CN111736170B - Device and method for monitoring deformation degree of cutting side slope - Google Patents
Device and method for monitoring deformation degree of cutting side slope Download PDFInfo
- Publication number
- CN111736170B CN111736170B CN202010722755.8A CN202010722755A CN111736170B CN 111736170 B CN111736170 B CN 111736170B CN 202010722755 A CN202010722755 A CN 202010722755A CN 111736170 B CN111736170 B CN 111736170B
- Authority
- CN
- China
- Prior art keywords
- laser radar
- slope
- cutting
- beidou positioning
- positioning module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000012544 monitoring process Methods 0.000 title claims abstract description 18
- 238000012360 testing method Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 3
- 238000012876 topography Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 230000006872 improvement Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000007689 inspection Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a device and a method for monitoring the deformation degree of a cutting slope, wherein the device comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module; the Beidou positioning module is used for acquiring three-dimensional coordinate values of two ends of the cutting slope on the earth; the guide rail system is arranged at the side edge deviating from the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the whole range of the path along the cutting slope; the operation module calculates the topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module. The invention can acquire the deformation and displacement of the cut slope in construction in real time under the condition of no supervision by fusing the guide rail type mobile laser radar and the Beidou positioning system, and provides timely data support for rapid early warning and engineering progress management.
Description
Technical Field
The invention belongs to the field of cutting slope deformation monitoring, and particularly relates to a device and a method for monitoring cutting slope deformation.
Background
For cutting slopes, deformation and displacement monitoring are important safety quality management work, and at present, the main mode of cutting slope monitoring comprises two modes of on-site inspection and instrument monitoring, wherein the instrument monitoring technology can be divided into manual monitoring and automatic real-time monitoring.
The monitoring means in the prior art mainly comprises (1) carrying surveying instruments such as a level gauge and a total station manually to regularly monitor a site marking point, (2) utilizing a satellite positioning system such as a GPS to monitor the marking point in real time, and (3) scanning a target slope by a synthetic aperture radar such as InSAR. Monitoring by adopting a manual carrying instrument, and cannot be performed in real time; by utilizing the GPS technology, the slope surface can not be monitored by only obtaining the three-dimensional coordinates of the slope; whereas the InSAR technology is too costly to use.
Disclosure of Invention
Aiming at the problems, the invention provides a device and a method for monitoring the deformation degree of a cutting slope on the basis of combining the Beidou GNSS technology and the laser radar.
The technical aim is achieved, and the technical effects are achieved by the following technical scheme:
The device for monitoring the deformation degree of the cutting side slope comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module;
The Beidou positioning module is fixed at the head end and the tail end of the constructed cutting slope and used for acquiring three-dimensional coordinate values of the two ends of the cutting slope on the earth;
The guide rail system is arranged at the side edge deviating from the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the whole range of the path along the cutting slope;
The operation module is used for calculating the topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module.
As a further improvement of the invention, the intelligent cutting system comprises two cutting slopes which are arranged on the same contour surface on the left side and the right side, the guide rail system is arranged along the cutting slopes, the laser radar system scans the opposite cutting slopes and calculates the positioning coordinates of the opposite Beidou positioning module.
As a further improvement of the invention, the laser radar system comprises a laser radar scanner, a dynamic Beidou positioning module and an attitude information acquisition system which are arranged on a mobile vehicle arranged on a guide rail;
the mobile laser radar scanner is used for carrying out point-by-point scanning on the cut slope, and acquiring position data of a scanned test point relative to the laser radar scanner;
The dynamic Beidou positioning module receives the navigation positioning signals simultaneously with the Beidou positioning module and is provided with a receiver for receiving the Beidou positioning module, so that accurate positioning coordinates of the laser radar scanner are obtained;
And the gesture information acquisition system is used for carrying out initial calibration according to the azimuth, the position and the speed of the mobile radar and through the recorded initial state.
As a further development of the invention, the laser radar systems on both sides scan the opposite cutting slope synchronously.
As a further improvement of the invention, the guide rail system comprises guide rails paved along the slope surface of the cutting slope, the guide rails paved on the discontinuous slope surface are connected by adopting a steering device, and the paved position of the guide rail system corresponds to the laser radar system, so that the full-range scanning of the cutting slope can be realized.
As a further improvement of the invention, the Beidou positioning module further comprises a step of receiving the scanning information of the mobile laser radar and a step of sending the received scanning information to the operation module through satellite signals.
As a further improvement of the invention, the Beidou positioning module or the dynamic Beidou positioning module adopts a Beidou GNSS positioning module.
The method for monitoring the deformation degree of the cutting side slope calculates the slope topography of the cutting side slope based on the scanning data obtained by the device, and comprises the following steps:
step one: the Beidou positioning modules fixed at the head end and the tail end of the cutting slope obtain accurate three-dimensional coordinates on the earth;
Step two: the laser radar system arranged on the cutting slope scans the cutting slope, and the obtaining of the data of the scanning test point comprises the following steps:
The included angle between the laser line emitted from the laser radar scanner center and the ground coordinate axis is as follows when the laser line scans to the position of the test point ，
The height D of the lidar relative to the test point,
The line of sight angle a of the lidar scanner,
The high-low angle H of the lidar scanner,
And dynamic Beidou positioning module coordinates；
Wherein, the dynamic Beidou positioning module coordinatesThe coordinates of the two Beidou positioning modules are obtained based on the first step;
Step three: the operation module calculates coordinate values of the test points according to the obtained scanning data, connects three-dimensional coordinates of a series of test points corresponding to the cutting slope points into point cloud data, and then calculates deformation of the cutting slope based on the obtained point cloud data.
As a further improvement of the present invention, step three, the operation module calculates coordinate values (X, Y, Z) of the test points according to the following formula as follows:
；
Wherein: ；
；
where (X 1,Y1,Z1) is the coordinates of the measurement point relative to the laser scanning system.
As a further improvement of the present invention, the calculation of the deformation amount is to calculate the deformation amount based on the point cloud data obtained in real time and the point cloud data of the last time.
The invention has the beneficial effects that: according to the invention, the guide rail type mobile laser radar and the Beidou positioning system are fused, so that under the condition of no supervision, the deformation and displacement of the road cut slope in construction can be obtained in real time by utilizing the characteristics of high range accuracy, strong directivity, quick response, no influence of ground clutter and high safety, accurate positioning, stable signal and technical safety of the Beidou satellite positioning system in China, and timely data support is provided for rapid early warning and engineering progress management.
Drawings
FIG. 1 is a cross-sectional view of an arrangement of the device of the present invention;
FIG. 2 is a plan view of the arrangement of the device of the present invention;
FIG. 3 is a schematic flow diagram of the operation of the device;
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The principle of application of the invention is described in detail below with reference to the accompanying drawings.
The layout of the device provided by the invention along the cutting slope as shown in fig. 1 and 2 comprises a Beidou positioning module, a laser radar system and a guide rail system. The Beidou positioning module is fixed on the top and the bottom of the constructed cutting slope in a fixed mode and is used for calibrating coordinate values of the mobile laser radar-carried Beidou GNSS receiver. The device is used for scanning the monitored cutting slope in the lateral direction, adopts a guide rail system arranged at the side of the constructed cutting slope, and the laser radar system moves along the guide rail system to scan the cutting slope along the whole range of the line path. In the construction process, two cutting slopes are usually formed at the same contour surface at the left side and the right side of the same slope, a group of mutually matched Beidou positioning modules and the laser radar system are oppositely arranged, namely the guide rail system is arranged along the formed cutting slopes, and the laser radar system and the opposite Beidou positioning modules perform signal interaction to scan the opposite cutting slopes.
In the detection process, laser radar systems on two sides are arranged to synchronously scan opposite cutting slopes.
In the embodiment of the invention, the Beidou positioning module adopts a Beidou GNSS positioning module, and the Beidou GNSS positioning module is used for calibrating the accurate coordinate position of the laser radar system, and also comprises the steps of receiving the scanning information of the laser radar system and transmitting the received scanning information to the operation module through satellite signals.
The guide rail system is arranged along the slope surface of the cutting slope and comprises guide rails arranged along the section line, the guide rails laid on the discontinuous slope surface are connected by adopting a steering device, the guide rails are not arranged in a full range, but are arranged at proper section positions for saving cost, and the section range can ensure that the mobile laser radar can move in the range to realize full-range scanning on the cutting slope.
The laser radar system comprises a mobile vehicle, a mobile laser radar scanner, a dynamic Beidou positioning module and gesture information acquisition, wherein the mobile laser radar scanner, the dynamic Beidou positioning module and the gesture information acquisition are arranged on the mobile vehicle. The mobile laser radar scanner comprises a shape information acquisition system, and is a laser radar sensor with a medium-short distance; the dynamic Beidou positioning system mainly utilizes a Beidou GNSS positioning module on the opposite side slope and a mobile GNSS receiver on the mobile radar to simultaneously measure positioning signals of the same Beidou positioning satellite navigation and jointly determine the accurate position of the mobile radar; the attitude information acquisition system mainly utilizes the inertial sensitivity period of the IMU to determine the azimuth, the position and the speed of the mobile radar, and in the later stage, when calculating a target point, the initial calibration is carried out by combining the recorded initial state, so that the calculation error caused by attitude adjustment is eliminated; the image information acquisition system consists of a CCD camera and mainly aims to assist the radar sensor to complete acquisition of information such as texture properties of a target.
The control module is connected with the mobile vehicle and can remotely control the mobile vehicle to move on the guide rail.
The computing module is used for computing the topographic data of the cutting slope according to the scanning information of the laser radar and the positioning information of the Beidou positioning module, and the specific computing process is as follows:
The Beidou GNSS module is used for receiving, tracking, transforming and measuring satellite signals. The satellite signals are amplified, exchanged and processed, the three-dimensional coordinates of the user on the earth are determined through calculation of data processing software, the user is navigated in real time, and the satellite and the earth surface receiving station form a tetrahedron, so that the calculation formula of the real distance between the satellite and the receiver is as follows:
；
Wherein: (X i,yi,zi) is the coordinate of the ith satellite in the three-dimensional space, (X G,YG,ZG) is the coordinate of the mobile laser radar to be solved.
If the ground and the satellite are considered to be completely synchronous without time difference, the true distance can be calculated by the following formula:
；
Wherein: t PR is the observation time of ground receiver synchronization, t SV is the satellite synchronization signal transmitting time, t A is the delay time generated in the signal propagation process, and C is the light speed.
Because the satellite is far away from the earth surface and moves at a high speed, the satellite clock and the earth surface clock are not synchronous, and the distance measured by the GNSS system is not the true distance, but a pseudo range:
；
wherein: ρ i is the pseudorange, Δt PR is the terrestrial receiver time difference, Δt SV is the satellite time difference.
The formula is obtained by arranging the following steps:
；
In the method, the clock difference (delta t PR-ΔtSV) between the satellite clock and the earth clock and the observation point coordinates (x i,yi,zi) are unknown, four equations are needed for solving the four unknown quantities, and as the earth receiver can simultaneously receive four or more satellite data in the space, the satellites can be divided into a plurality of groups by 4, the coordinates of the mobile laser radar can be solved by listing the equations, and the value with the highest precision can be selected from all solutions, so that the satellite positioning precision can be well improved by the method. So that three-dimensional coordinate values of the mobile lidar can be determined.
As shown in fig. 3, the main principle of the test in operation of the lidar system is: the mobile laser radar scanner, the high-precision Beidou GNSS receiver and the IMU are simultaneously carried on the mobile vehicle, and the position and posture information of the measuring vehicle are continuously recorded in the moving process of the measuring vehicle; the mobile laser radar scanner continuously records the ranging value of the transmitter along with the movement of the measuring vehicle and the index value in the scanning line; and calculating the included angle between the point and the initial direction through the index value, and calculating the three-dimensional space coordinates of the point cloud data of the opposite side slope by combining the inspection parameters of the vehicle-mounted system and the recorded position and posture information of the measuring vehicle.
Assuming that the measurement point is a P point, the coordinates are set as (X, Y, Z), and the coordinates obtained by the mobile vehicle-mounted Beidou GNSS module (namely, the three-dimensional coordinates of the mobile laser radar) are recorded as (X G,YG,ZG); the included angle between the mobile laser radar scanner and the earth coordinate axis is (thetay, thetap, thetar), and the relative coordinate of the measuring point relative to the laser scanning system is (X 1,Y1,Z1); the target test points are calculated as follows:
；
Wherein: ；
；
Wherein D is the target distance obtained by the mobile laser radar scanner, A is the sight angle obtained by the mobile laser radar scanner, and H is the height angle obtained by the mobile laser radar scanner.
And the mobile laser radar scans the opposite side slope to obtain the three-dimensional coordinates of the opposite side slope, wherein the three-dimensional coordinates of the opposite side slope are formed by a series of points, and the data form point cloud data of the opposite side slope. The method comprises the steps of periodically scanning the opposite side slope through a mobile radar to obtain real-time point cloud data of the opposite side slope, and finally obtaining a deformation value of the opposite side slope through comparison with the previous point cloud data.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. A device of monitoring cutting side slope deflection, its characterized in that: the system comprises a Beidou positioning module, a laser radar system, a guide rail system and an operation module;
The Beidou positioning module is fixed at the head end and the tail end of the constructed cutting slope and used for acquiring three-dimensional coordinate values of the two ends of the cutting slope on the earth;
The guide rail system is arranged at the side edge deviating from the constructed cutting slope, and the laser radar system moves along the guide rail system and scans the whole range of the path along the cutting slope;
The operation module is used for calculating the topographic data of the cutting slope according to the scanning data of the laser radar system and the positioning information of the Beidou positioning module; the cutting device also comprises two cutting slopes which are arranged on the same contour surface on the left side and the right side, the guide rail system is arranged along the cutting slopes, the laser radar system scans the opposite cut slope and calculates by combining the positioning coordinates of the opposite Beidou positioning module;
the guide rail system comprises guide rails paved along the slope surface of the cutting slope, the guide rails paved on the discontinuous slope surface are connected by adopting a steering gear, and the paved position of the guide rail system corresponds to the position where the laser radar system can realize full-range scanning on the cutting slope;
the Beidou positioning module further comprises a step of receiving scanning information of the laser radar and a step of sending the received scanning information to the operation module through satellite signals.
2. The apparatus according to claim 1, wherein: the laser radar system comprises a laser radar scanner, a dynamic Beidou positioning module and an attitude information acquisition system which are arranged on a mobile vehicle arranged on a guide rail;
the laser radar scanner is used for scanning the cutting slope point by point to acquire position data of a scanned test point relative to the laser radar scanner;
The dynamic Beidou positioning module receives the navigation positioning signals simultaneously with the Beidou positioning module and is provided with a receiver for receiving the Beidou positioning module, so that accurate positioning coordinates of the laser radar scanner are obtained;
And the gesture information acquisition system is used for carrying out initial calibration according to the azimuth, the position and the speed of the mobile radar and through the recorded initial state.
3. The apparatus according to claim 2, wherein: the laser radar systems on two sides synchronously scan the opposite cutting slopes.
4. The apparatus according to claim 2, wherein: the Beidou positioning module or the dynamic Beidou positioning module adopts a Beidou GNSS positioning module.
5. A method of monitoring the degree of deformation of a cutting slope, characterized in that the calculation of the slope topography of the cutting slope is performed on the basis of the scan data obtained by the device according to any one of claims 1 to 4, comprising:
step one: the Beidou positioning modules fixed at the head end and the tail end of the cutting slope obtain accurate three-dimensional coordinates on the earth;
Step two: the laser radar system arranged on the cutting slope scans the cutting slope, and the obtaining of the data of the scanning test point comprises the following steps:
The included angle between the laser line emitted from the laser radar scanner center and the ground coordinate axis is as follows when the laser line scans to the position of the test point ，
The height D of the lidar relative to the test point,
The line of sight angle a of the lidar scanner,
The high-low angle H of the lidar scanner,
And dynamic Beidou positioning module coordinates；
Wherein, the dynamic Beidou positioning module coordinatesThe coordinates of the two Beidou positioning modules are obtained based on the first step;
Step three: the operation module calculates coordinate values of the test points according to the obtained scanning data, connects three-dimensional coordinates of a series of test points corresponding to the cutting slope points into point cloud data, and then calculates deformation of the cutting slope based on the obtained point cloud data.
6. The method of claim 5, wherein the method comprises: step three, the operation module calculates coordinate values (X, Y, Z) of the test points according to the following formula:
；
Wherein: ；
；
where (X 1,Y1,Z1) is the coordinates of the measurement point relative to the laser scanning system.
7. The method of claim 5, wherein the method comprises: and the deformation is calculated based on the comparison of the point cloud data obtained in real time and the point cloud data of the last time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010722755.8A CN111736170B (en) | 2020-07-24 | 2020-07-24 | Device and method for monitoring deformation degree of cutting side slope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010722755.8A CN111736170B (en) | 2020-07-24 | 2020-07-24 | Device and method for monitoring deformation degree of cutting side slope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111736170A CN111736170A (en) | 2020-10-02 |
| CN111736170B true CN111736170B (en) | 2024-08-09 |
Family
ID=72657631
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010722755.8A Active CN111736170B (en) | 2020-07-24 | 2020-07-24 | Device and method for monitoring deformation degree of cutting side slope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111736170B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11782167B2 (en) | 2020-11-03 | 2023-10-10 | 2KR Systems, LLC | Methods of and systems, networks and devices for remotely detecting and monitoring the displacement, deflection and/or distortion of stationary and mobile systems using GNSS-based technologies |
| CN112627243A (en) * | 2020-11-12 | 2021-04-09 | 山东大学 | Soil nailing wall quality and monitoring device and method for cavity behind wall |
| CN115761174B (en) * | 2022-11-18 | 2024-05-03 | 河海大学 | Laser radar-based embankment service life monitoring method and system and electronic equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212569147U (en) * | 2020-07-24 | 2021-02-19 | 杭州都市高速公路有限公司 | Device of monitoring cutting slope deformation degree |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7205927B2 (en) * | 2005-06-03 | 2007-04-17 | Raytheon Company | Technique for low grazing angle 3D SAR target recognition |
| CN202793331U (en) * | 2011-12-15 | 2013-03-13 | 中国铁道科学研究院铁道建筑研究所 | Railway side slope vehicle-mounted scanning detection system |
| CN107101666B (en) * | 2017-03-24 | 2019-08-09 | 广东省交通规划设计研究院股份有限公司 | A kind of intellectual faculties of cut slope Construction engineering geology condition |
| CN110453731B (en) * | 2019-08-15 | 2020-06-30 | 中国水利水电科学研究院 | Dam slope deformation monitoring system and method |
-
2020
- 2020-07-24 CN CN202010722755.8A patent/CN111736170B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212569147U (en) * | 2020-07-24 | 2021-02-19 | 杭州都市高速公路有限公司 | Device of monitoring cutting slope deformation degree |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111736170A (en) | 2020-10-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111736170B (en) | Device and method for monitoring deformation degree of cutting side slope | |
| US20200103530A1 (en) | Method for extracting elevation control point with assistance of satellite laser altimetry data | |
| CN110837080B (en) | Rapid calibration method of laser radar mobile measurement system | |
| CN110208771B (en) | Point cloud intensity correction method of mobile two-dimensional laser radar | |
| US8582086B2 (en) | Range measurement device | |
| EP1200800B1 (en) | Terrain navigation apparatus | |
| CN114444158B (en) | Underground roadway deformation early warning method and system based on three-dimensional reconstruction | |
| CN101517358A (en) | Three-dimensional measurement system and rescaling method using indoor GPS | |
| CN112070841A (en) | Rapid combined calibration method for millimeter wave radar and camera | |
| CN107727061B (en) | Photoelectric distance measurement system and method for autonomous weather correction | |
| CN112455502B (en) | Train positioning method and device based on laser radar | |
| CN212569147U (en) | Device of monitoring cutting slope deformation degree | |
| CN109631862A (en) | A kind of multi-Sensor Information Fusion Approach of intertidal zone integration mapping | |
| CN105547282A (en) | Method and measuring apparatus for mobile positioning target | |
| Dreier et al. | The potential of UAV-based laser scanning for deformation monitoring. Case study on a water dam | |
| CN111123260A (en) | Method for recognizing state of environmental object by using millimeter wave radar and visible light camera | |
| RU2559418C2 (en) | Method of determination of vehicle position and motion speed and complex to this end | |
| EP1662228A1 (en) | Scanning of three-dimensional objects | |
| CN116540708A (en) | Autonomous navigation method and system for paddy field mechanical weeding equipment under repeated operation scene | |
| US20220404170A1 (en) | Apparatus, method, and computer program for updating map | |
| CN113608225B (en) | Method for calculating depth of buried water bottom target based on synthetic aperture sonar | |
| CN115166721A (en) | Radar and GNSS information calibration fusion method and device in roadside sensing equipment | |
| KR200303737Y1 (en) | Mobile GPS mesuring systen | |
| CN108072326B (en) | Method and device for observing light beam irradiation | |
| JPH08145668A (en) | Scanning laser survey system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |