitude and latitude information, height information, pitch angle information, yaw angle information and roll angle information (the data are used for synchronization of point cloud data if needed);
step S200: acquiring laser point cloud data through laser scanning equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data;
step S300: synchronously matching the laser point cloud data after rarefaction with GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
step S400: and finally, sending the real-time point cloud data packet to a wireless control module, and forwarding the real-time point cloud data packet to a wireless control module at the ground end to realize ground real-time display of collected data.
As a further preferred scheme of the present invention, in step S200, performing rarefaction of the real-time point cloud data on the laser point cloud data to obtain rarefied laser point cloud data, specifically including the following operation steps;
step S210: measuring the point cloud number in the laser point cloud data, performing real-time operation on a plurality of point clouds according to a thinning mode of a point thinning method, performing thinning in a mode of taking the laser point cloud data of one point cloud from every ten point clouds to obtain thinned laser point cloud data of a plurality of target point clouds, and identifying distance data of the plurality of target point clouds after thinning; the target point cloud is the point cloud after rarefaction.
As a further preferred scheme of the present invention, in step S300, synchronously matching the laser point cloud data after rarefaction with the GPS location information in the inertial navigation data in real time to form a real-time point cloud data packet, specifically comprising the following operation steps;
step S310: identifying the distance data of the laser points corresponding to each point cloud after thinning to obtain the relative distance position of each target point cloud;
step S320: analyzing the inertial navigation data in real time, and specifically analyzing and extracting GPS position information;
step S330: determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the plurality of target point clouds, and realizing synchronous matching of the laser point cloud data after the rarefaction of the target point clouds and the GPS position information in the inertial navigation data;
step S340: and attaching newly analyzed GPS position information behind the thinned laser point cloud data of the thinned target point cloud to form a real-time point cloud data packet.
As a further preferable scheme of the present invention, in step S400, the communication mode of the real-time point cloud data packet to the wireless control module at the ground end is a UDP communication mode, the real-time point cloud data packet is controlled not to exceed 1500 bytes, and each real-time point cloud data packet contains synchronization information.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides a device and a method for displaying data in real time in the operation of a mobile measurement system, wherein the main display method comprises the following operation steps:
the laser equipment is used for emitting laser points to measure distance data in the mobile mapping process, sending the measured distance data to the wireless control module, and finally forwarding the distance data to the control module by the wireless control module;
the control module specifically executes the following operations: acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, wherein the analyzing and extracting of GPS position information, time information, longitude and latitude information, height information, pitch angle information, yaw angle information and roll angle information (the data are used for synchronization of point cloud data if needed); acquiring laser point cloud data through laser scanning equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data; synchronously matching the laser point cloud data after rarefaction with GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet; and finally, sending the real-time point cloud data packet to a wireless control module, and forwarding the real-time point cloud data packet to a wireless control module at the ground end to realize ground real-time display of collected data.
Obviously, the device and the method for displaying data in real time in the operation of the mobile measurement system provided by the embodiment of the invention perform the synchronous operation of the target laser point cloud (i.e. the laser point cloud after rarefaction) through the ranging data and the inertial navigation data of the laser points, so that the laser point cloud after rarefaction is synchronously and quickly rarefaction is formed in the surveying and mapping process, the inertial navigation data is analyzed to form a real-time point cloud data packet, and finally the real-time point cloud data packet is transmitted to the ground end to display the real-time point cloud effect, thereby meeting the requirement of real-time monitoring of a client, and realizing the effect of monitoring the current point cloud data in real time at the ground end in the process of flying and surveying and mapping data on an.
The device and the method for displaying data in real time in the mobile measurement system operation provided by the embodiment of the invention synchronously display the real-time point cloud effect in the surveying and mapping process, and are suitable for the application of real-time surveying and mapping scenes, such as rescue and relief work. Meanwhile, the display method is communicated through the wireless control module, remote display is carried out at the ground end, and display equipment is not needed on surveying and mapping equipment, so that the equipment is small and light and is more suitable for unmanned aerial vehicle mounting equipment.
Drawings
Fig. 1 is a schematic block diagram of a real-time data display device in a mobile measurement system according to an embodiment of the present invention;
fig. 2 is a functional block diagram of a control module in a data real-time display device in the operation of a mobile measurement system according to an embodiment of the present invention;
fig. 3 is a schematic flow operation diagram of a data real-time display method in operation of a mobile measurement system according to a second embodiment of the present invention.
Reference numbers:
an inertial navigation device 10; a GNSS receiving antenna 11;
a wireless control module 20; a wireless module antenna 21;
a control module 30; an inertial navigation data acquisition submodule 31; a thinning submodule 32; a synchronization sub-module 33; a packet transmission sub-module 34;
a laser device 40;
a key 50;
an indicator light 60;
a storage module 70;
a power management module 80.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 and fig. 2, a real-time data display device in a mobile measurement system operation according to an embodiment of the present invention includes an inertial navigation device 10, a wireless control module 20, a control module 30, and a laser device 40;
the inertial navigation device 10 includes a GNSS receiving antenna 11 (where GNSS is Global navigation satellite System abbreviation, and GNSS refers to Global navigation satellite System, and uses observations such as pseudo range, ephemeris, and satellite emission time of a set of satellites); the inertial navigation device 10 is configured to acquire inertial navigation data received by the GNSS receiving antenna, and simultaneously send the inertial navigation data to the control module 30 in real time;
the wireless control module 20 includes a wireless module antenna 21; the wireless control module 20 establishes network communication with the control module 30 through the wireless module antenna, and simultaneously realizes point-to-point wireless communication with a wireless control module at a ground end;
the laser device 40 is configured to emit a laser spot to measure distance data in a mobile mapping process, send the measured distance data to the wireless control module 20, and finally forward the distance data to the control module 30 by the wireless control module;
the control module 30 specifically includes an inertial navigation data obtaining sub-module 31, a rarefying sub-module 32, a synchronization sub-module 33, and a data packet sending sub-module 34 (see fig. 2 for a specific functional framework);
the obtaining sub-module 31 is configured to obtain inertial navigation data from the inertial navigation device, store the inertial navigation data in a file, and analyze the inertial navigation data, specifically including analyzing and extracting GPS position information (where GPS refers to Global Positioning System GPS, which is an abbreviation of Global Positioning System, and is a Positioning System of high-precision radio navigation based on an air satellite), time information, longitude and latitude information, altitude information, pitch angle information, yaw angle information, and roll angle information;
the thinning sub-module 32 is configured to obtain laser point cloud data through a laser scanning device, store the collected and recorded laser point cloud data in a file, and meanwhile perform thinning on the laser point cloud data to obtain thinned laser point cloud data;
the synchronization submodule 33 is configured to perform synchronization matching on the laser point cloud data after rarefaction and the GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
and the data packet sending submodule 34 is configured to send the real-time point cloud data packet to a wireless control module, and forward the real-time point cloud data packet to a ground-side wireless control module, so as to realize ground real-time display of collected data.
The main structure of the real-time data display device in the mobile measurement system is analyzed, and the real-time data display device mainly comprises an inertial navigation device 10, a wireless control module 20, a control module 30, a laser device 40 and the like:
wherein, the inertial navigation device 10 comprises a GNSS receiving antenna 11; the inertial navigation device 10 is configured to acquire inertial navigation data received by the GNSS receiving antenna, and simultaneously send the inertial navigation data to the control module 30 in real time;
the wireless control module 20 includes a wireless module antenna 21; the wireless control module 20 establishes network communication with the control module 30 through the wireless module antenna, and simultaneously realizes point-to-point wireless communication with a wireless control module at a ground end;
the laser device 40 is configured to emit a laser spot to measure distance data in a mobile mapping process, send the measured distance data to the wireless control module, and finally forward the distance data to the control module by the wireless control module;
the control module 30 is a core function module, and the control module 30 is mainly configured to perform the following operations: acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, specifically including analyzing and extracting GPS position information, time information, longitude and latitude information, altitude information, pitch angle information, yaw angle information, and roll angle information (it should be noted that the control module 30 specifically receives 100Hz frequency data sent by inertial navigation, and then analyzes and extracts the GPS position information, the time information, the longitude and latitude information, the altitude information, the pitch angle information, the yaw angle information, the roll angle information, and the like, which are used for synchronization of laser point cloud data); acquiring laser point cloud data through laser scanning equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data; synchronously matching the laser point cloud data after rarefaction with GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet; and finally, sending the real-time point cloud data packet to a wireless control module, and forwarding the real-time point cloud data packet to a wireless control module at the ground end to realize ground real-time display of collected data.
Obviously, the real-time data display device in the mobile measurement system provided by the embodiment of the invention performs the synchronous operation of the target laser point cloud (i.e. the diluted laser point cloud) through the ranging data and the inertial navigation data of the laser points, so that the laser point cloud after being synchronously and quickly diluted is formed in the mapping process, the inertial navigation data is analyzed to form a real-time point cloud data packet, and the real-time point cloud data packet is finally transmitted to the ground end to display the real-time point cloud effect, thereby meeting the real-time monitoring requirement of a client, and realizing the effect of monitoring the current point cloud data in real time at the ground end in the process of flying mapping data on an unmanned aerial vehicle or a manned vehicle.
As a further preferred embodiment of the present invention, the rarefying sub-module 32 specifically implements the following functions when performing rarefying real-time point cloud data on the laser point cloud data to obtain rarefied laser point cloud data;
the thinning sub-module 32 is configured to measure the number of point clouds in the laser point cloud data, perform real-time operation on a plurality of point clouds in a thinning manner of a point thinning method, and perform thinning in a manner of taking the laser point cloud data of one point cloud from every ten point clouds of the laser point cloud data, so as to obtain thinned laser point cloud data of a plurality of target point clouds, and identify distance data of the plurality of target point clouds after thinning; the target point cloud is the point cloud after rarefaction.
As a further preferred embodiment of the present invention, the synchronization sub-module 33 specifically implements the following functions when performing real-time synchronization matching of the laser point cloud data after rarefaction and the GPS position information in the inertial navigation data to form a real-time point cloud data packet;
the synchronization submodule 33 is configured to perform the distance data identification on the laser points corresponding to each point cloud after thinning, so as to obtain a relative distance position of each target point cloud; analyzing the inertial navigation data in real time, and specifically analyzing and extracting GPS position information; determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the plurality of target point clouds, and realizing synchronous matching of the laser point cloud data after the rarefaction of the target point clouds and the GPS position information in the inertial navigation data; and attaching newly analyzed GPS position information behind the thinned laser point cloud data of the thinned target point cloud to form a real-time point cloud data packet.
As a further preferable scheme of the present invention, a communication mode of the real-time point cloud data packet to the ground-side wireless control module is a UDP communication mode (UDP is a short for User data program, i.e., a User Datagram Protocol, which is a connectionless transport layer Protocol in an OSI (Open System Interconnection) reference model, and provides a transaction-oriented simple unreliable information transfer service), and the real-time point cloud data packet is controlled not to exceed 1500 bytes, and each real-time point cloud data packet contains synchronization information.
As a further preferable scheme of the present invention, the real-time data display device in the operation of the mobile measurement system further comprises a back-end device; the back-end equipment comprises a key 50, an indicator light 60 and a storage module 70; the key 50 is used for controlling the real-time data display device in the operation of the mobile measurement system to execute the operation of starting and stopping acquisition; the storage module 70 is configured to store a collection file generated by a data real-time display device in the operation of the mobile measurement system; the indicator light 60 is used for displaying the time synchronization state of the real-time data display device in the operation of the mobile measurement system, and displaying the acquisition starting state and the acquisition stopping state. In addition, the real-time data display device in the mobile measurement system is further designed with a power management module 80 for connecting an external power source.
Example two
Referring to the flowchart illustrated in fig. 3, a second embodiment of the present invention further provides a method for real-time displaying data in a mobile measurement system, where the method for real-time displaying data in a mobile measurement system includes the following steps:
step S100: acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, wherein the analyzing and extracting of GPS position information, time information, longitude and latitude information, height information, pitch angle information, yaw angle information and roll angle information (the data are used for synchronization of point cloud data if needed);
step S200: acquiring laser point cloud data through laser scanning equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning real-time point cloud data on the laser point cloud data to obtain thinned laser point cloud data;
step S300: synchronously matching the laser point cloud data after rarefaction with GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
step S400: and finally, sending the real-time point cloud data packet to a wireless control module, and forwarding the real-time point cloud data packet to a wireless control module at the ground end to realize ground real-time display of collected data.
As a further preferred scheme of the present invention, in step S200, performing rarefaction of the real-time point cloud data on the laser point cloud data to obtain rarefied laser point cloud data, specifically including the following operation steps;
step S210: measuring the point cloud number in the laser point cloud data, performing real-time operation on a plurality of point clouds according to a thinning mode of a point thinning method, performing thinning in a mode of taking the laser point cloud data of one point cloud from every ten point clouds to obtain thinned laser point cloud data of a plurality of target point clouds, and identifying distance data of the plurality of target point clouds after thinning; the target point cloud is the point cloud after rarefaction.
The control module receives point cloud data scanned by laser, the transmission of the real-time point cloud data is realized through wireless control module communication and is limited by the bandwidth of wireless communication, the method uses the point cloud data to achieve the purpose of reducing data volume, the point thinning method is used in the thinning mode, and ten points are taken as one point to be thinned. The specific method is exemplified (taking laser point cloud data as an example according to 1-100 points): numbering the laser point cloud data according to the number of 1-100 points (namely measuring the point cloud number), performing real-time operation according to a thinning mode of a point thinning method, thinning the laser point cloud data of one point from the laser point cloud data of every ten points, and determining to extract the laser point cloud data of 10 th, 20 th and 30 th. Sequentially extracting the distance information of the 10 th, 20 th and 30 th points, and packing the extracted data after every 100 points of laser point cloud data are extracted to form a data packet of the laser point cloud data after rarefaction; and then, the point cloud number is measured again, and the data extraction of a new packet is restarted.
In addition, the above rarefying method uses a point rarefying method, ten points are rarefied in a point-by-point manner, so that the data amount of the point cloud is only one tenth of that of the original data, and the reduction of the data amount also improves the speed of data processing at the display end. In addition, the point-by-point thinning can cause the density reduction of real-time display points and can not cause the problem of incomplete display, but also avoids the bandwidth bottleneck of wireless communication and improves the processing efficiency of real-time data of the terminal. That is, a balance is found between the real-time point density and the wireless communication bandwidth and the real-time processing efficiency.
As a further preferred scheme of the present invention, in step S300, synchronously matching the laser point cloud data after rarefaction with the GPS location information in the inertial navigation data in real time to form a real-time point cloud data packet, specifically comprising the following operation steps;
step S310: identifying the distance data of the laser points corresponding to each point cloud after thinning to obtain the relative distance position of each target point cloud;
step S320: analyzing the inertial navigation data in real time, and specifically analyzing and extracting GPS position information;
step S330: determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the plurality of target point clouds, and realizing synchronous matching of the laser point cloud data after the rarefaction of the target point clouds and the GPS position information in the inertial navigation data;
step S340: and attaching newly analyzed GPS position information behind the thinned laser point cloud data of the thinned target point cloud to form a real-time point cloud data packet.
It should be noted that the laser point cloud data after rarefaction needs to be synchronized, and time information, longitude and latitude information, altitude information, pitch angle information, yaw angle information and roll angle information need to be used when the subsequent point cloud effect is displayed; namely, the point cloud data position information of the step is synchronous, the inertial navigation data of 100Hz is analyzed in real time in a synchronous mode, and the newly analyzed GPS position information is attached to the back of the point cloud data which is subjected to rarefying and packaging to form a real-time point cloud data packet. This synchronization is simple and feasible, adds a minimum amount of packet data, but has a 10ms error, but is acceptable in real-time performance.
As a further preferable scheme of the present invention, in step S400, the communication mode of the real-time point cloud data packet to the wireless control module at the ground end is a UDP communication mode, the real-time point cloud data packet is controlled not to exceed 1500 bytes, and each real-time point cloud data packet contains synchronization information.
The control module sends the real-time point cloud data to the wireless control module on the data real-time display device in the operation of the mobile measurement system, and then forwards the real-time point cloud data to the wireless control module at the ground end for displaying the point cloud data effect in real time. In wireless communication, the problems of wireless communication packet loss and communication efficiency of real-time point cloud need to be considered. Interference, object occlusion, and too great a distance all affect wireless communications. Therefore, the real-time point cloud data uses a UDP communication mode, the real-time point cloud data packets are controlled not to exceed 1500 bytes, each packet of data contains synchronous information, and each packet of data is independent and does not influence each other. The influence of packet loss can be reduced to the greatest extent, and meanwhile, the efficiency of real-time communication is improved.
In summary, the device and the method for displaying data in real time during operation of a mobile measurement system provided by the embodiments of the present invention perform synchronous operation of a target laser point cloud (i.e., a diluted laser point cloud) through ranging data of laser points and inertial navigation data, so that during a surveying and mapping process, the diluted laser point cloud is synchronously and quickly extracted, the inertial navigation data is analyzed to form a real-time point cloud data packet, and the real-time point cloud data packet is finally transmitted to a ground end to display a real-time point cloud effect, thereby meeting a real-time monitoring requirement of a client, and realizing an effect of monitoring current point cloud data at the ground end in a process of flying survey data on an unmanned aerial vehicle or a manned vehicle.
The device and the method for displaying data in real time in the mobile measurement system operation provided by the embodiment of the invention synchronously display the real-time point cloud effect in the surveying and mapping process, and are suitable for the application of real-time surveying and mapping scenes, such as rescue and relief work. Meanwhile, the display method is communicated through the wireless control module, remote display is carried out at the ground end, and display equipment is not needed on surveying and mapping equipment, so that the equipment is small and light and is more suitable for unmanned aerial vehicle mounting equipment.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (5)
1. A real-time data display device in the operation of a mobile measurement system is characterized by comprising inertial navigation equipment, a wireless control module, a control module and laser equipment;
wherein the inertial navigation device comprises a GNSS receiving antenna; the inertial navigation equipment is used for acquiring inertial navigation data received by the GNSS receiving antenna and simultaneously sending the inertial navigation data to the control module in real time;
the wireless control module comprises a wireless module antenna; the wireless control module establishes network communication with the control module through the wireless module antenna, and simultaneously realizes point-to-point wireless communication with the wireless control module at the ground end;
the laser equipment is used for emitting laser points to measure distance data in the mobile mapping process, sending the measured distance data to the wireless control module, and finally forwarding the measured distance data to the control module by the wireless control module;
the control module specifically comprises an inertial navigation data acquisition sub-module, a rarefying sub-module, a synchronization sub-module and a data packet sending sub-module;
the acquisition sub-module is used for acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, and specifically comprises analyzing and extracting GPS position information, time information, longitude and latitude information, altitude information, pitch angle information, yaw angle information and roll angle information;
the thinning sub-module is used for acquiring laser point cloud data through laser equipment, storing the acquired and recorded laser point cloud data in a file, and simultaneously performing thinning on the laser point cloud data to obtain thinned laser point cloud data;
the synchronization submodule is used for performing synchronous matching on the laser point cloud data after rarefaction and the GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
the data packet sending submodule is used for sending the real-time point cloud data packet to a wireless control module and forwarding the real-time point cloud data packet to a wireless control module at the ground end so as to realize ground real-time display of collected data;
the thinning sub-module specifically implements the following functions when performing thinning on the laser point cloud data to obtain thinned laser point cloud data;
the thinning sub-module is used for measuring the point cloud number in the laser point cloud data, operating a plurality of point clouds in real time according to a thinning mode of a point thinning method, thinning the laser point cloud data of one point cloud from every ten point clouds to obtain a plurality of target point clouds, and identifying the distance data of the target point clouds; the target point cloud is laser point cloud data after rarefaction;
the synchronization submodule is used for implementing the following functions when the synchronization matching is carried out on the laser point cloud data after the rarefaction and the GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
the synchronization submodule is used for obtaining the relative distance position of each target point cloud according to the result of the distance data identification of the laser points corresponding to the target point clouds; calling the acquisition submodule to analyze the extracted GPS position information; determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the target point clouds, and realizing synchronous matching of the target point clouds and the GPS position information in the inertial navigation data; and attaching newly analyzed GPS position information behind the target point cloud to form a real-time point cloud data packet.
2. The real-time data display device in operation of mobile measurement system as claimed in claim 1,
the communication mode of the real-time point cloud data packet sent to the wireless control module of the ground end is a UDP communication mode, the real-time point cloud data packet is controlled not to exceed 1500 bytes, and each real-time point cloud data packet contains synchronous information.
3. The real-time data display device in operation of mobile measurement system as claimed in claim 1,
the system also comprises a back-end device; the back-end equipment comprises a key, an indicator light and a storage module; the key is used for controlling the data real-time display device in the operation of the mobile measurement system to execute the operation of starting and stopping acquisition; the storage module is used for storing a collection file generated by the data real-time display device in the operation of the mobile measurement system; the indicator light is used for displaying the time synchronization state of the data real-time display device in the operation of the mobile measurement system, and displaying the acquisition starting state and the acquisition stopping state.
4. A real-time data display method in operation of a mobile measurement system, which utilizes the real-time data display device in operation of a mobile measurement system as claimed in any one of the above claims 1-3, characterized by comprising the following control operation steps:
step S100: acquiring inertial navigation data from the inertial navigation equipment, storing the inertial navigation data in a file, and analyzing the inertial navigation data, wherein the analyzing and extracting of GPS position information, time information, longitude and latitude information, height information, pitch angle information, yaw angle information and roll angle information are specifically included;
step S200: acquiring laser point cloud data through laser equipment, storing the acquired and recorded laser point cloud data in a file, and meanwhile, performing thinning on the laser point cloud data to obtain thinned laser point cloud data;
step S300: synchronously matching the laser point cloud data after rarefaction with GPS position information in the inertial navigation data in real time to form a real-time point cloud data packet;
step S400: finally, the real-time point cloud data packet is sent to a wireless control module and is forwarded to a wireless control module at the ground end, so that ground real-time display of collected data is realized;
in step S200, performing rarefaction on the laser point cloud data to obtain rarefed laser point cloud data, specifically including the following operation steps;
step S210: measuring the point cloud number in the laser point cloud data, performing real-time operation on a plurality of point clouds according to a thinning mode of a point thinning method, performing thinning in a mode of taking the laser point cloud data of one point cloud from every ten point clouds to obtain a plurality of target point clouds, and identifying distance data of the plurality of target point clouds; the target point cloud is laser point cloud data after rarefaction;
in step S300, synchronously matching the laser point cloud data after rarefaction with GPS location information in the inertial navigation data in real time to form a real-time point cloud data packet, specifically including the following operation steps;
step S310: according to the result of the distance data identification of the laser points corresponding to the target point clouds, the relative distance position of each target point cloud can be obtained;
step S320: calling the acquisition submodule to analyze the extracted GPS position information;
step S330: determining and analyzing the GPS position information corresponding to each target point cloud according to the relative distance relationship of the target point clouds, and realizing synchronous matching of the target point clouds and the GPS position information in the inertial navigation data;
step S340: and attaching newly analyzed GPS position information to the back of the target point cloud after rarefaction to form a real-time point cloud data packet.
5. The real-time data display method of claim 4, wherein:
in step S400, the real-time point cloud data packet is sent to the wireless control module at the ground end in a UDP communication manner, and the real-time point cloud data packet is controlled to be not more than 1500 bytes, and each real-time point cloud data packet contains synchronization information.
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