CN111561908B - Combined measurement method of three-dimensional laser scanning and GPS-PPK - Google Patents

Combined measurement method of three-dimensional laser scanning and GPS-PPK Download PDF

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CN111561908B
CN111561908B CN202010407349.2A CN202010407349A CN111561908B CN 111561908 B CN111561908 B CN 111561908B CN 202010407349 A CN202010407349 A CN 202010407349A CN 111561908 B CN111561908 B CN 111561908B
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李亮
吴侃
白志辉
曹兴砚
贾秉松
董祥
吴志聪
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China University of Mining and Technology CUMT
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    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels

Abstract

A combined measuring method of three-dimensional laser scanning and GPS-PPK is suitable for the field of surveying and mapping. Arranging a measuring station at the center of the area to be measured, and averagely arranging GPS targets in the area to be measured, so as to ensure that the connection included angle between the targets is between 30 and 60 degrees; acquiring GPS data of a plurality of time periods in single-station acquisition time of unit time; obtaining three-dimensional laser scanning point cloud data of a region to be detected and GPS data of a GPS target; the GPS-PPK measurement provides high-precision target control point coordinates, the three-dimensional laser scanning obtains high-precision point cloud relative coordinate data, and the high-precision point cloud relative coordinate data is replaced into the three-dimensional laser point cloud data coordinates of a GPS target point by taking the GPS coordinate data as a reference, so that the point cloud data of the survey station and the GPS data of the GPS target are fused with each other, and finally, the high-precision absolute coordinate information of the point cloud data of the area to be measured is obtained. The three-dimensional laser scanning and GPS-PPK measurement can be effectively fused, and an effective, high-precision and reliable data base can be provided for the large-range deformation monitoring work of the mining subsidence.

Description

Combined measurement method of three-dimensional laser scanning and GPS-PPK
Technical Field
The invention relates to a combined measurement method, in particular to a combined measurement method of three-dimensional laser scanning and GPS-PPK, which is suitable for environmental mapping engineering.
Background
China is the largest world-wide coal producing country with coal yields accounting for 42% of the global yields, with 96% of the yields resulting from underground coal mining. Underground coal mining inevitably causes ground subsidence to seriously affect the surface condition (I). The exploitation of underground mineral resources brings about huge material wealth but also destroys the natural environment.
Data used today for the study of coal mining induced displacement can be obtained directly from the field, and traditional surveying methods include leveling and total station surveying. However, the method has the defects of difficult measurement point storage, high field work intensity, less available data acquisition and the like. In 2011, C.Liu et al apply GPS-RTK (carrier phase differential technology) to mining subsidence monitoring, although the working time is shortened, the method still faces the similar problem of the traditional measuring method, and the horizontal position precision and the vertical precision of the GPS-RTK (carrier phase differential technology) are only 1-4cm and 2-8 cm; the quality of the measurements is also susceptible to multipath effects, satellite signal blockage and weather conditions. In addition, the InSAR technology is also widely used for mining area monitoring, in 2000, Perski et al also monitor Upper Silisia mining subsidence based on the DIn SAR technology; in 2004, G e Linlin and the like adopt multi-source SAR data to carry out monitoring experiment research on coal mining surface subsidence in the southwest area of Sydney; in 2015, S Thapa et al selected the Jhara coal mine in northeast India as the research area for research. However, the deformation amount monitored In the unit pixel by the In SAR technology is limited, accurate ground surface real deformation cannot be obtained when the deformation amount exceeds a critical gradient, Chen and the like indicate that the phase change of the unit pixel and the adjacent pixel does not exceed 1/4 wavelengths, phase unwrapping can be avoided, although the maximum settlement amount can be monitored by the D-InSAR technology is improved, the maximum settlement value which can be monitored by each satellite system is still only a few centimeters to dozens of centimeters (when the mining depth is 100 meters), and therefore large-scale deformation is difficult to monitor.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a combined measuring method combining three-dimensional laser scanning and GPS-PPK, which is used for synchronously acquiring point cloud data and target point GPS-PPK data, acquiring GPS data in a corresponding time period while not influencing the working efficiency of the three-dimensional laser scanning, and optimizing the global coordinate precision of a target point of the three-dimensional laser scanning with high precision, high efficiency and low cost.
In order to achieve the technical effects, the combined measuring method of the three-dimensional laser scanning and the GPS-PPK, disclosed by the invention, is characterized in that a GPS receiver is arranged together with a three-dimensional laser scanner as a measuring station, and a target of the three-dimensional laser scanner is used as a GPS target, and the method comprises the following steps:
arranging a measuring station at the center of the area to be measured, and averagely arranging GPS targets in the area to be measured, so as to ensure that the connection included angle between the targets is between 30 and 60 degrees;
starting a survey station and a GPS target, respectively carrying out GPS-PPK measurement and three-dimensional laser scanning, and acquiring GPS data of a plurality of time periods by single station acquisition time of unit time; and obtaining three-dimensional laser scanning point cloud data of the area to be measured and GPS data of the GPS target.
The GPS-PPK measurement provides high-precision target control point coordinates, the three-dimensional laser scanning obtains high-precision point cloud relative coordinate data, and the high-precision point cloud relative coordinate data is replaced into the three-dimensional laser point cloud data coordinates of a GPS target point by taking the GPS coordinate data as a reference, so that the point cloud data of the survey station and the GPS data of the GPS target are fused with each other, and finally, the high-precision absolute coordinate information of the point cloud data of the area to be measured is obtained.
Because the precision of the three-dimensional laser scanning data is far better than that of the GPS data, but the three-dimensional laser scanning data cannot acquire global coordinate information, in order to utilize the global coordinate information in the GPS data, data fusion must be carried out, and a data fusion method that the position information is based on the GPS and the relative position relation between points is based on the three-dimensional laser scanning data is adopted;
the specific method comprises the following steps:
taking GPS data in all time periods as a reference, matching the three-dimensional laser scanning data with the GPS data by using an ICP (iterative close Point) algorithm, and taking the GPS data as a source point cloud P ═ P1,…,pnAnd taking the three-dimensional laser scanning data as point cloud Q to be registered (Q)1,…,qmAnd m is less than or equal to n, and rotation and translation parameters between the source point cloud and the point cloud to be registered are calculated by utilizing least square matching iteration: each point Q in the point cloud Q to be registeredi(i 1, …, m), a point P can be found in the source point cloud PiSatisfy | | pi-qiThe distance between | is minimal, i.e. the function f (q) is minimized:
Figure RE-GDA0002564373980000021
in the formula, qRRepresenting a rotation parameter between the point cloud to be registered and the source point cloud, qTRepresenting a translation parameter between the point cloud to be registered and the source point cloud, and rotating a rotation parameter qRAnd a translation parameter qUIteration of value ofUpdating until f (Q) is smaller than a preset threshold value, forming all rotation parameters into a rotation matrix R, forming all translation parameters into a translation matrix U, wherein the obtained rotation matrix R and the translation matrix U are transformation matrices for registering the point cloud Q to be registered to the source point cloud P;
solving a rotation matrix R by using a double-quaternion method: the rotation of a unit vector (x, y, z) in three-dimensional space is represented by an angle theta, [ theta, x, y, z [ ]]TIs a quaternion and satisfies x2+y2+z2+θ21 is given by
Figure RE-GDA0002564373980000024
Being the center of the GPS data point set P,
Figure RE-GDA0002564373980000022
for the center of the three-dimensional laser scanning data point set Q, then:
Figure RE-GDA0002564373980000023
j and i in the formula are initial assignment in the formula, no practical significance is realized, and m is the number of point clouds in the original point cloud P and the point cloud Q to be registered;
centralizing the original point cloud P and the point cloud Q to be registered, and then performing the mutual cooperation equation between the original point cloud P and the point cloud Q to be registered as follows:
Figure RE-GDA0002564373980000031
in the formula: m is a cross covariance matrix of the original point cloud P and the point cloud Q to be registered, T is a transposition of the matrix, and n represents the number of mutually matched point pairs between the original point cloud P and the point cloud Q to be registered;
M-M antisymmetric matrix A ═ M-MTThe column vector Δ of the antisymmetric matrix defining M ═ a (a)23 A31 A12)TThen, a 4 × 4 symmetric matrix N is constructed:
Figure RE-GDA0002564373980000032
in the formula I3Is a 3 × 3 unit matrix, and Trace (M) is the trace of the matrix M, the eigenvector corresponding to the maximum eigenvalue of N is the quaternion array [ theta, x, y, z ]]TTherefore, the rotation matrix R obtained using the quaternion method is:
Figure RE-GDA0002564373980000033
the translation matrix U is:
Figure RE-GDA0002564373980000034
and replacing the GPS data with the registered three-dimensional laser scanning data, and unifying all the three-dimensional laser scanner information into the GPS data as a global coordinate.
The data acquisition is carried out synchronously by taking the 30min time of the three-dimensional laser scanning single station as a standard, the time period requirement of more than or equal to 40min required by the GPS is not prolonged any more, but the GPS data is still solved by adopting a GPS-PPK positioning method.
When the fused data is processed, considering the current situation that the precision of three-dimensional laser scanning data is high and the precision of single GPS data cannot meet the requirements of regulations, a proper data processing method is adopted, only global coordinate information of a GPS is utilized, and the relative position relation between each point is based on the data obtained by three-dimensional laser scanning, so that the precision of the fused data is improved.
The beneficial effects are as follows:
the invention can well integrate the absolute coordinate precision advantage obtained by GPS-PPK measurement with the relative position precision advantage of the three-dimensional laser scanning technology, and greatly improve the coordinate absolute position precision of data under the condition of ensuring the stable relative position relation. Data fusion can be realized without additional equipment and instruments, detection precision is effectively improved, and measurement cost burden is not increased.
Detailed Description
The present invention is further illustrated by the following specific examples.
In order to realize synchronous processing of GPS-PPK (dynamic post-processing technology) and three-dimensional laser scanning, a GPS receiver is connected to a TLS three-dimensional laser scanner to serve as a measuring station, a target of the three-dimensional laser scanner serves as a GPS target, and a fixed constant of 6.5cm exists between the GPS receiver and the center of the TLS target in a joint measuring target to serve as a basis for calculating elevation during internal work data processing. The model of the GPS receiver is a Huazhong X91 type dual-frequency GPS receiver, and the model of the three-dimensional laser scanner is Rigel VZ 1000.
The invention relates to a three-dimensional laser scanning and GPS-PPK combined measuring method, which comprises the following steps
Arranging a measuring station at the center of the area to be measured, and averagely arranging GPS targets in the area to be measured, so as to ensure that the connection included angle between the targets is between 30 and 60 degrees; the three-dimensional laser scanning single station performs data acquisition in a quasi-synchronous mode within 30min, the time period requirement of a GPS (global positioning system) for being more than or equal to 40min is not prolonged, and the GPS data is still resolved by adopting a GPS-PPK (global positioning system-PPK) positioning method;
starting a survey station and a GPS target, respectively carrying out GPS-PPK measurement and three-dimensional laser scanning, and acquiring GPS data of a plurality of time periods by single station acquisition time of unit time; and obtaining three-dimensional laser scanning point cloud data of the area to be measured and GPS data of the GPS target.
Providing high-precision target control point coordinates by GPS-PPK measurement, obtaining high-precision point cloud relative coordinate data by three-dimensional laser scanning, replacing the high-precision point cloud relative coordinate data into the three-dimensional laser point cloud data coordinates of a GPS target point by taking the GPS coordinate data as a reference so as to mutually fuse the point cloud data of the survey station and the GPS data of the GPS target,
because the three-dimensional laser scanning data precision is far better than the GPS data, but the three-dimensional laser scanning data can not obtain the global coordinate information, in order to utilize the global coordinate information in the GPS data, data fusion must be carried out, the data fusion processing flow taking the position information based on the GPS and the relative position relation between points based on the three-dimensional laser scanning data is as follows:
taking GPS data in all time periods as a reference, matching the three-dimensional laser scanning data with the GPS data by using an ICP (iterative close Point) algorithm, and taking the GPS data as a source point cloud P ═ P1,…,pnGet the three-dimensional laser scanning data asTo-be-registered point cloud Q ═ Q1,…,qmAnd m is less than or equal to n, and rotation and translation parameters between the source point cloud and the point cloud to be registered are calculated by utilizing least square matching iteration: each point Q in the point cloud Q to be registeredi(i 1, …, m), a point P can be found in the source point cloud PiSatisfy | | pi-qiThe distance between | is minimal, i.e. the function f (q) is minimized:
Figure RE-GDA0002564373980000041
in the formula, qRRepresenting a rotation parameter between the point cloud to be registered and the source point cloud, qTRepresenting a translation parameter between the point cloud to be registered and the source point cloud, and rotating a rotation parameter qRAnd a translation parameter qUUntil f (Q) is smaller than a preset threshold value, forming all rotation parameters into a rotation matrix R, forming all translation parameters into a translation matrix U, wherein the obtained rotation matrix R and the translation matrix U are transformation matrices for registering the point cloud Q to be registered to the source point cloud P;
solving a rotation matrix R by using a double-quaternion method: the rotation of a unit vector (x, y, z) in three-dimensional space is represented by an angle theta, [ theta, x, y, z [ ]]TIs a quaternion and satisfies x2+y2+z2+θ21 is given by
Figure RE-GDA0002564373980000057
Being the center of the GPS data point set P,
Figure RE-GDA0002564373980000051
for the center of the three-dimensional laser scanning data point set Q, then:
Figure RE-GDA0002564373980000052
j and i in the formula are initial assignment in the formula, no practical significance is realized, and m is the number of point clouds in the original point cloud P and the point cloud Q to be registered;
will be at the originThe cloud P and the point to be registered are centralized, and the mutual cooperation equation between the cloud P and the point to be registered is as follows:
Figure RE-GDA0002564373980000053
in the formula: m is a cross covariance matrix of the original point cloud P and the point cloud Q to be registered, T is a transposition of the matrix, and n represents the number of mutually matched point pairs between the original point cloud P and the point cloud Q to be registered;
M-M antisymmetric matrix A ═ M-MTThe column vector Δ of the antisymmetric matrix defining M ═ a (a)23 A31 A12)TThen, a 4 × 4 symmetric matrix N is constructed:
Figure RE-GDA0002564373980000054
in the formula I3Is a 3 × 3 unit matrix, and Trace (M) is the trace of the matrix M, the eigenvector corresponding to the maximum eigenvalue of N is the quaternion array [ theta, x, y, z ]]TTherefore, the rotation matrix R obtained using the quaternion method is:
Figure RE-GDA0002564373980000055
the translation matrix U is:
Figure RE-GDA0002564373980000056
replacing GPS data with the registered three-dimensional laser scanning data, and unifying all three-dimensional laser scanner information into the GPS data as a global coordinate;
and finally obtaining high-precision absolute coordinate information of the point cloud data of the area to be detected.
When the fused data is processed, considering the current situation that the precision of three-dimensional laser scanning data is high and the precision of single GPS data cannot meet the requirements of regulations, a proper data processing method is adopted, only global coordinate information of a GPS is utilized, and the relative position relation between each point is based on the data obtained by three-dimensional laser scanning, so that the precision of the fused data is improved.
The specific embodiment is as follows:
when the GPS-PPK and the three-dimensional laser scanning are measured simultaneously, the radiation target and the GPS receiver are placed on 6 measuring points, and the GPS-PPK measurement and the three-dimensional laser scanning measurement are carried out simultaneously.
Data were acquired for 5 time periods at a single station acquisition time of 30min using a Huazhong X91 model dual frequency GPS receiver in combination with a Rigel VZ1000 model three dimensional laser scanner.
Among the 5 sets of data, the GPS measurement data is WGS84 coordinate data, the TLS data is scanner coordinate system data, and in order to realize the unification of the coordinate system, coordinate conversion is performed on the basis of the experimental field reference data acquired in the above section, and 5 sets of data obtained by subtracting the instrument constant after the conversion are shown in tables 1 to 5.
TABLE 1 first period measurement results
Figure RE-GDA0002564373980000061
TABLE 2 second time period measurement results
Figure RE-GDA0002564373980000062
TABLE 3 third time period measurement results
Figure RE-GDA0002564373980000063
TABLE 4 fourth time period measurement results
Figure RE-GDA0002564373980000064
TABLE 5 measurement results of the fifth time period
Figure RE-GDA0002564373980000065
Figure RE-GDA0002564373980000071
According to tables 4-1 to 4-5, the error in the GPS data and the three-dimensional laser scanning data of each point is obtained, and the result is shown in table 6:
TABLE 6 error in raw data (mm)
Figure RE-GDA0002564373980000072
The maximum elevation error and the maximum plane error of coordinate data acquired by using a GPS (global positioning system) reach 20.2mm and 22.9mm, and the measurement result is equivalent to the national GPSE (gigabit Ethernet) level network precision index specified in the regulation. The error in the maximum elevation in the three-dimensional laser scanning data is 1.5mm, the error in the maximum plane is 1.2mm, the error is superior to the theoretical calculation result, and the actual measurement precision of the instrument is superior to the nominal precision.
From the actual measurement result, the three-dimensional laser scanning data precision is far better than the GPS data precision, but the three-dimensional laser scanning data cannot acquire global coordinate information, and data fusion is necessary to utilize the global coordinate information in the GPS data. Therefore, in data fusion, a data fusion method is adopted in which the position information is based on the GPS and the relative positional relationship between points is based on the three-dimensional laser scanning data. The data processing flow comprises the following steps:
taking GPS data in each period as a reference, and registering TLS data and GPS data by using an ICP (inductively coupled plasma) algorithm;
and replacing the GPS data with the registered TLS data to serve as global coordinates.
Namely, the relative position graph relation between each point in each station data is guaranteed based on three-dimensional laser scanning data, and position matching and replacement are carried out on the relative position graph relation and GPS data according to the least square principle in the registration process. The point cloud data of each stage after fusion is shown in tables 7 to 11, the error distribution condition is referred to in table 12,
TABLE 7 first time period fusion data
Figure RE-GDA0002564373980000073
TABLE 8 second epoch fused data
Figure RE-GDA0002564373980000081
TABLE 9 third time period fused data
Figure RE-GDA0002564373980000082
TABLE 10 fourth time period fusion data
Figure RE-GDA0002564373980000083
TABLE 11 fifth time period fused data
Figure RE-GDA0002564373980000084
TABLE 12 error in fusion data (mm)
Figure RE-GDA0002564373980000085
The plane position precision and the point location precision and the stability of the fused data are obviously improved compared with the GPS data, the maximum error in the plane is 5.6mm, and the maximum error in the point location is 5.7 mm. The elevation, the plane and the point position precision all reach mm levels, and the precision can meet the requirement of coal mining subsidence monitoring by comparing with indexes in coal mine measurement regulations.
Therefore, experiments show that the three-dimensional laser scanning is carried out with full circle scanning with the radius not more than 60m, and the scanning point cloud data can be globally positioned by matching with short baseline GPS-PPK measurement data of not less than 30 minutes, and the acquired data precision can meet the coal mining subsidence monitoring requirement.

Claims (3)

1. A three-dimensional laser scanning and GPS-PPK combined measurement method is characterized by comprising the following steps:
arranging a measuring station at the center of the area to be measured, and averagely arranging GPS targets in the area to be measured, so as to ensure that the connection included angle between the targets is between 30 and 60 degrees;
starting a survey station and a GPS target, respectively carrying out GPS-PPK measurement and three-dimensional laser scanning, and acquiring GPS data of a plurality of time periods by single station acquisition time of unit time; obtaining three-dimensional laser scanning point cloud data of a region to be detected and GPS data of a GPS target;
providing high-precision target control point coordinates by GPS-PPK measurement, obtaining high-precision point cloud relative coordinate data by three-dimensional laser scanning, and replacing the high-precision point cloud relative coordinate data into three-dimensional laser point cloud data coordinates of a GPS target point by taking GPS coordinate data as a reference, so that point cloud data of a survey station and GPS data of a GPS target are fused with each other, and finally high-precision absolute coordinate information of the point cloud data of a region to be measured is obtained;
because the three-dimensional laser scanning data precision is far better than the GPS data, but the three-dimensional laser scanning data can not obtain the global coordinate information, in order to utilize the global coordinate information in the GPS data, data fusion must be carried out, the data fusion processing flow taking the position information based on the GPS and the relative position relation between points based on the three-dimensional laser scanning data is as follows:
taking GPS data in all time periods as a reference, matching the three-dimensional laser scanning data with the GPS data by using an ICP (iterative close Point) algorithm, and taking the GPS data as a source point cloud P ═ P1,…,pnAnd taking the three-dimensional laser scanning data as point cloud Q to be registered (Q)1,…,qmAnd m is less than or equal to n, and rotation and translation parameters between the source point cloud and the point cloud to be registered are calculated by utilizing least square matching iteration: each point Q in the point cloud Q to be registeredi(i 1, …, m), a point P can be found in the source point cloud PiSatisfy | | pi-qiThe distance between | is minimal, i.e. the function f (q) is minimized:
Figure FDA0003162456920000011
in the formula, qRRepresenting a rotation parameter between the point cloud to be registered and the source point cloud, qURepresenting a translation parameter between the point cloud to be registered and the source point cloud, and rotating a rotation parameter qRAnd a translation parameter qUUntil f (Q) is smaller than a preset threshold value, forming all rotation parameters into a rotation matrix R, forming all translation parameters into a translation matrix U, wherein the obtained rotation matrix R and the translation matrix U are transformation matrices for registering the point cloud Q to be registered to the source point cloud P;
solving a rotation matrix R by using a double-quaternion method: the rotation of a unit vector (x, y, z) in three-dimensional space is represented by an angle theta, [ theta, x, y, z [ ]]TIs a quaternion and satisfies x2+y2+z2+θ21 is given by
Figure FDA0003162456920000012
Being the center of the cloud of sources P,
Figure FDA0003162456920000013
if the center of the point cloud Q to be registered is, then:
Figure FDA0003162456920000021
j and i in the formula are initial assignment in the formula, no practical significance is realized, and m is the number of point clouds in the source point cloud P and the point cloud Q to be registered;
centralizing the source point cloud P and the point cloud Q to be registered, and then performing the mutual cooperation equation between the source point cloud P and the point cloud Q to be registered as follows:
Figure FDA0003162456920000022
in the formula: m is a cross covariance matrix of a source point cloud P and a point cloud Q to be registered, T is a transposition of the matrix, and n represents the source point cloud P and the point cloud Q to be registeredThe number of mutually matched point pairs among the point clouds Q to be registered;
M-M antisymmetric matrix A ═ M-MTThe column vector Δ of the antisymmetric matrix defining M ═ a (a)23 A31 A12)TThen, a 4 × 4 symmetric matrix N is constructed:
Figure FDA0003162456920000023
in the formula I3Is a 3 × 3 unit matrix, and Trace (M) is the trace of the matrix M, the eigenvector corresponding to the maximum eigenvalue of N is the quaternion array [ theta, x, y, z ]]TTherefore, the rotation matrix R obtained using the quaternion method is:
Figure FDA0003162456920000024
the translation matrix U is:
Figure FDA0003162456920000025
and replacing the GPS data with the registered three-dimensional laser scanning data, and unifying all the three-dimensional laser scanner information into the GPS data as a global coordinate.
2. The combined measurement method of three-dimensional laser scanning and GPS-PPK according to claim 1, wherein: the data acquisition is carried out synchronously by taking the 30min time of the three-dimensional laser scanning single station as a standard, the time period requirement of more than or equal to 40min required by the GPS is not prolonged any more, but the GPS data is still solved by adopting a GPS-PPK positioning method.
3. The combined measurement method of three-dimensional laser scanning and GPS-PPK according to claim 1, wherein: when the fused data is processed, considering the current situation that the precision of three-dimensional laser scanning data is high and the precision of single GPS data cannot meet the requirements of regulations, a proper data processing method is adopted, only global coordinate information of a GPS is utilized, and the relative position relation between each point is based on the data obtained by three-dimensional laser scanning, so that the precision of the fused data is improved.
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